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This paper proposes a novel estimation method using finite impulse response (FIR) filter for the vehicle roll and bank angles. A vehicle model was constructed using the bicycle model and roll motion model and has parameter uncertainties. The proposed method ensures robust to vehicle parameter uncertainties and has no risk of divergence. Furthermore, the proposed method does not need to use expensive...
Lane estimation plays a central role for Driver Assistance Systems, therefore many approaches have been proposed to measure its performance. However, no commonly agreed metric exists. In this work, we first present a detailed survey of the current measures. Most of them apply pixel-level benchmarks on camera images and require a time-consuming and fault-prone labeling process. Moreover, these metrics...
Within the context of road estimation, the present paper addresses the problem of the fusion of several sources with different reliabilities. Thereby, reliability represents a higher-level uncertainty. This problem arises in automated driving and ADAS due to changing environmental conditions, e.g., road type or visibility of lane markings. Thus, we present an online sensor reliability assessment and...
It is difficult for managers to do real-time traffic estimation under urban road network because of the incompletion of information collection and the complexity of road network. This paper will improve the precision of data expansion algorithm presented by Lederman R and Wynter L. (2011) using Kalman Filter during real-time estimation. Computation is composed of a heavyweight offline calibration...
Stixel-based segmentation is specifically designed towards obstacle detection which combines road surface estimation in traffic scenes, stixel calculations, and stixel clustering. Stixels are defined by observed height above road surface. Road surfaces (ground manifolds) are represented by using an occupancy grid map. Stixel-based segmentation may improve the accuracy of real-time obstacle detection,...
Traffic retention is an important factor of intelligent transportation system, which can vividly reflect current state of the road. Accurate estimation of traffic retention can provide support for the dynamic allocation of the traffic signal, thus alleviating the problem of urban traffic congestion. The traditional method can only estimate the long-term or red light traffic retention according to...
Map matching, as one of the key steps, is widely used in navigation, estimation of traffic flow, path planning, etc. With the emergency of large traffic track data, the demand for matching speed is becoming higher and higher. This paper describes a method of map matching based on grid index, which is used to quickly get the closest K candidate sections to improve the speed of map matching. When establishing...
The recent advances of compressive sensing (CS) have witnessed a great potential of traffic condition estimation in road networks. In this paper, we propose a traffic estimation approach that applies compressive sensing technique to achieve a city-scale traffic estimation with only a small number of vehicle probes. In particular, we construct a new type of random matrix for CS which can significantly...
Traversable region estimation is the fundamental enabler in autonomous navigation. In this paper, we propose a traversable region segmentation algorithm using stereo vision. We address this problem mainly in road scenes for the goal of autonomous driving. Using only geometry information, our approach has the advantages of effectiveness and robustness. The proposed approach is based on a cascaded framework...
In this paper, driver intention estimation near a road intersection is presented, using discrete hidden Markov models (HMM) and the Hybrid State System (HSS) framework as basis. The development of Advanced Driver Assistance Systems (ADAS) has assisted drivers in many driving scenarios and resulted in safe driving. Developing techniques to estimate driver's intention leads to the advancement of ADAS...
This paper proposes a lane estimation algorithm on roads where lanes are not visible due to fading or bad weather conditions. The proposed algorithm is conducted by utilizing the road width and remained lines on roads. The results indicate that the proposed algorithm can estimate lanes in heavy rains and nights.
In this article, a hypothesis about the suitable number of the Emergency medical stations (EMS) is pronounced. The hypothesis says, that addition or building another EMS station is meaningful only when the benefit does not fall below the average contribution which is calculated from the various options. To increase the availability of the intervention of the EMS, a larger number of the Emergency medical...
The paper presents a new method of vehicle speed estimation using image data processing. The presented method employs conversion of greyscale input images into binary form. Image conversion into binary form is based on small gradients in the input images. Contents of the obtained binary images correspond with traffic scenes presented in the input images. Vehicle speed is estimated on the basis of...
This paper proposes a method for a real-time classification of the absolute driving style using three levels of sportiveness: calm, normal and sporty. The algorithm is based on a physical gg-plot-based approach and on a novel manouvre detection algorithm. The method makes use of standard vehicle signals which can be also provided by an external IMU+GPS system. Experimental results show the effectiveness...
Electric Road Systems (ERS) are analysed here as a feasible solution for the electrification of heavy traffic, where the predominant approach for passenger cars based only on batteries and a network of fast-charging stations combined with slower overnight charging becomes unrealistic due to the large amount of batteries required. Nonetheless, this study shows that in most cases, building such ERS...
The paper presents a method to generate a large-scale 3D fundamental map from a running vehicle. To create an easy-to-use approach for frequent updates, we propose a system to utilize simultaneous localization and mapping (SLAM), which is robot mapping technology. In traditional methods, special machines or many manual operations cause higher mapping costs. The existing mobile mapping method (MMS)...
In the earlier work [1]-[2], an Intelligent Transportation System (ITS) was designed using cellular network, GPS probes and limited ITS infrastructure for real time vehicular speed estimation. The speed estimations have a certain amount of error and the estimation may not be available at all the times and locations. This paper assesses the utility of such traffic information in an Advanced Traveler...
The traffic monitoring system is an imperative tool for traffic analysis and transportation planning. In this paper, we present WiTraffic: the first WiFi-based traffic monitoring system. Compared with existing solutions, it is non-intrusive, cost- effective, and easy-to-deploy. Unique WiFi Channel State Information (CSI) patterns of passing vehicles are captured and analyzed to effectively perform...
In the development process of automotive chassis control system, it is difficult to estimate road parameters accurately. Based on vehicle force analysis and Dugoff tire model, the method of road friction coefficient estimation using BP neural network is proposed based on the motion states in the vehicle running process. Finally, the simulation of road friction coefficient estimation method is carried...
In this research, we look for the possible reduction in vehicle kilometers that can be obtained when a cooperation of delivery companies has the ability to suggest network improvements to the local government. Different network changes are considered in our research: re-opening existing roads for the vehicles of the cooperation, widening roads in the network or converting existing roads into a one-way...
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