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This paper addresses the problem of controlling an electric powered wheelchair in dynamic, crowded areas. Navigating the vehicle effectively in such environmental conditions requires two issues to be considered: Relatively long term prediction of pedestrians' motion and an influence of the vehicle motion on the people behaviour in its vicinity. The purpose of this study is to develop a method that...
Humans react to their surroundings based on their evaluation of the environment sensed by their five physical senses. We refer to this as the recognition-evaluation-action (REA) cycle. On another front, autonomous personal vehicles base their evaluation of the surrounding environment on information obtained through their sensors. This cycle is called the action cycle. In this study, we aim to identify...
Point-shaped objects are a common landmark type for environment-based vehicle self-localization. In this paper, different ways to describe point-shaped landmarks for recognition are investigated: description by absolute position, by features or by constellation in a rigid group with other point-shaped landmarks. Points described by a point group can be associated independently of the prior vehicle...
Testing of advanced driver assistance systems demands a highly accurate representation of the vehicle's environment, e.g. obtained by laser scanner sensors. In contrast to typical on-line assistance functions, the purpose of generating reference data allows full batch processing of the raw sensor measurements. Therefore, object tracking algorithms can make use of both past and future measurement information...
Laser-based vehicle tracking is a key element of many environment perception systems for automated vehicles. Due to the high resolution of laser scanners and the presence of multiple vehicles as well as clutter, it constitutes a multiple extended object tracking problem. Finite-set-statistics-based filters have recently been a popular method for solving such problems. However, the standard multiple...
This paper proposes a novel object segmentation method for 3D Light Detection and Ranging (LIDAR) data that is particularly useful for the traffic scene analysis of self-driving vehicles. The novel method gains robustness against under-segmentation, i.e. the problem of assigning several objects to one segment, by jointly using geometrical features and motion field information to discriminate even...
Despite the fact that numerous studies have indicated that vehicular networks are vulnerable to external and internal attacks, very little effort has been expended in safeguarding communications both between elements within the vehicle and between the vehicle and the outside world. In this paper we present a mechanism that allows communications policy (essentially who can talk with whom and the security...
Within the last decade, we are witnessing the introduction of intelligent vehicles on our roadways. There is a similar need of intelligent transportation vehicles inside buildings such as airports or shopping malls. These intelligent vehicles can transfer elderly, disabled, or people with heavy luggage. This paper describes an intelligent vehicle that can autonomously transport people in indoor and...
This paper presents a detailed, systematic procedure for developing a Micro Aerial Vehicle (MAV), which is capable of autonomous flight in GPS-denied environments. This MAV is designed for a gross weight of 490 g and flight endurance of 8 minutes. The hardware structure (including the sensors, processors, and mechanical components), the software architecture (including operating system, navigation,...
× Nowadays, the dual clutch transmission is tending to be generalized because of the high yield of this kind of gearbox with sprockets. The dual clutch transmission also allows gear shifting without torque breaking. These kinds of transmissions are usually controlled in torque. To exploit all of the capacities of this technology in term of comfort and driving pleasure, accurate information of both...
This paper proposed a method to build knowledge from one and a half years of UK traffic data sets. The method used is the Fast Incremental Model Trees - Drift Detection (FIMT-DD) with an improvement on the perceptron rule. In order to predict a traditional data set, we first analyze the model. After we have analyzed the model, we then average it from different arrangements of the datasets. In a stream...
The number of connected devices — also known as Internet of Things (IoT) — is exponentially increasing. Such sensors and devices also appear in transportation systems giving some intelligence to roads, equipment and vehicles. Nowadays, it is possible to communicate with the environment in order to have better everyday services. Furthermore, the number of registered — public or private — Electric Vehicle...
The increasing growth of cities, the concurrent trend toward "smart" environments put the topic of mobility into the focus of information service developers. The increasing prevalence of smart devices allows an enhanced automated harvesting of data that can be processed to satisfy information needs of the actors within the mobility system thus, providing an environment for frequent interaction...
World Health Organization informed that traffic accidents potentially become the 5th leading cause of death if there is no effective way to restrict drunk driving. It is reported that 51 million people are injured or dead because of the traffic accidents every year. These traffic accidents lead to the expenditures of $500 billion dollars. Among these traffic accidents, drunk driving is one of the...
An automotive network needs to accumulate as much data as possible during motion to function in real-time, so that the system can respond to external influences accordingly. All kinds of situations regarding the state of the vehicle and its surroundings must be taken into account. To realize such a scenario many sensors, cameras and further input/output devices are essential to gather the required...
The development of software and machines capable of making ethical judgements is a topic of great interest with both the research communities and the public. Debates over the possibility and practicality of such systems have only intensified with the increased use of robotics in the military arena and the ubiquity of AI in commercial products. Modern innovations, such as the driverless car, will likely...
In this paper, we propose the spectrum and connectivity aware anchor-based routing protocol for cognitive radio vehicular ad hoc networks (CR-VANETs). The protocol has two modes: decision mode and forwarding mode. Decision is taken at the junctions to select the path which is highly connected and which has common idle channels between communicating vehicles. In forwarding mode, vehicles select the...
The introduction of cyber physical systems into production companies is highly changing working conditions and processes as well as business models. In practice a growing discrepancy between big and small respectively medium-sized companies can be observed. Bridging that gap a university smart factory is introduced to give that companies a platform to trial, educate employees and access consultancy...
Nowadays, vehicles have shown great potential in crowdsensing. To guarantee a good Quality of Service (QoS), stimulating enough vehicles to participate in crowdsensing is very necessary. In this paper, we focus on the incentive mechanism design in the vehicle-based nondeterministic crowdsensing. Different from existing works, we take into consideration that each vehicle performs sensing tasks along...
In order to account for robustness of Automotive safety applications, fusion of data from multiple sensors is of remarkable importance to know the position of road obstacles. Challenges arise in Multi Sensor Data Fusion (MSDF) due to sensor uncertainty, multiple occluding targets and clutter by changing weather conditions. The proposed architecture address the problem by fusing information cooperatively...
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