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The electric/hybrid vehicle are promising technologies and practical for the transport and the environment. For energy management, the vehicle longitudinal dynamics used to estimate vehicle power demands depend on several parameters, including its mass and its rolling conditions. This study compared the methods of estimating the rolling resistance coefficient and mass to establish energy planning...
In this paper, a previously proposed pothole detection algorithm is improved in order to increase its performance in terms of speed and detection rate and to evaluate the performance. The algorithm was implemented for the TMS320C6678 SoC Digital Signal Processor (DSP). Potholes can be detected by comparing the disparity values of the scene to that of the disparity of the road surface if known. In...
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...
Recently, welfare vehicles are widely used by patients and elders indoors, and many welfare vehicles with free casters drive indoors. However, the vehicle with free casters may not be able to move well on gravel or dirty road as seen in rural yard. In order to expand driving area for welfare vehicles, it is necessary to apply a new mechanism on the rough road. To design compact welfare vehicles for...
In this paper, road roughness model for the right and the left tracks are constructed by utilizing two methods. In the first method, from time-domain measurements the empirical auto and cross-power spectral densities of the left and the right tracks are estimated by using the Welch method. Next, the road roughness is decomposed into three stochastically independent random processes and the linear-shape...
Road condition is changed in the vehicle motion, unknown parameter is required in real-time estimation. Considering the unknown parameters of the vehicle dynamic system, For the purpose of pursuing accuracy estimation of vehicle states, this paper propose two kinds of strategies to estimate the state and parameter simultaneously, the joint cubature kalman filter and the dual cubature kalman filter...
In this paper, we present road boundary estimation based on laser scanner by using histogram model. For raw laser scanner data, we apply histogram model, which means that the histogram of the number of laser point is applied from a center of ego-vehicle. After histogram is made, we estimate the boundary point and select point of road boundary. We estimate selected points to clothoid model and update...
Local vehicle density estimation is an integral part of various applications of Vehicular Ad-hoc Networks (VANETs) such as congestion control and congestion traffic estimation. Currently, many applications use beacons to estimate this density. However, many studies show that the reception rate of these beacons can significantly drop at short distances due to a broadcast storm problem in high-density...
The capability of automated vehicles with intelligent on-board systems aimed at improving traffic safety has been in constant advance. This paper proposes an integrated module of lane and vehicle detection for a forward collision warning system that can be embedded in an autonomous driving system operating in real time. Integration of lane and vehicle detection provides more precise information for...
During drive off maneuvers from stand still with high torque unpleasant longitudinal oscillations of the vehicle occur, commonly referred to as the power hop phenomenon. This effect especially arises in vehicles with manual transmission in a maneuver with abrupt release of the clutch, also known as snap start. Traction control on the engine control unit provides a cheap and easy way to reduce power...
This paper presents a positioning method through rasterization of MR (Measurement Report) data. MR data consists of numerous wireless information except longitude/latitude data. MR raster positioning method is used to calculate the relevant longitude/latitude information of MR data and group them into corresponding clusters. compared to conventional drive test and call quality test method, MR raster...
In classical Vehicle Routing Problem, algorithms are developed based on travel distance or travel time estimated from an assumed constant travel speed. However, in city logistics, due to a growing amount of traffic and a limited capacity of the road network, travel speed between two locations no longer remains a constant but location and time dependent. In this paper, we propose a framework to visualize...
Vehicular traffic congestion is a major problem all over the world with significant economic and environmental impact. Adapting traffic signal durations is one method to alleviate this problem and has the advantage that it does not require any significant changes to existing infrastructure such as traffic poles and roads. Reinforcement learning is suitable for adapting the traffic signal durations...
Detecting congestion in urban areas is critical and creates a myriad of complications. Intelligent Transportation Systems (ITS), which are trending in recent years, are used by researchers to engage problems related to congestion and transportation. However, due to the open access in urban area structures, it is less feasible to handle rife data that is generated from vehicles and infrastructure....
Automated riving is becoming the focus of various research institutions and companies. In this context, road estimation is one of the most important tasks. Many works propose to realize this task by employing one or multiple of the following orthogonal information sources: road markings from optical lane recognition, leading vehicle, digital map. etc. Each of them has its own strength and drawbacks...
Estimation of bus travel time is one of crucial issues for passengers to let them know their departure time and arrival time at the destination, and to reduce their waiting time at the bus stop. Furthermore, it can also help to promote the development of city public transportation. To estimate bus travel time, it is worth of knowing whether target routes for passenger's travel is unstable or not,...
In this paper, we aim at detecting vehicles from the point clouds scanned from the urban area. Our detection method consists of a segmentation stage and a classification stage. Prior knowledge for vehicles and urban environment is utilized to help the detection process. Specifically, we incorporate curb detection and removal in the segmentation stage. Moreover, our approach is able to estimate the...
Detecting roads using monocular vision is a very challenging task as the detection algorithm must be able to deal with complex real-road scenes. In this paper, we describe an algorithm for general path segmentation. There are three main technical contributions of the approach. First, a path segmentation framework is presented, which formulates road detection as a Bayesian posteriori estimation problem...
The link traffic time estimation for urban traffic is an important part of the route guidance system, it is a necessary condition to realize the multiple functions of intelligent transportation, which has important effect on traffic planning, traffic management and traffic control. From the perspective of the research content, this paper analyzes the studies of link travel time estimation of urban...
For the purpose of filtering road spectrum this paper proposed an adaptive Kalman filtering (AKF) algorithm based on accurate autoregressive (AR) model. The proposed AKF can overcome the disadvantages such as complicated computation process and poor real-time performance when applying normal AKF. The algorithm can implement AKF by adjusting gain matrix Kk on the base of innovation. The process of...
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