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Estimação de obstáculos e área de pista com pontos 3D esparsos; Estimation of obstacles and road area with sparse 3D points

Shinzato, Patrick Yuri
Fonte: Biblioteca Digitais de Teses e Dissertações da USP Publicador: Biblioteca Digitais de Teses e Dissertações da USP
Tipo: Tese de Doutorado Formato: application/pdf
Publicado em 26/03/2015 PT
Relevância na Pesquisa
36.14%
De acordo com a Organização Mundial da Saúde,cerca de 1,2milhões de pessoas no mundo morrem em acidentes de trânsito. Sistemas de assistência ao motorista e veículos autônomos podem diminuir o número de acidentes. Dentre as várias demandas existentes para viabilizar essa tecnologia, sistemas computacionais de percepção ainda permanecem sem uma solução definitiva. Dois deles, detecção de obstáculos e de via navegável, normalmente fazem uso de algoritmos sofisticados como técnicas de aprendizado supervisionado, que mostram resultados impressionantes quando treinados com bases de dados bem definidas e diversificadas.Entretanto, construir, manter e atualizar uma base de dados com exemplos de vários lugares do mundo e em diversas situações é trabalhoso e complexo. Assim, métodos adaptativos e auto-supervisionados mostram-se como boas alternativas para sistemas de detecção do futuro próximo. Neste contexto, esta tese apresenta um método para estimar obstáculose via navegável através de sensores de baixo custo (câmeras estereoscópicas), sem o uso de técnicas de aprendizado de máquina e de diversas suposições normalmente utilizadas por trabalhos já disponíveis na literatura. Esses métodos utilizando sensor estereoscópico foram comparados fazendo uso de sensores do tipo 3D-LIDAR e mostraram resultados semelhantes. Este sistema poderá ser usado como uma fase pré-processamento de dados para melhorar ou viabilizar métodos adaptativos de aprendizado.; World wide...

Desempenho de materiais piezoelétricos para aplicações rodoviárias; Performance of piezoelectric materials for road applications

Palha, C. A. F.
Fonte: Universidade do Minho Publicador: Universidade do Minho
Tipo: Trabalho de Conclusão de Curso
Publicado em //2012 POR
Relevância na Pesquisa
26.26%
Dissertação de mestrado integrado em Engenharia Civil; Com o desenvolvimento da tecnologia assiste-se hoje em dia ao aparecimento de máquinas inteligentes nas mais diversas áreas sendo exemplo no ramo automóvel as viaturas com sensores de forma a facilitar a vida ao condutor e ao mesmo tempo proporcionar conforto, segurança e poupança de energia. Também os pavimentos rodoviários não são exceção e cada vez mais as novas estradas são equipadas com sensores que permitem a sua constante monitorização para fins de conservação e segurança, como por exemplo as balanças para pesagem dos veículos e sensores de nevoeiro que alertam os condutores para condições deficientes de visibilidade. Deste modo, o objetivo essencial deste trabalho consiste na validação e aplicação de sensores que possam ser incorporados num pavimento de modo a conseguir aproveitar energia resultante da oscilação do pavimento aquando da passagem dos veículos assim como monitorizar variáveis relacionadas com a passagem de veículos pelas estradas. Para o efeito pretendeu-se: (1) estudar as características do pavimento, a nível de composição, construção e comportamento mecânico para que desta forma se consiga desenvolver um sensor que reúna características compatíveis com as do pavimento; (2) validar o comportamento em laboratório num equipamento que simula o comportamento mecânico de um pavimento quando solicitado por uma carga sinusoidal correspondente à sucessiva passagem dos veículos; (3) aplicar os sensores num pavimento rodoviário de uma estrada nacional com a necessária instrumentação auxiliar de modo a monitorizar a resposta do sensor durante a passagem do tráfego em condições reais. Na campanha experimental usaram-se dois tipos de materiais piezoelétricos...

Perception and intelligent localization for autonomous driving

Sequeira, Miguel da Rosa Carvalhal
Fonte: Universidade de Aveiro Publicador: Universidade de Aveiro
Tipo: Dissertação de Mestrado
ENG
Relevância na Pesquisa
25.93%
Visão por computador e fusão sensorial são temas relativamente recentes, no entanto largamente adoptados no desenvolvimento de robôs autónomos que exigem adaptabilidade ao seu ambiente envolvente. Esta dissertação foca-se numa abordagem a estes dois temas para alcançar percepção no contexto de condução autónoma. O uso de câmaras para atingir este fim é um processo bastante complexo. Ao contrário dos meios sensoriais clássicos que fornecem sempre o mesmo tipo de informação precisa e atingida de forma determinística, as sucessivas imagens adquiridas por uma câmara estão repletas da mais variada informação e toda esta ambígua e extremamente difícil de extrair. A utilização de câmaras como meio sensorial em robótica é o mais próximo que chegamos na semelhança com aquele que é o de maior importância no processo de percepção humana, o sistema de visão. Visão por computador é uma disciplina científica que engloba àreas como: processamento de sinal, inteligência artificial, matemática, teoria de controlo, neurobiologia e física. A plataforma de suporte ao estudo desenvolvido no âmbito desta dissertação é o ROTA (RObô Triciclo Autónomo) e todos os elementos que consistem o seu ambiente. No contexto deste...

Smart Roadside System for Driver Assistance and Safety Warnings: Framework and Applications

Jang, Jeong Ah; Kim, Hyun Suk; Cho, Han Byeog
Fonte: Molecular Diversity Preservation International (MDPI) Publicador: Molecular Diversity Preservation International (MDPI)
Tipo: Artigo de Revista Científica
Publicado em 25/07/2011 EN
Relevância na Pesquisa
16.03%
The use of newly emerging sensor technologies in traditional roadway systems can provide real-time traffic services to drivers through Telematics and Intelligent Transport Systems (ITSs). This paper introduces a smart roadside system that utilizes various sensors for driver assistance and traffic safety warnings. This paper shows two road application models for a smart roadside system and sensors: a red-light violation warning system for signalized intersections, and a speed advisory system for highways. Evaluation results for the two services are then shown using a micro-simulation method. In the given real-time applications for drivers, the framework and certain algorithms produce a very efficient solution with respect to the roadway type features and sensor type use.

An RFID-Based Intelligent Vehicle Speed Controller Using Active Traffic Signals

Pérez, Joshué; Seco, Fernando; Milanés, Vicente; Jiménez, Antonio; Díaz, Julio C.; de Pedro, Teresa
Fonte: Molecular Diversity Preservation International (MDPI) Publicador: Molecular Diversity Preservation International (MDPI)
Tipo: Artigo de Revista Científica
Publicado em 09/06/2010 EN
Relevância na Pesquisa
26.35%
These days, mass-produced vehicles benefit from research on Intelligent Transportation System (ITS). One prime example of ITS is vehicle Cruise Control (CC), which allows it to maintain a pre-defined reference speed, to economize on fuel or energy consumption, to avoid speeding fines, or to focus all of the driver’s attention on the steering of the vehicle. However, achieving efficient Cruise Control is not easy in roads or urban streets where sudden changes of the speed limit can happen, due to the presence of unexpected obstacles or maintenance work, causing, in inattentive drivers, traffic accidents. In this communication we present a new Infrastructure to Vehicles (I2V) communication and control system for intelligent speed control, which is based upon Radio Frequency Identification (RFID) technology for identification of traffic signals on the road, and high accuracy vehicle speed measurement with a Hall effect-based sensor. A fuzzy logic controller, based on sensor fusion of the information provided by the I2V infrastructure, allows the efficient adaptation of the speed of the vehicle to the circumstances of the road. The performance of the system is checked empirically, with promising results.

Design of a Multi-Sensor Cooperation Travel Environment Perception System for Autonomous Vehicle

Chen, Long; Li, Qingquan; Li, Ming; Zhang, Liang; Mao, Qingzhou
Fonte: Molecular Diversity Preservation International (MDPI) Publicador: Molecular Diversity Preservation International (MDPI)
Tipo: Artigo de Revista Científica
Publicado em 12/09/2012 EN
Relevância na Pesquisa
26.04%
This paper describes the environment perception system designed for intelligent vehicle SmartV-II, which won the 2010 Future Challenge. This system utilizes the cooperation of multiple lasers and cameras to realize several necessary functions of autonomous navigation: road curb detection, lane detection and traffic sign recognition. Multiple single scan lasers are integrated to detect the road curb based on Z-variance method. Vision based lane detection is realized by two scans method combining with image model. Haar-like feature based method is applied for traffic sign detection and SURF matching method is used for sign classification. The results of experiments validate the effectiveness of the proposed algorithms and the whole system.

Three Three-Axis IEPE Accelerometers on the Inner Liner of a Tire for Finding the Tire-Road Friction Potential Indicators †

Niskanen, Arto; Tuononen, Ari J.
Fonte: MDPI Publicador: MDPI
Tipo: Artigo de Revista Científica
Publicado em 05/08/2015 EN
Relevância na Pesquisa
26.11%
Direct tire-road contact friction estimation is essential for future autonomous cars and active safety systems. Friction estimation methods have been proposed earlier for driving conditions in the presence of a slip angle or slip ratio. However, the estimation of the friction from a freely-rolling tire is still an unsolved topic. Knowing the existing friction potential would be beneficial since vehicle control systems could be adjusted before any remarkable tire force has been produced. Since accelerometers are well-known and robust, and thus a promising sensor type for intelligent tires, this study uses three three-axis IEPE accelerometers on the inner liner of a tire to detect friction potential indicators on two equally smooth surfaces with different friction levels. The equal roughness was chosen for both surfaces in order to study the friction phenomena by neglecting the effect of surface texture on vibrations. The acceleration data before the contact is used to differentiate the two friction levels between the tire and the road. In addition, the contact lengths from the three accelerometers are used to validate the acceleration data. A method to differentiate the friction levels on the basis of the acceleration signal is also introduced.

Improving emergency messages transmission delay in road monitoring based WSNs

Brahmi, Imane Horiya; Djahel, Soufiene; Murphy, John
Fonte: IEEE Computer Society Publicador: IEEE Computer Society
Tipo: info:eu-repo/semantics/conferenceObject; all_ul_research; ul_published_reviewed
ENG
Relevância na Pesquisa
36.3%
peer-reviewed; The main wireless technology used for events sensing and data collection is wireless sensor devices. These sensors are mounted on vehicles or in the roadside to send data collected periodically or upon incident detection. In this latter case, ensuring low transmission delay from the detector sensor to WSNs gateway is a real challenge. Indeed, faster notification of the Traffic Management System (TMS) leads to more efficient reaction to the emergency situation. Thus, cars collision and human lives loss as well as road traffic jam will be mitigated. In this paper, we investigate the Medium Access Control (MAC) layer in WSNs to improve the real time data collection scheme. To this end, we propose an enhanced backoff selection scheme for IEEE 802.15.4 protocol to ensure fast transmission of the detected events on the road towards the TMS. The main feature of our scheme is its ability to assign a shorter waiting time for messages carrying critical information without changing the basic principle of the backoff mechanism. The obtained simulation results under various scenarios have proven the effectiveness of our scheme in terms of transmission delay reduction

Data fusion architecture for intelligent vehicles

García Fernández, Fernando
Fonte: Universidade Carlos III de Madrid Publicador: Universidade Carlos III de Madrid
Tipo: Tese de Doutorado Formato: application/pdf
ENG
Relevância na Pesquisa
36.64%
Traffic accidents are an important socio-economic problem. Every year, the cost in human lives and the economic consequences are inestimable. During the latest years, efforts to reduce or mitigate this problem have lead to a reduction in casualties. But, the death toll in road accidents is still a problem, which means that there is still much work to be done. Recent advances in information technology have lead to more complex applications, which have the ability to help or even substitute the driver in case of hazardous situations, allowing more secure and efficient driving. But these complex systems require more trustable and accurate sensing technology that allows detecting and identifying the surrounding environment as well as identifying the different objects and users. However, the sensing technology available nowadays is insufficient itself, and thus combining the different available technologies is mandatory in order to fulfill the exigent requirements of safety road applications. In this way, the limitations of every system are overcome. More dependable and reliable information can be thus obtained. These kinds of applications are called Data Fusion (DF) applications. The present document tries to provide a solution for the Data Fusion problem in the Intelligent Transport System (ITS) field by providing a set of techniques and algorithms that allow the combination of information from different sensors. By combining these sensors the basic performances of the classical approaches in ITS can be enhanced...

Context aided fusion procedure for road safety application

García, Fernando; Escalera, Arturo de la; Armingol, José M.; Jiménez, Felipe
Fonte: IEEE Publicador: IEEE
Tipo: info:eu-repo/semantics/acceptedVersion; info:eu-repo/semantics/conferenceObject Formato: application/pdf
Publicado em //2012 ENG
Relevância na Pesquisa
36.17%
Road safety applications require the most reliable and trustable sensors. Context information plays also a key role, adding trustability and allowing the study of the interactions and the danger inherent to them. Vehicle dynamics, dimensions... can be very useful to avoid misdetections when performing vehicle detection and tracking (fusion levels 0 and 1). Traffic safety information is mandatory for fusion levels 2 and 3 by evaluating the interactions and the danger involved in any detection. All this information is context information that was used in this application to enhance the capacity of the sensors, providing a complete and multilevel fusion application. Present application use three sensors: laser scanner, computer vision and inertial system, the information given by these sensors is completed with context information, providing reliable vehicle detection and danger evaluation. Test results are provided to check the usability of the detection algorithm.; This work was supported by the Spanish Government through the Cicyt projects FEDORA (GRANT TRA2010-20225-C03- 01), Driver Distraction Detector System (GRANT TRA2011-29454-C03-02). CAM through SEGVAUTO (S2009/DPI-1509).; Proceeding of: 2012 IEEE Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)...

Environment perception based on LIDAR sensors for real road applications

García, Fernando; Jiménez, Felipe; Naranjo, J.E.; Zato, J.G.; Aparicio, Francisco; Armingol, José M.; Escalera, Arturo de la
Fonte: Cambridge University Press Publicador: Cambridge University Press
Tipo: info:eu-repo/semantics/publishedVersion; info:eu-repo/semantics/article Formato: application/pdf
Publicado em /05/2012 ENG
Relevância na Pesquisa
36.3%
The recent developments in applications that have been designed to increase road safety require reliable and trustworthy sensors. Keeping this in mind, the most up-to-date research in the field of automotive technologies has shown that LIDARs are a very reliable sensor family. In this paper, a new approach to road obstacle classification is proposed and tested. Two different LIDAR sensors are compared by focusing on their main characteristics with respect to road applications. The viability of these sensors in real applications has been tested, where the results of this analysis are presented.The recent developments in applications that have been designed to increase road safety require reliable and trustworthy sensors. Keeping this in mind, the most up-to-date research in the field of automotive technologies has shown that LIDARs are a very reliable sensor family. In this paper, a new approach to road obstacle classification is proposed and tested. Two different LIDAR sensors are compared by focusing on their main characteristics with respect to road applications. The viability of these sensors in real applications has been tested, where the results of this analysis are presented.; The work reported in this paper has been partly funded by the Spanish Ministry of Science and Innovation (TRA2007- 67786-C02-01...

Context aided pedestrian detection for danger estimation based on laser scanner and computer vision

García, Fernando; García, Jesús; Ponz, Aurelio; Escalera, Arturo de la; Armingol, José M.
Fonte: Elsevier Publicador: Elsevier
Tipo: info:eu-repo/semantics/acceptedVersion; info:eu-repo/semantics/article
Publicado em /11/2014 ENG
Relevância na Pesquisa
16.3%
Road safety applications demand the most reliable sensor systems. In recent years, the advances in information technologies have led to more complex road safety applications able to cope with a high variety of situations. These applications have strong sensing requirements that a single sensor, with the available technology, cannot attain. Recent researches in Intelligent Transport Systems (ITS) try to overcome the limitations of the sensors by combining them. But not only sensor information is crucial to give a good and robust representation of the road environment; context information has a key role for reliable safety applications to provide reliable detection and complete situation assessment. This paper presents a novel approach for pedestrian detection using sensor fusion of laser scanner and computer vision. The application also takes advantage of context information, providing danger estimation for the pedestrians detected. Closing the loop, the danger estimation is later used, together with context information, as feedback to enhance the pedestrian detection process.; This work was supported by the Spanish Government through the Cicyt projects (GRANT TRA2010-20225-C03-01), (TEC2011-28626-C02-02) and (GRANT TRA 2011-29454-C03-02)...

Sistema de contagem de tráfego e classificação automática de veículos, em tempo real e sem fios

Ghislain, Pierre Michel Henri
Fonte: Instituto Politécnico de Lisboa Publicador: Instituto Politécnico de Lisboa
Tipo: Dissertação de Mestrado
Publicado em /11/2011 POR
Relevância na Pesquisa
56.48%
Esta tese tem por objectivo o desenho e avaliação de um sistema de contagem e classificação de veículos automóveis em tempo-real e sem fios. Pretende, também, ser uma alternativa aos actuais equipamentos, muito intrusivos nas vias rodoviárias. Esta tese inclui um estudo sobre as comunicações sem fios adequadas a uma rede de equipamentos sensores rodoviários, um estudo sobre a utilização do campo magnético como meio físico de detecção e contagem de veículos e um estudo sobre a autonomia energética dos equipamentos inseridos na via, com recurso, entre outros, à energia solar. O projecto realizado no âmbito desta tese incorpora, entre outros, a digitalização em tempo real da assinatura magnética deixada pela passagem de um veículo, no campo magnético da Terra, o respectivo envio para servidor via rádio e WAN, Wide Area Network, e o desenvolvimento de software tendo por base a pilha de protocolos ZigBee. Foram desenvolvidas aplicações para o equipamento sensor, para o coordenador, para o painel de controlo e para a biblioteca de Interface de um futuro servidor aplicacional. O software desenvolvido para o equipamento sensor incorpora ciclos de detecção e digitalização, com pausas de adormecimento de baixo consumo...

Sensor Systems for Vehicle Environment Perception in a Highway Intelligent Space System

Tang, Xiaofeng; Gao, Feng; Xu, Guoyan; Ding, Nenggen; Cai, Yao; Ma, Mingming; Liu, Jianxing
Fonte: Molecular Diversity Preservation International (MDPI) Publicador: Molecular Diversity Preservation International (MDPI)
Tipo: Artigo de Revista Científica
Publicado em 15/05/2014 EN
Relevância na Pesquisa
26.34%
A Highway Intelligent Space System (HISS) is proposed to study vehicle environment perception in this paper. The nature of HISS is that a space sensors system using laser, ultrasonic or radar sensors are installed in a highway environment and communication technology is used to realize the information exchange between the HISS server and vehicles, which provides vehicles with the surrounding road information. Considering the high-speed feature of vehicles on highways, when vehicles will be passing a road ahead that is prone to accidents, the vehicle driving state should be predicted to ensure drivers have road environment perception information in advance, thereby ensuring vehicle driving safety and stability. In order to verify the accuracy and feasibility of the HISS, a traditional vehicle-mounted sensor system for environment perception is used to obtain the relative driving state. Furthermore, an inter-vehicle dynamics model is built and model predictive control approach is used to predict the driving state in the following period. Finally, the simulation results shows that using the HISS for environment perception can arrive at the same results detected by a traditional vehicle-mounted sensors system. Meanwhile, we can further draw the conclusion that using HISS to realize vehicle environment perception can ensure system stability...

An Intelligent System to Detect, Avoid and Maintain Potholes: A Graph Theoretic Approach

Balakuntala, Shreyas; Venkatesh, Sandeep
Fonte: Universidade Cornell Publicador: Universidade Cornell
Tipo: Artigo de Revista Científica
Relevância na Pesquisa
26.11%
In this paper, we propose a conceptual framework where a centralized system, classifies the road based upon the level of damage. The centralized system also identifies the traffic intensity thereby prioritizing the roads that need quick action to be taken upon. Moreover, the system helps the driver to detect the level of damage to the road stretch and route the vehicle from an alternative path to its destination. The system sends a feedback to the concerned authorities for a quick response to the condition of the roads. The system we use comprises a laser sensor and pressure sensors in shock absorbers to detect and quantify the intensity of the pothole, a centralized server which maintains a database of locations of all the potholes which can be accessed by another unit inside the vehicle. A point to point connection device is also installed in vehicles so that, when a vehicle detects a pothole which is not in the database, all the vehicles within a range of 20 meters are warned about the pothole. The system computes a route with least number of potholes which is nearest to the desired destination . If the destination is unknown, then the system will check for potholes in the current road and displays the level of damage. The system is flexible enough that the destination can be added...

Rollover Preventive Force Synthesis at Active Suspensions in a Vehicle Performing a Severe Maneuver with Wheels Lifted off

Parida, Nigam Chandra; Raha, Soumyendu; Ramani, Anand
Fonte: Universidade Cornell Publicador: Universidade Cornell
Tipo: Artigo de Revista Científica
Publicado em 08/09/2013
Relevância na Pesquisa
16.15%
Among the intelligent safety technologies for road vehicles, active suspensions controlled by embedded computing elements for preventing rollover have received a lot of attention. The existing models for synthesizing and allocating forces in such suspensions are conservatively based on the constraint that no wheels lift off the ground. However, in practice, smart/active suspensions are more necessary in the situation where the wheels have just lifted off the ground. The difficulty in computing control in the last situation is that the problem requires satisfying disjunctive constraints on the dynamics. To the authors',knowledge, no efficient solution method is available for the simulation of dynamics with disjunctive constraints and thus hardware realizable and accurate force allocation in an active suspension tends to be a difficulty. In this work we give an algorithm for and simulate numerical solutions of the force allocation problem as an optimal control problem constrained by dynamics with disjunctive constraints. In particular we study the allocation and synthesis of time-dependent active suspension forces in terms of sensor output data in order to stabilize the roll motion of the road vehicle. An equivalent constraint in the form of a convex combination (hull) is proposed to satisfy the disjunctive constraints. The validated numerical simulations show that it is possible to allocate and synthesize control forces at the active suspensions from sensor output data such that the forces stabilize the roll moment of the vehicle with its wheels just lifted off the ground during arbitrary fish-hook maneuvers.

A Robust Lane Detection and Departure Warning System

Haloi, Mrinal; Jayagopi, Dinesh Babu
Fonte: Universidade Cornell Publicador: Universidade Cornell
Tipo: Artigo de Revista Científica
Publicado em 28/04/2015
Relevância na Pesquisa
16.04%
In this work, we have developed a robust lane detection and departure warning technique. Our system is based on single camera sensor. For lane detection a modified Inverse Perspective Mapping using only a few extrinsic camera parameters and illuminant Invariant techniques is used. Lane markings are represented using a combination of 2nd and 4th order steerable filters, robust to shadowing. Effect of shadowing and extra sun light are removed using Lab color space, and illuminant invariant representation. Lanes are assumed to be cubic curves and fitted using robust RANSAC. This method can reliably detect lanes of the road and its boundary. This method has been experimented in Indian road conditions under different challenging situations and the result obtained were very good. For lane departure angle an optical flow based method were used.; Comment: The Intelligent Vehicles Symposium (IV2015). arXiv admin note: text overlap with arXiv:1503.06648

Delay-Optimal Data Forwarding in Vehicular Sensor Networks

Choi, Okyoung; Kim, Seokhyun; Jeong, Jaeseong; Lee, Hyang-Won; Chong, Song
Fonte: Universidade Cornell Publicador: Universidade Cornell
Tipo: Artigo de Revista Científica
Publicado em 20/09/2012
Relevância na Pesquisa
26.03%
Vehicular Sensor Network (VSN) is emerging as a new solution for monitoring urban environments such as Intelligent Transportation Systems and air pollution. One of the crucial factors that determine the service quality of urban monitoring applications is the delivery delay of sensing data packets in the VSN. In this paper, we study the problem of routing data packets with minimum delay in the VSN, by exploiting i) vehicle traffic statistics, ii) anycast routing and iii) knowledge of future trajectories of vehicles such as buses. We first introduce a novel road network graph model that incorporates the three factors into the routing metric. We then characterize the packet delay on each edge as a function of the vehicle density, speed and the length of the edge. Based on the network model and delay function, we formulate the packet routing problem as a Markov Decision Process (MDP) and develop an optimal routing policy by solving the MDP. Evaluations using real vehicle traces in a city show that our routing policy significantly improves the delay performance compared to existing routing protocols.

Power-Steering Control Architecture for Automatic Driving

Naranjo, José E.; González, Carlos; García Rosa, Ricardo; Pedro, Teresa de; Haber Guerra, Rodolfo E.
Fonte: Institute of Electrical and Electronics Engineers Publicador: Institute of Electrical and Electronics Engineers
Tipo: Artículo Formato: 631171 bytes; application/pdf
ENG
Relevância na Pesquisa
26.06%
The Associate Editor for this paper was R. Goudy. The authors are with the Industrial Computer Science Department, Instituto de Automatica Industrial (CSIC), La Poveda-Arganda del Rey, 28500 Madrid.; The unmanned control of the steering wheel is, at present, one of the most important challenges facing researchers in autonomous vehicles within the field of intelligent transportation systems (ITSs). In this paper, we present a two-layer control architecture for automatically moving the steering wheel of a mass-produced vehicle. The first layer is designed to calculate the target position of the steering wheel at any time and is based on fuzzy logic. The second is a classic control layer that moves the steering bar by means of an actuator to achieve the position targeted by the first layer. Real-time kinematic differential global positioning system (RTK-DGPS) equipment is the main sensor input for positioning. It is accurate to about 1 cm and can finely locate the vehicle trajectory. The developed systems are installed on a Citroen Berlingo van, which is used as a testbed vehicle. Once this control architecture has been implemented, installed, and tuned, the resulting steering maneuvering is very similar to human driving, and the trajectory errors from the reference route are reduced to a minimum. The experimental results show that the combination of GPS and artificial-intelligence-based techniques behaves outstandingly. We can also draw other important conclusions regarding the design of a control system derived from human driving experience...

Driver Assistance: An Integration of Vehicle Monitoring and Control

Petersson, Lars; Apostoloff, Nicholas; Zelinsky, Alex
Fonte: Institute of Electrical and Electronics Engineers (IEEE Inc) Publicador: Institute of Electrical and Electronics Engineers (IEEE Inc)
Tipo: Conference paper
Relevância na Pesquisa
26.04%
1.17 million people die in road crashes around the world each year. It is estimated that up to 30% of these fatalities are caused by fatigue and inattention. There are systems able to detect what is happening outside of the car, e.g. lane tracking, obstacle detection, pedestrian detection etc. Further on, there are also means for monitoring the actions of the driver. A natural step is to fuse the available data from within and outside of the car, and suggest a suitable response. This paper discusses driver assistance systems, lists a set of necessary core competencies of such a system and in particular presents a system for force-feedback in the steering wheel when crossing lanes. The presented system utilises a robust lane tracker which is experimentally evaluated for the purpose of driver assistance. In addition, preliminary results from simultaneous driver monitoring and lane tracking are presented that indicates a good correlation between the two, i.e. the driver's gaze direction and the structure of the road. These data can in turn be used for more advanced driver assistance systems in the future.