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The availability of several Advanced Driver Assistance Systems has put a correspondingly large number of inexpensive, yet capable sensors on production vehicles. By combining this reality with expertise from the DARPA Grand and Urban Challenges in building autonomous driving platforms, we were able to design and develop an Autonomous Valet Parking (AVP) system on a 2006 Volkwagen Passat Wagon TDI...
Fully autonomous vehicles are technologically feasible with the current generation of hardware, as demonstrated by recent robot car competitions. Dresner and Stone proposed a new intersection control protocol called Autonomous Intersection Management (AIM) and showed that with autonomous vehicles it is possible to make intersection control much more efficient than the traditional control mechanisms...
In order to reduce accident at traffic intersections during day and night, the algorithm of traffic lights detection which is applied in a vehicle driver assistance system is designed by using the image processing technology. The system of traffic light detection includes three parts: a CCD camera, an image acquisition card, and a PC. Based on RGB color space, the algorithm extracts red, green, and...
The paper addresses the problem of evaluating AGVs with different degrees of autonomy by defining benchmark tools to grade the performance of each approach. Based on the proposed benchmark, different experiments have been performed from manual driving to autonomous navigation, at different velocities and a scenario containing wide and narrow corridors, small and large isles, rooms, slalom-like parts...
This paper considers the path planning problem for an autonomous vehicle in an urban environment populated with static obstacles and moving vehicles with uncertain intents. We propose a novel threat assessment module, consisting of an intention predictor and a threat assessor, which augments the host vehicle's path planner with a real-time threat value representing the risks posed by the estimated...
A quickly increasing number of advanced driver assistance systems are implemented in modern vehicles. Already today, this can lead to a mental overload of drivers, since every single system has its own control elements. In the future, innovative vehicle interaction concepts, with a global design philosophy, will be necessary. Conduct-by-Wire (CbW) is an approach to relieve drivers from stabilization...
A piezoelectric micro-dispenser cooling system was used to solve the overheating problem that inside vehicles caused by solar radiation in summer. High temperature could lead failure or damaging of electronics and mechanical appurtenances of vehicles and causes a hot driver seat. Thus, it is an important research project to use a minimal power to cool down the temperature of vehicles. Since the temperature...
Almost all modern cars can be controlled remotely using a personal communicator (keyfob). However, the degree of interaction between currently available personal communicators and cars is very limited. The communication link is unidirectional and the communication range is limited to a few dozen meters. However, there are many interesting applications that could be supported if a keyfob would be able...
Safety is the only way home. Broadcasting techniques have been applied widely to improve the traffic safety, especially pileup crash avoidance by sending the emergency messages to alert drivers; however, such application often suffers from the broadcast storm, hidden node, interference, and contention problem. In the paper a novel area-based broadcast protocol was proposed. Its relaying model running...
In this paper we describe a system that tracks vehicles from overhead video using a self-adaptive bank of Kalman filters. The system utilizes a bank of base-level reasoners that promote their own hypotheses about vehicle models and make predictions about future vehicle motion. By evaluating how well the base reasoners predictions are realized by the vehicles, metareasoning allows leading base reasoners...
This paper proposes novel high accuracy road condition estimation called Tire Grip Margin (TGM), and TGM is estimated by using dual pitman arm type steer-by-wire and lateral force sensor and estimator. In addition, we propose cornering stability control technique based on the TGM. It can help driver and vehicle before unstable state. We verify our proposed system achieves robust vehicle dynamics control...
Vehicle emission reduction has been a research objective for many years, by improving fuel economy and energy efficiency. Therefore, this paper presents a fuzzy logic controller for a Parallel Hybrid Electric Vehicle (PHEV). The PHEV required driving torque is generated by a combined contribution from an Internal Combustion Engine (ICE) and an Induction Motor (IM). The proposed Fuzzy Logic Controller...
This work presents an alternative sensorial system, including the minimal number of devices, to register the driver activity on the control pedals. As it is known, sensors directly related to pedals are difficult to implement and require specific calibration for each tested vehicle. On the contrary, the new proposal based on the measurement of regime engine, frontal inclination, linear acceleration...
The potential of applying search-based testing principles to functional testing has been demonstrated in various cases. The focus was mainly on simulating the system under test using a model or compiled source code in order to evaluate test cases. However, in many cases only the final hardware unit is available for testing. This research presents an approach in which evolutionary functional testing...
This paper presents an intelligent system to perform an erratic driving diagnosis. The proposed approach takes into account the analysis of the signals that could be acquired from modern on-board diagnostic systems (OBD-II), global positioning systems (GPS) and other localization sensors. Diagnosis of erratic driving could be essential to reduce accident rates, because of several applications that...
Non-recurring roadway traffic incidents are a part of everyday life that impedes normal traffic flow. One of the major challenges is to reroute traffic around incidents in order to maximize throughput. This often comes up when an incident occurs on a freeway and alternate routes need to be utilized on city and residential streets. Today's navigational devices can be used to find alternate routes based...
This paper proposes a new velocity guidance system with haptic HMI in the aim at realizing more ecological and smooth traffic by using information from Intelligent Transport Systems (ITS). The proposed system uses accelerator pedal reaction force as the information presentation device. The system consists of two elements mainly: the Desired Pedal Stroke Calculator (DPSC) and the Pedal Reaction Force...
The effects of Cooperative Adaptive Cruise Control (CACC) on traffic flow is an important issue as traffic flow stability, capacity and safety are concerned. In contrast to most research we focus on traffic flow stability. We use the Intelligent Driver Model and CACC algorithms to assess the effects. A recently field-tested and CACC-based advisory system is also evaluated as an intermediate solution...
A correct driving style can strongly affect the fuel consumption. This work proposes a method to quantify the driving style economy via inertial measurements. It presents a low-cost and vehicle-independent system for the acquisition of the variables related to the dynamics of a vehicle. Then it describes the signal processing and the algorithm which calculates the over-consumption of energy with respect...
Transportation is an important contributor to environmental problems like declining air quality. Current traffic measures seek to optimize travel times, but fall short on the ideal of an ecologically friendly traffic system. The European research project eCoMove aims to reduce the overall fuel consumption in traffic by 20 percent by means of energy efficient driving behavior and energy efficient traffic...
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