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Detection of non-motorized road users, such as cyclists and pedestrians, is a challenging problem in collision warning/collision avoidance (CW/CA) systems as direct information (e.g. location, speed, and class) cannot be obtained from such users. In this paper, we propose a fusion of LIDAR data and a deep learning-based computer vision algorithm, to substantially improve the detection of regions of...
In this paper, we aim to explore path following. We implement a path following component by referring to the existing Pure Pursuit algorithm. Using the simulation and field operational test, we identified the problem in the path following component. The main problems identified were with respect to vehicles meandering off the path, turning a corner, and the instability of steering control. Therefore,...
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...
Real-time obstacle detection is a key component of autonomous vehicles. In this context, low obstacles are particularly challenging, as they are often discarded by traditional algorithms. Curb detection methods that can potentially be suitable for the problem usually target roads with clearly defined curbs and sidewalks. We propose a real-time algorithm for the detection of low obstacles (including,...
Autonomous driving technology has made significant advances in recent years. In order for self-driving cars to become practical, they are required to operate safely and reliably even under adverse driving conditions. However, most current autonomous driving cars have only been shown to be operational under amiable weather conditions, i.e., on sunny days on dry roads. In order to enable autonomous...
The paper presents a solution for reducing road traffic emissions and particulate matter from non-electric (classic) vehicles in cities by sharing cooperative driving information. Vehicles are equipped with dynamics and GPS sensors. Ad-hoc vehicular networking (VANET) is used as media for communication. A specific algorithm is developed to collect anonymous information and suggest to drivers best...
In recent years, the concept of Internet of Vehicles (IoV) is becoming a hot research issue. However, too much and clutter information received by drivers through IoV may affect their driving attention. It is necessary to provide drivers effective guide and notification services according to time, locations and events. This study proposes a Message Queue Telemetry Transport (MQTT) based guide and...
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...
The paper proposes a method to make roads a safer place for driving by taking advantage of Internet of Things (IoT) enabled vehicles. The proposed method is based on assessing the trust levels of each vehicle and the behavioral patterns of the driver. Proposed method also utilizes a mobile agent(MA) which would help detecting Misbehaving nodes in the IoT enabled Vehicular Adhoc NETwork (VANET). The...
Vehicle accidents are growing extremely lack of control over the system during dark. The unexpected crossing of objects, animals or humans on the highways makes the driver make indecisive actions due to the loss of his cognition at that state, results in loss of control of the vehicle which causes accidents. Nowadays, sensor technology is moving forward to play several roles in order to serve various...
Smart Traffic management system (STMS) is a one of the important feature for smart city. Currently traffic management and alert systems are not fulling needs of STMS. It is more expensive and highly configurable to provide better service for traffic management. This paper proposes a low cost Real-Time smart traffic Management System to provide better service by deploying traffic indicators to update...
Collision warning and avoidance is a well-established area of research for the automotive industry. However, there is little research towards vitally important collision warning systems for cyclists, who are increasingly jeopardized by motorists on urban roads, especially as quiet, fast electric vehicles become more popular. This paper describes the hardware and software of a low-cost collision warning...
Positioning and timing subsystems are crucial components for cooperative and autonomous driving. Both during development and for validation and certification, it is crucial that advanced testing systems are available. To support the complete development life cycle, testing tools for hardware in the loop testing, open test track testing, and public road testing are required. This paper gives an overview...
This article presents a new methodology of enriching digital maps in order to reason upon the traffic sign compliance, of traffic participants. The Open Street Map (OSM) data is augmented with a new layer for road orientation and road intersections in order to support not only map matching, but also reasoning processes on the compliance to traffic regulations provided by traffic signs. In order to...
Fatal accidents occur frequently on low-volume rural roads, and the accident rates are up to 4 times higher at curves. It is thus of paramount importance to perform road inventory of rural roads to develop safety plans. However, most states in U.S. face a challenge to maintain a database for low-volume rural roads due to limited funds for road inventory. In this paper, we propose to significantly...
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....
The need of accurate and reliable positioning in various location-aware safety critical transportation applications is increasing day by day. The Global Positioning System (GPS) is not able to provide lane-level vehicle localization without the aid of differential corrections. It also suffers from signal outages in urban areas resulting in a complete loss of location information. Therefore, GPS independent...
Road surface conditions can cause serious traffic accidents, often with tragic consequences. Thus, an efficient system for mapping road anomalies can significantly promote the safety of drivers and pedestrians. This paper proposes a novel road anomaly mapping system that is able to detect a wide variety of conditions with high accuracy. The smartphone's accelerometer and GPS sensors are used for detection...
In this paper, we designed and implemented a fuzzy logic control-based digital controller for a four-wheel automobile model. The automobile model is directed by the two front wheels, and is driven by the two rear wheels. The automobile model is designed to complete its racing smoothly and quickly on the specified racing road. The road is in several kinds of shapes such as straight lines, arcs, s-curves,...
Driving needs the driver to be in a proper condition, aware enough of the road to ensure safety. Driving under the influence of alcohol has been one of the worst cause of traffic accidents worldwide. In this paper, we propose a novel system to detect the awareness of car drivers when driving, which is related to driving under alcohol (drunk driving). The system will be installed in Android smartphones...
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