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In-vehicle smartphones contain rich information of driving and therefore can be utilized to establish driver behavior profile. The GPS data indicates the occurrence of driving events like gas-hit, brake-hit, turn-right, turn-left, and forward-driving. The inertial measurement unit (IMU) data, provides good estimations of vehicle lateral, longitudinal, and vertical accelerations and rotations. One...
Automotive safety systems aim to provide maximum protection to vehicle occupants and vulnerable road users. These safety features rely on data from surround sensors such as radar, lidar and camera, which provide detailed information about the environment of the vehicle. A minor error in the measurements of these sensors can lead to major injuries or death. Hence, the reliability and accuracy of these...
Searching parking spaces in urban cities has been a problem in development of intelligent transportation system for a long time. The existing methods usually require numerous sensors to collect vacancy information, and a central server shares and updates the real-time information on request. However, this sensor-based scheme often demands huge investment on infrastructure construction and maintenance...
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...
Cloud computing is gaining more and more popularity due to the wide use of the Internet. It can now be integrated into vehicle applications to enhance mobility, preventing accidents, improve safety, and improve driving comfort. In this paper, we propose a secure architecture of inter-vehicle communication which is obtained from a cloud services, including architecture level, communication level and...
This paper presents a smartphone based dangerous driving behavior detection method. This method is meaningful in applying in driver risk behavior monitoring system, vehicle safe driving system or Usage Based Insurance (UBI). A novel yaw angle detection algorithm is proposed only based on the measurements of low accuracy accelerometers and gyroscopes without any requirements of smartphone placement...
In this paper we present a novel two-camera-based accurate vehicle speed detection system. Two high-resolution cameras, with high-speed and narrow field of view, are mounted on a fixed pole. Using different focal lengths and orientations, each camera points to a different stretch of the road. Unlike standard average speed cameras, where the cameras are separated by several kilometers and the errors...
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...
Visible Light Communication (VLC) is a new emerging technology that is being proposed as a reliable and supportive choice for short range communications in ITS. On the same context, Laser Range Finders (LRF) sensors are used for the vehicular environment perception. Compared to VLC, LRF can provide more coverage range and extended viewing angle. To take the full advantages of both technologies features,...
This paper studies the stability of platoon of vehicles under different communication topologies based on the notion of input-to-state stability. Input-to-state stability (ISS) relates the effect of leaders' input on formation stability and provides an effective tool to study how the kinematics of interconnections of platoon members could affect the platoon stability.
Both safety and non-safety applications of vehicular networks rely on accurate position information. However, accurate localization of a vehicle in a global navigation satellite system (GNSS) denied environment is a challenging and still open research problem. The 802.11p dedicated short-range communication systems (DSRC), designed for vehicle-to-vehicle and vehicle-to-infrastructure communications,...
This paper presents an approach of human-vehicle cooperative navigation system as an implementation of Advanced Driving Assistance Systems (ADAS). The driver-in-the-loop system contains commands by a human driver, which are verified and corrected by the interactive navigation algorithm based on Image-based Dynamic Window Approach (IDWA). Several autonomous driving components are involved including...
The detection of lane layout in the surroundings of the ego-vehicle is a key issue for modern ADAS and autonomous driving. Most modern systems rely on annotated spatial maps to provide lane information. However, these maps are not available everywhere, and thus have to be often supported by direct detection systems (e.g. cameras, lasers). Such systems detect lane boundaries by directly observing lane...
Whatever type of distraction during the driving of a vehicle can compromise the safety of not the driver, but also of all drivers present on the highway. Using the mobile while driving is the greatest examples of this problem at a global level. In this regard, a system that helps the driver improve and keep up the attention on the road, could be a solution. This paper proposes a cooperative assistance...
A good level of situation awareness is critical for vehicle lane change decision making. In this paper, a Data-Driven Situation Awareness (DDSA) algorithm is proposed for vehicle environment perception and projection using machine learning algorithms in conjunction with the concept of multiple models. Firstly, unsupervised learning (i.e., Fuzzy C-Mean Clustering (FCM)) is drawn to categorize the drivers'...
Developing autonomous vehicles capable of dealing with complex and dynamic unstructured environments over large-scale distances, remains a challenging goal. One of the major difficulties in this objective is the precise localization of the vehicle within its environment so that autonomous navigation techniques can be employed. In this context, this paper presents a methodology to map building and...
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...
This study suggests real-time sensing system of elderly's crossing behavior at outdoor environments. In general, many researchers use a manual based techniques by video-recorded footage for detecting the behaviors. The detecting data are pedestrians' crossing times, speeds, trajectory data, step length, elderly pedestrians' crossing characteristics, and interaction with approaching vehicles, critical...
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,...
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