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In this paper, a real-time laser based gap finding obstacle avoidance algorithm is presented. This algorithm layers on top of a global planner to maintain the overall goal of a given task. In the presence of an unknown obstacle, the algorithm computes a trajectory toward a gap that is wide enough and is closest to the path pre-planned by the global planner. In order to achieve this result, a four-stage...
Adaptive Cruise control (ACC) systems are nowadays used to increase safety in intelligent transportation systems. It exploits the advantages of various sensors for the acquisition and interpretation of the vehicles' environment. Sophisticated ACC functionalities, like collision avoidance on highways, require a high level of reliability and accuracy in the estimation of inter-vehicular distance. This...
Collision Avoidance has received serious attention in the automotive research area. There are two methodologies for collision avoidance systems: Sensor-based and ITS-based. The main goal of this work is to provide a comprehensive review of both sensor-based and ITS-based collision avoidance systems. A comparative analysis between these two methodologies and a description of possible future research...
In urban environments, detection of moving obstacles and free space determination are key issues for driving assistance systems or autonomous vehicles. This paper presents a lidar-based perception system for passenger-cars, able to do simultaneously mapping and moving obstacles detection. Nowadays, many lidars provide multi-layer and multi-echo measurements. A smart way to handle this multi-modality...
This paper presents an algorithm for obstacle classification and lane line identification using the laser range finder (LRF) sensors, which is used to warn the driver to watch the situation of environment when the obstacle appear in the front. The classification of detecting objects is essential to reduce the danger in traffic. Nevertheless, there may be a noise (or road surface) in far distance....
In this paper, a new type of autonomous vehicle is developed. This vehicle consists of three sets of control systems to regulate the direction, brake and fuels. The sensing system is a combination of laser radar and camera. The localization system is constructed with GPS device and electronically compass. Currently, three tasks, including lane detection and following, object detection, and obstacle...
A collision warning system utilizing haptic interface is expected to be more effective than an auditory as well as visual warning types. In order to reduce the number of the traffic accidents and their injuries, this paper proposes a forward vehicle collision warning system by using seat vibrotactile interface. At first, an investigation of the frequency for using as collision warning is shown. Comparing...
The robust and reliable detection of objects in the surrounding of a vehicle is an important prerequisite for collision avoidance and collision mitigation systems. In this paper, an ego-motion compensated tracking approach is presented which uses extended occupancy grid methods for both detection and tracking of objects observed by lidar. The approach is able to estimate the velocity and direction...
The Intelligent Transportation Institute at the University of Minnesota is developing a Cooperative Intersection Collision Avoidance System - Stop Sign Assist (CICAS-SSA) for rural intersections as an alternative to signalized intersections. When deployed, the system will provide a driver stopped at a thru-stop intersection information about the available gaps in the mainline road traffic stream....
This article addresses detection, association and tracking of coalescing objects in urban environment for autonomous navigation using multiple sensors. The stress is put on providing description of surroundings for the task of local navigation and collision avoidance. An Oriented Bounding Box representation is proposed for dynamic obstacles, as well as data association technique suitable for the used...
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