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Location-Based Services (LBS) and Intelligent Transportation Systems (ITS) demand positioning accuracy and availability requirements. In urban canyons, Global Navigation Satellite Systems (GNSS) suffer from signal blockage, jamming , severe multipath and low Carrier-to-Noise (C/No) ratio which degrade location accuracy and availability. Therefore, applications solely relying on GNSS have limited performance...
The integrated system composed of inertial navigation system (INS) and speedometer is an independent positioning system commonly used on military vehicles. The INS attitude accuracy will affect the integrated location accuracy directly. This paper studied the INS error estimation and correction technique based on reference object with laser ranging information. Simulation results show that the method...
This paper presents a methodology of using Kalman filter to minimize the error in stereo vision based distance measurement data (3D position of pedestrians). In stereo vision, little point mis-correspondence leads to a very bad estimate of depth during triangulation. There are robust correspondence algorithms but all of them suffer from algorithm complexity affecting the time performance. If simple...
It is assumed that approximately one third of severe car accidents are related to drowsiness. Warning systems such as the Mercedes Benz Attention Assist try to tackle this problem by analyzing the driving style. Previous work investigated the estimation of measures (features) from lane data that correlate well with impaired driving. Unfortunately, these features require a lane-tracking camera, which...
A method of measuring the preceding vehicle distance based on trilinear method is proposed in the paper. According to the theory and method of the computer vision, three mutually non-coincident parallel lines have same vanishing point and different slopes on imaging plane. Without iteration and optimization calculation, an analytic expression of the external parameters of a camera??vanishing point...
In structure-from-motion with a single camera it is well known that the scene can be only recovered up to a scale. In order to compute the absolute scale, one needs to know the baseline of the camera motion or the dimension of at least one element in the scene. In this paper, we show that there exists a class of structure-from-motion problems where it is possible to compute the absolute scale completely...
We present a formal protocol for communication based on modulating the relative motion between mobile agents. This type of communication is typically dependent on context in that a particular motion or gesture will indicate something related to the current activity. The focus of this article is on enabling such motion-based signaling between non-holonomic mobile agents moving in Ropf2. A Control law...
It is well known and broadly accepted that the leader-predecessor framework has been proposed to fix the string instability which is caused by applying the single-predecessor information framework. However, a reasonable but easily neglected fact is that the communication delay between the leading vehicle and the following vehicle is larger than the communication delay between the immediate preceding...
We consider the recognition of dangerous situations in vehicle traffic. Unscented Kalman filters are used to predict vehicle trajectories within a short prediction horizon [t0, t0+ Deltat]. Based on this prediction, for each vehicle pair the mutual distance is computed for [t0, t0+ Deltat], whereby the distance accounts for the geometric distance, for the prediction uncertainties as well as for the...
Cooperative collision warning system for road vehicles, enabled by recent advances in positioning systems and wireless communication technologies, can potentially reduce traffic accident significantly. To improve the system, we propose a graph model to represent interactions between multiple road vehicles in a specific region and at a specific time. Given a list of vehicles in vicinity, we can generate...
We present a numerically efficient scheme to generate a family of path primitives that can be used to construct paths that take into consideration point-wise constraints on both the curvature and its derivative. The statement of the problem is a generalization of the Dubins problem to account for more realistic vehicle dynamics. The problem is solved by appropriate concatenations of line segments,...
This paper proposes a formation control strategy for uncertain Euler-Lagrange mobile agents based on artificial potential functions and robust adaptive control. A desired kinematic model is derived from a given potential function. The system parametric uncertainties and external disturbances are compensated by a robust adaptive control algorithm named binary adaptive control which combines the good...
In signal control theory, how to appropriately evaluate the lost time is an important issue because it affects the determination of the cycle time. In terms of vehicle trajectory data observed at different intersections, the research considers the evaluation of the all red time focusing on the conflict points and calculates it properly using the saturation flow rate. In conclusion, it showed that...
This research is conducted for the development of overtaking analysis system to gain higher efficiency. This assistance system is developed with the drivers' safety decision when overtaking on a two-lane highway while driving during night-time.This paper was developed considering the headlight by using the principle of Blob Analysis [1], DOF theory[2], identifies the distance with perspective technique[3]...
This paper presents an integrated solution for vehicle's velocity estimation and vehicle counting. The proposed restores the scene geometric properties, building a ground plane rectified image. Moreover, multiple vehicles tracking is performed embedding the concept of region covariance descriptors in a particle filter framework. The results show the effectiveness of the approach here proposed in very...
Pose estimation is one of the most important part of guidance systems in unmanned vehicles. In this paper, we consider the problem of pose estimation of unmanned ground vehicle (UGV) equipped with a global positioning system (GPS), an odometer and an electronic compass. The unscented Kalman filter (UKF) is used to fuse the information from those sensors. To improve the accuracy and robustness, we...
Virtual reality combining with vehicle running can exhibit vehicle's status dynamically in a virtual vision environment. The characters of intelligent vehicle running are analyzed. A virtual simulation system about intelligent vehicle running is realized based on virtual reality technology and MultiGen Creator/Vega, VC++, the constructing process of the system is introduced, the safety distance models...
In this paper, we try to proposal a new mechanism for optimizing the route of the Greedy parts of GPSR. By studying the GPSR, we find that the Greedy part of GPSR is not always to find the most optimized route, especially in the denser scenario. So according to this problem, we try to propose a mechanism to find an optimized route. In our proposal, we give out a formula to compute a unique value for...
In this paper, a hierarchical fuzzy logic traffic controller is constructed for a real intersection of fourteen vehicle lanes and two pedestrian crossings controlled by signals with seven light phases. The hierarchical fuzzy controller has seven inputs as queue lengths of the seven light phases, and one output as green time of the selected phase. In the hierarchical fuzzy controller, there are six...
Automotive SBC system is a nonlinear time-varying and uncertain system, tire character changes in the scope of large, and vehicles model is uncertain, so it is difficult to establish the precise mathematical model for non-linear vehicle braking process. Based on the basis of model parameters gaining the estimated optimal slip rate, this paper presents using adaptive RBF neural network sliding mode...
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