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Driver State Monitoring Systems (DSMS) play a crucial role in determining whether the driver is prepared to take control of the vehicle or not. In this paper we present a cost-efficient, context-aware system, based on smartphones, which supports the driver in the driving task. This is through monitoring the driver attention and drowsiness, in addition to detecting pedestrians and vehicles. The detection...
Energy efficiency in transportation is today an important issue in urban road traffic. In fact, energy prediction along a specified route in an urban road is necessary to reduce the energy consumption. In this paper, we present a dynamic and a modular method to estimate the energy consumption in real-time while driving. In the proposed model, we use internet of things concept to predict the energy...
To be able to predict the evolution of the driving context, estimate the expected risks and plan future behavior alternatives, it is crucial to know where traffic participants can go and where they will most likely go. Consequently, for future Advanced Driver Assistance Systems (ADAS), precise, lane-accurate localization of the ego- as well as the other vehicles is a key technology. The proposed standard...
This paper presents a thorough microscopic simulation investigation of a recently proposed methodology for highway traffic estimation in the presence of mixed traffic, i.e., traffic comprising both connected and conventional vehicles, which employs only average speed measurements stemming from connected vehicles and a limited number (sufficient to guarantee observability) of flow measurements from...
An extensive, precise and robust recognition and modeling of the environment is a key factor for next generations of Advanced Driver Assistance Systems and development of autonomous vehicles. In this paper, a real-time approach for the perception of multiple lanes on highways is proposed. Lane markings detected by camera systems and observations of other traffic participants provide the input data...
This article presents the implementation of an indoor localization approach that combines map matching and a circular particle filter defined in a Bayesian framework. The technique relies only on velocity and heading observations coupled with a map of the road network. No prior knowledge of the initial position is given. A circular distribution is used to match the vehicle's heading with the roads...
An Unscented Kalman Filter (UKF) to simultaneously estimate the navigation state of an Autonomous Underwater Vehicle (AUV) and the sea current, a priori unknown, is proposed. The filter is the result of a modification of an UKF developed in the past by the authors for the sole purpose of navigation state estimation. The new algorithm has been obtained by integrating the vehicle model with a contribution...
This paper proposes a novel object segmentation method for 3D Light Detection and Ranging (LIDAR) data that is particularly useful for the traffic scene analysis of self-driving vehicles. The novel method gains robustness against under-segmentation, i.e. the problem of assigning several objects to one segment, by jointly using geometrical features and motion field information to discriminate even...
× Nowadays, the dual clutch transmission is tending to be generalized because of the high yield of this kind of gearbox with sprockets. The dual clutch transmission also allows gear shifting without torque breaking. These kinds of transmissions are usually controlled in torque. To exploit all of the capacities of this technology in term of comfort and driving pleasure, accurate information of both...
An estimation framework is presented that improves the robustness of GPS-denied state estimation to changing environmental conditions by fusing updates from multiple view-based odometry algorithms. This allows the vehicle to utilize a suite of complementary exteroceptive sensors or sensing modalities. By estimating the vehicle states relative to a local coordinate frame collocated with an odometry...
Participatory sensing (PS) is an emerging socio-technological paradigm in which citizens voluntarily participate and contribute to a distributed information system using applications installed in their hand-held devices. It can be found in a number of real-life applications, viz. traffic monitoring, air/sound pollution, garbage monitoring, social networking, commodity pricing, and so on. In these...
Many Vehicular Ad Hoc Networks (VANETs) applications require the vehicle's location information to be available at anytime and anywhere within the network. Vehicle-to-vehicle (V2V) communication allows the exchange of mobility data, which includes position, speed and heading information, that can be used for location estimation. However, if the exchanged mobility data contains invalid or wrong information,...
Using probabilistic reasoning to model and perceive driving environments is a challenging problem due to both geometric and dynamic random natures. The occupancy grid system, providing an intermediate representation for complicated environments and having many beneficial implications (such as avoiding direct data association and more freedom in data fusion), has been increasingly becoming a popular...
In line with the advent of the Knowledge Age, logistic companies are harnessing the power of knowledge derived from raw data to perform Just-In-Time (JIT) delivery. However, the uncertainty involved in the estimation of future travel time and a lack of benchmarks designed with travel time as primary cost in mind hamper development towards an optimal logistics planning system. Given limitations on...
It is essential for vehicles acquiring one's own current position to navigate autonomously. Especially, vehicles usually do not clearly obtain GPS information at indoor environments. In order to localize itself, vehicles have to use absolute and relative measurement systems from surrounding environmental and its driving information. Absolute position information such as environmental structures and...
Grid map offers a useful representation of the perceived world for mobile robotics navigation. It will play a major role for the safety (obstacle avoidance) of next generations of terrestrial vehicles, as well as for future autonomous navigation systems. In a grid map, the occupancy state of each cell represents a small piece of information of the surrounding area of the vehicle. The state of each...
This paper presents a fast, joint spatial- and Doppler velocity-based, probabilistic approach for ego-motion estimation for single and multiple radar-equipped robots. The normal distribution transform is used for the fast and accurate position matching of consecutive radar detections. This registration technique is successfully applied to laser-based scan matching. To overcome discontinuities of the...
The vehicle-estimation problem is approached by fusing measurements from wheel encoders, an inertial measurement unit, and (optionally) a global positioning system in a Rao-Blackwellized particle filter. In total 14 states are estimated, including key variables in active safety systems, such as longitudinal velocity, roll angle, and wheel slip for all four wheels. The method only relies on kinematic...
This paper addresses the design, implementation and validation of a coordinated lateral and longitudinal dynamics control for a racing four-wheel driven RC vehicle. The coordination is achieved hierarchically: a wheel slip control loop stabilizes the fastest longitudinal dynamics, so that the outer lateral dynamics control can rely on non-saturated tires. Designing a wheel slip controller on a scale...
The increasing number of accidents worldwide has motivated the need to develop technologically sophisticated automobiles that provide improved vehicle handling, stability, comfort, fuel efficiency and safety. In automotive industry, current focus is on the development of active safety systems, which assist the driver in order to avoid critical situations. But, some key states which are valuable for...
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