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  • 期刊名称：

    Intelligent Transportation Systems, IEEE Transactions on

  • 中文名称： 智能交通系统，IEEE事务
  • 刊频：
  • ISSN： 1524-9050
  • 出版社： -
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  • 1.

    【24hr】Evaluation of ACC Vehicles in Mixed Traffic: Lane Change Effects and Sensitivity Analysis

    包量

    机译 混合交通中ACC车辆的评估：变道效果和灵敏度分析
    摘要：Almost every automobile company is producing vehicles with adaptive cruise control (ACC) system onboard that enables a vehicle to do automatic vehicle following in the longitudinal direction. The ACC system is designed for driver's comfort and safety and to operate with manually driven vehicles. These characteristics of ACC were found to have beneficial effects on the environment and traffic flow characteristics by acting as filters of a wide class of traffic disturbances. It has been argued that the smooth response of ACC vehicles to high-acceleration disturbances or large position errors creates large gaps between the ACC vehicle and the vehicle ahead inviting cut-ins and therefore generating additional disturbances that would not have been created if all vehicles had been manually driven. In this paper, we examine the effect of lane changes on the benefits suggested by Bose and loannou as well as the sensitivity of these benefits with respect to various variables such as the penetration of the ACC vehicles, level of traffic disturbances etc. We demonstrate, using theory, simulations, and experiments, that during lane changes, the smoothness of the ACC vehicle response attenuates the disturbances introduced by a cut-in or an exiting vehicle in a way that is beneficial to the environment when compared with similar situations where all vehicles are manually driven. We concluded that a higher number of possible cut-ins that may occur due to the larger gaps created during high-acceleration maneuvers by the vehicle in front of the ACC vehicle, will not annul the benefits obtained in the absence of such cut-ins when compared with the situation of similar maneuvers but with no cut-ins in the case of 100% manually driven vehicles.
  • 2.

    【24hr】Framework for Real-Time Behavior Interpretation From Traffic Video

    包量

    机译 交通视频实时行为解释框架
    摘要：Video-based surveillance systems have a wide range of applications for traffic monitoring, as they provide more information as compared to other sensors. In this paper, we present a rule-based framework for behavior and activity detection in traffic videos obtained from stationary video cameras. Moving targets are segmented from the images and tracked in real time. These are classified into different categories using a novel Bayesian network approach, which makes use of image features and image-sequence-based tracking results for robust classification. Tracking and classification results are used in a programmed context to analyze behavior. For behavior recognition, two types of interactions have mainly been considered. One is interaction between two or more mobile targets in the field of view (FoV) of the camera. The other is interaction between targets and stationary objects in the environment. The framework is based on two types of a priori information: 1) the contextual information of the camera's FoV, in terms of the different stationary objects in the scene and 2) sets of predefined behavior scenarios, which need to be analyzed in different contexts. The system can recognize behavior from videos and give a lexical output of the detected behavior. It also is capable of handling uncertainties that arise due to errors in visual signal processing. We demonstrate successful behavior recognition results for pedestrian-vehicle interaction and vehicle-checkpost interactions.
  • 3.

    【24hr】A new automatic extraction method of container identity codes

    包量

    机译 一种自动提取集装箱识别码的新方法
    摘要：An automatic extraction method of container identity codes based on template matching is proposed. With different kinds of noises on the image, the container code can hardly be extracted. Initially, the container image is filtered with both adaptive linear and nonlinear filters in order to reduce noise so that the candidate text lines can be properly located. Then, a series of standard templates has been brought forward according to the standard align modes of the container identification (ID) codes. Finally, the align mode of each candidate text line is obtained and then matched with those standard templates and the container ID codes can be extracted automatically. Results show that this method can segment the container ID codes with high performance.
  • 4.

    【24hr】A Stimulus-Response Model of Day-to-Day Network Dynamics

    包量

    机译 日常网络动力学的刺激响应模型
    摘要：A general structure of stimulus-response formula is presented to specify the interacted network dynamics under the assumption of a daily learning and adaptive travel behavior. By taking the time derivative of system variable as a response term, the evolution is formulated as a dynamic system. Issues of existence, uniqueness, and stability for the proposed differential equations are briefly discussed. Approximation of a time-varying route-choice model is derived from the addressed path-flow dynamics. Threshold effects on path-flow dynamics are encapsulated into the proposed general structure by incorporating a discontinuous stimulus term. Then, the quasi user equilibrium is achieved when all users feel indifferent between the experienced and predicted travel time provided by intelligent transportation systems, i.e., the whole system dynamics stay within a bounded range. The derived quasi user equilibrium is reduced to Wardrop's user equilibrium as the threshold effects of path-flow dynamics vanish.
  • 5.

    【24hr】Traffic-incident detection-algorithm based on nonparametric regression

    包量

    机译 基于非参数回归的交通事件检测算法
    摘要：This paper proposes an improved nonparametric regression (INPR) algorithm for forecasting traffic flows and its application in automatic detection of traffic incidents. The INPRA is constructed based on the searching method of nearest neighbors for a traffic-state vector and its main advantage lies in forecasting through possible trends of traffic flows, instead of just current traffic states, as commonly used in previous forecasting algorithms. Various simulation results have indicated the viability and effectiveness of the proposed new algorithm. Several performance tests have been conducted using actual traffic data sets and results demonstrate that INPRs average absolute forecast errors, average relative forecast errors, and average computing times are the smallest comparing with other forecasting algorithms.
  • 6.

    【24hr】Motion Generation and Adaptive Control Method of Automated Guided Vehicles in Road Following

    包量

    机译 自动制导车辆在道路跟随中的运动产生与自适应控制方法
    摘要：Dynamics of automated guided vehicles (AGVs) are described by a nonlinear nonholonomic model with two inputs: the rear axle torque and the steering angle torque. This model uses integrated longitudinal and lateral behavior. The first part of this paper is concerned with motion generation, taking into account kinodynamics and motor's constraints. Usual kinematics constraints are not always sufficient to provide feasible trajectories; thus, we focus on velocity limitation and the motor's current and slew rate constraints. Optimal velocity is determined for AGVs along a specified path with a known curvature. The main result, concerns the realistic situation when the parameters of the model describing the movement of the vehicle are not well known. A nonlinear strategy is proposed to ensure control of the vehicle even if the knowledge of the AGVs constant parameters is not perfect. The proof of the main result is based on the Lyapunov concept and the proposed results are illustrated by simulations and some comments.
  • 7.

    【24hr】Pedestrian Detection and Tracking With Night Vision

    包量

    机译 夜视行人检测和跟踪
    摘要：This paper presents a method for pedestrian detection and tracking using a single night-vision video camera installed on the vehicle. To deal with the nonrigid nature of human appearance on the road, a two-step detection/tracking method is proposed. The detection phase is performed by a support vector machine (SVM) with size-normalized pedestrian candidates and the tracking phase is a combination of Kalman filter prediction and mean shift tracking. The detection phase is further strengthened by information obtained by a road-detection module that provides key information for pedestrian validation. Experimental comparisons (e.g., grayscale SVM recognition versus binary SVM recognition and entire-body detection versus upper-body detection) have been carried out to illustrate the feasibility of our approach.
  • 8.

    【24hr】Advanced Traveler Information System for Hyderabad City

    包量

    机译 海得拉巴市高级旅行者信息系统
    摘要：The advanced traveler information system (ATIS) is a type of intelligent transportation system application areas that implements emerging computer, communication, and information technologies to provide vital information to the users of a system regarding traffic regulation, route and location guidance, hazardous situations and safety advisory, and warning messages. ATIS requires a large amount of data for processing, analysis, and storage for effective dissemination of traveler information to users. A geographical information system (GIS) allows large data to be effectively processed, stored, analyzed, logically associated, and graphical displayed. Thus, GIS-based ATIS provides a convenient and powerful tool for storage and graphical representation of information, which can be useful users. Further, by availing the powerful GIS functionalities, a user can conceive a problem and allow the appropriate software to assist him in the decision-making process regarding optimum route selection and trip planning. In this paper, the authors present a GIS-based ATIS for Hyderabad City, India. Development of this GIS-based ATIS has been carried under the Arc View GIS environment. This user-friendly system provides comprehensive information about Hyderabad City, such as road networks, hospitals, government and private offices, stadiums, bus and railway stations, and tourist places within the city limits. This system can be used effectively in bus stations, railway stations, airports, and tourist information centers, as well as in personal computers to provide information to travelers and to facilitate travel.
  • 9.

    【24hr】Optimal Coordination of Variable Speed Limits to Suppress Shock Waves

    包量

    机译 变速极限的最佳协调以抑制冲击波
    摘要：When freeway traffic is dense, shock waves may appear. These shock waves result in longer travel times and in sudden large variations in the speeds of the vehicles, which could lead to unsafe situations. Dynamic speed limits can be used to eliminate or at least to reduce the effects of shock waves. However, coordination of the variable speed limits is necessary in order to prevent the occurrence of new shock waves and/or a negative impact on the traffic flows in other locations. In this paper, we present a model predictive control approach to optimally coordinate variable speed limits for freeway traffic with the aim of suppressing shock waves. First, we optimize continuous valued speed limits, such that the total travel time is minimal. Next, we include a safety constraint that prevents drivers from encountering speed limit drops larger than, e.g., 10 km/h. Furthermore, to get a better correspondence between the computed and applied control signals, we also consider discrete speed limits. We illustrate our approach with a benchmark problem.
  • 10.

    【24hr】Multilevel- and Neural-Network-Based Stereo-Matching Method for Real-Time Obstacle Detection Using Linear Cameras

    包量

    机译 基于多级和神经网络的立体匹配的线性摄像机实时障碍物检测方法
    • 作者：Yassine Ruichek;
    • 刊名：IEEE Transactions on Intelligent Transportation Systems
    • 2005年第1期
    摘要：The focus of this paper is on real-time obstacle detection using linear stereo vision. This paper presents a multilevel neural method for matching edges extracted from stereo linear images. The method described performs edge stereo matching at different levels with a neural-network-based procedure. At each level, the process starts by selecting, in the left and right linear images the most significant edges, i.e., those with the largest gradient magnitudes. The selected edges are then matched and the obtained pairs are used as reference pairs for matching less significant edges in the next level. In each level, the matching problem is formulated as an optimization task in which an objective function, representing the constraints on the solution, is minimized thanks to a Hopfield neural network.
  • 11.

    【24hr】Geometric Travel Planning

    包量

    机译 几何旅行计划
    摘要：This paper provides a novel approach for optimal route planning by making efficient use of the underlying geometrical structure. It combines classical artificial intelligence exploration with computational geometry. Given a set of global positioning system (GPS) trajectories, the input is refined by geometric filtering and rounding algorithms. For constructing the graph and the according point-localization structure, fast scan line and divide-and-conquer algorithms are applied. For speeding up the optimal online search algorithms, the geometrical structure of the inferred weighted graph is exploited in two ways; it is compressed while retaining the original information for unfolding resulting shortest paths and is then annotated by lower bounds and refined topographic information (for example, by the bounding boxes of all shortest paths that start with a given edge). Traffic disturbances can result in an increase in travel time for the affected area that, in turn, can affect the precomputed information. This paper discusses two models of introducing dynamics in a navigation system. The online planning system GPS-ROUTE implements the above techniques and provides a client-server web interface to answer a series of shortest-path or shortest-time queries.
  • 12.

    【24hr】Tracking Trains via Radio Frequency Systems

    包量

    机译 通过射频系统跟踪火车
    摘要：The technological evolution which occurred in digital systems favored the appearance of new services to be applied in railways. Radio communications played an important role in the management, exploration, and maintenance of railway transports. Due to the vital importance of security, the track-to-train communications system is studied in depth, with significant changes through the integration in its operation of the global system for mobile communication and global positioning systems. This paper presents an integrated system that simultaneously includes a radio communication system and a location solution. The proposed network will work as a redundant and also as a unique system for secondary lines where no other system is available. Moreover, the paper also presents a low-budget system to track the trains inside tunnels.
  • 13.

    【24hr】Range Policy of Adaptive Cruise Control Vehicles for Improved Flow Stability and String Stability

    包量

    机译 自适应巡航控制车辆的射程策略，可提高流量稳定性和弦稳定性
    • 作者：Jing Zhou;Huei Peng;
    • 刊名：IEEE Transactions on Intelligent Transportation Systems
    • 2005年第2期
    摘要：A methodology to design the range policy of adaptive cruise control vehicles and its companion servoloop control algorithm is presented in this paper. A nonlinear range policy for improved traffic flow stability and string stability is proposed and its performance is compared against the constant time headway policy, the range policy employed by human drivers, and the Greenshields policy. The proposed range policy is obtained through an optimization procedure with traffic flow and stability constraints. A complementary controller is then designed based on the sliding mode technique. Microscopic simulation results show that stable traffic flow is achieved by the proposed method up to a significantly higher traffic density.
  • 14.

    【24hr】Real-Time Freeway Level of Service Using Inductive-Signature-Based Vehicle Reidentification System

    包量

    机译 基于归纳签名的车辆重新识别系统的实时高速公路服务水平
    摘要：The Highway Capacity Manual provides a method for determining the level of service (LOS) on freeways to evaluate freeway performance. Apart from being essentially an off-line decision support tool for planning and design, it is also based on point measurements from loop detectors, which may not provide an accurate assessment of freeway section performance. In order to meet user requirements of advanced traffic management and information systems, new LOS criteria based on section measures are required for real-time freeway analysis. The main aim of this research was to demonstrate a technique for development of such LOS criteria. The study uses a new measure of effectiveness, called reidentified median section speed (RMSS), derived from analysis of inductive vehicle signatures and reidentification of vehicles traveling through a major section of freeway in the City of Irvine, CA. Two main issues regarding real-time LOS criteria were addressed. The first was how to determine the threshold values partitioning the LOS categories. To provide reliable real-time traffic information, the threshold values should be decided such that RMSSs within the same LOS category represent similar traffic conditions as much as possible. In addition, RMSSs in different LOS categories should represent dissimilar traffic conditions. The second issue concerned the aggregation interval to use for deriving LOS categories. Two clustering techniques were then employed to derive LOS categories, namely, k-means and fuzzy approaches. Wilk's Lambda analysis and LOS stability analysis were-performed to design new LOS criteria. Six LOS categories defined in terms of RMSS over a fixed 240-s interval were identified as the best solution to meet two major considerations described above. The procedures used in this study are readily transferable to other similarly equipped freeway sections for the derivation of realtime LOS.
  • 15.

    【24hr】On-Road Vehicle Detection Using Evolutionary Gabor Filter Optimization

    包量

    机译 基于进化Gabor滤波器优化的道路车辆检测
    摘要：Robust and reliable vehicle detection from images acquired by a moving vehicle is an important problem with numerous applications including driver assistance systems and self-guided vehicles. Our focus in this paper is on improving the performance of on-road vehicle detection by employing a set of Gabor filters specifically optimized for the task of vehicle detection. This is essentially a kind of feature selection, a critical issue when designing any pattern classification system. Specifically, we propose a systematic and general evolutionary Gabor filter optimization (EGFO) approach for optimizing the parameters of a set of Gabor filters in the context of vehicle detection. The objective is to build a set of filters that are capable of responding stronger to features present in vehicles than to nonvehicles, therefore improving class discrimination. The EGFO approach unifies filter design with filter selection by integrating genetic algorithms (GAs) with an incremental clustering approach. Filter design is performed using GAs, a global optimization approach that encodes the Gabor filter parameters in a chromosome and uses genetic operators to optimize them. Filter selection is performed by grouping filters having similar characteristics in the parameter space using an incremental clustering approach. This step eliminates redundant filters, yielding a more compact optimized set of filters. The resulting filters have been evaluated using an application-oriented fitness criterion based on support vector machines. We have tested the proposed framework on real data collected in Dearborn, MI, in summer and fall 2001, using Ford's proprietary low-light camera.
  • 16.

    【24hr】Receding Horizon Control for Aircraft Arrival Sequencing and Scheduling

    包量

    机译 飞机进场排序与调度的后视控制
    摘要：Airports, especially busy hub airports, proved to be the bottleneck resources in the air traffic control system. How to carry out arrival scheduling and sequencing effectively and efficiently is one of main concerns to improve the safety, capacity, and efficiency of the airports. This paper introduces the concept of receding horizon control (RHC) to the problem of arrival scheduling and sequencing in a dynamic environment. The potential benefits RHC could bring in terms of airborne delay and computational burden are investigated by means of Monte Carlo simulations. It is pointed out that while achieving similar performance as existing schemes, the new arrival scheduling and sequencing scheme significantly reduces the computational burden and provides potential for developing new optimization algorithms for further reducing airborne delay.
  • 17.

    【24hr】Acoustic Signal Processing to Diagnose Transiting Electric Trains

    包量

    机译 声信号处理以诊断过境电动火车
    摘要：This paper deals with a method based on vibroacoustic techniques to diagnose electric trains and other important railway components. The proposed method can detect the following main subsystems: pantographs, electrical contact lines, rails, bogies, wheels, etc. Signal-processing techniques are thoroughly'. applied to acoustic vibrations that are directly acquired on the field when the train is transiting. Signals are picked up, processed, and stored by acquisition systems installed along the railway on structures jointed to the soil. The processed data can be sent to a remote dedicated diagnostic center to get continuous monitoring and supervision of the railway system. The received diagnostic information can be conveniently used to improve safety, to schedule a correct maintenance, and to reduce costs. The results of the experimental tests conducted to validate the method during an extensive measurement program are reported and commented.
  • 18.

    【24hr】Detecting Stress During Real-World Driving Tasks Using Physiological Sensors

    包量

    机译 使用生理传感器检测现实驾驶任务中的压力
    摘要：This paper presents methods for collecting and analyzing physiological data during real-world driving tasks to determine a driver's relative stress level. Electrocardiogram, electromyogram, skin conductance, and respiration were recorded continuously while drivers followed a set route through open roads in the greater Boston area. Data from 24 drives of at least 50-min duration were collected for analysis. The data were analyzed in two ways. Analysis I used features from 5-min intervals of data during the rest, highway, and city driving conditions to distinguish three levels of driver stress with an accuracy of over 97% across multiple drivers and driving days. Analysis II compared continuous features, calculated lit 1-s intervals throughout the entire drive, with a metric of observable stressors created by independent coders from videotapes. The results show that for most drivers studied, skin conductivity and heart rate metrics are most closely correlated with driver stress level. These findings indicate that physiological signals can provide a metric of driver stress in future cars capable of physiological monitoring. Such a metric could be used to help manage noncritical in-vehicle information systems and could also provide a continuous measure of how different road and traffic conditions affect drivers.
  • 19.

    【24hr】Optimal Vehicle Routing With Real-Time Traffic Information

    包量

    机译 具有实时交通信息的最佳车辆路线
    摘要：This paper examines the value of real-time traffic information to optimal vehicle routing in a nonstationary stochastic network. We present a systematic approach to aid in the implementation of transportation systems integrated with real-time information technology. We develop decision-making procedures for determining the optimal driver attendance tune, optimal departure times, and optimal routing policies under time-varying traffic flows based on a Markov decision process formulation. With a numerical study carried out on an urban road network in Southeast Michigan, we demonstrate significant advantages when using this information in terms of total cost savings and vehicle usage reduction while satisfying or improving service levels for just-in-time delivery.
  • 20.

    【24hr】Development and Field Test of a Laser-Based Nonintrusive Detection System for Identification of Vehicles on the Highway

    包量

    机译 基于激光的非侵入式公路车辆识别系统的开发与现场测试
    摘要：A real-time laser-based nonintrusive detection system has been developed for the measurement of true travel time of vehicles on the highway. The detection system uses a laser line that is projected onto the ground as a probe. The reflected light is collected and focused into a photodiode array by an optical system. Vehicle presence is detected based on the absence of reflected laser light. By placing two identical laser/sensor pairs at a known distance apart, the speeds of both the front and rear of a vehicle are measured based on the times when each sensor is triggered. The length of each vehicle is determined by using these spaced measurements and the residence time of the vehicle under each sensor. Using real-time software, the speed, acceleration, and length of a detected vehicle can be calculated and displayed simultaneously. A new prototype system has been tested on the highway with different types of vehicles and scenarios, and the results are presented here. The tests have also been carried out for different weather conditions and road materials. The results indicate that the laser system operates well under real highway conditions.
  • 21.

    【24hr】Detection of Loitering Individuals in Public Transportation Areas

    包量

    机译 在公共交通区域中发现游荡人员
    摘要：This paper presents a vision-based method to automatically detect individuals loitering about inner-city bus stops. Using a stationary camera view of a bus stop, pedestrians are segmented and tracked throughout the scene. The system takes snapshots of individuals when a clean, nonobstructed view of a pedestrian is found. The snapshots are then used to classify the individual images into a database, using an appearance-based method. The features used to correlate individual images are based on short-term biometrics, which are changeable but stay valid for short periods of time; this system uses clothing color. A linear discriminant method is applied to the color information to enhance the differences and minimize similarities between the different individuals in the feature space. To determine if a given individual is loitering, time stamps collected with the snapshots in their corresponding database class can be used to judge how long an individual has been present. An experiment was performed using a 30-min video of a busy bus stop with six individuals loitering about it Results show that the system successfully classifies images of all six individuals as loitering.
  • 22.

    【24hr】An Expectation-Maximization-Based Interacting Multiple Model Approach for Cooperative Driving Systems

    包量

    机译 基于期望最大化的协同驾驶系统交互多模型方法
    摘要：In this paper, we present a novel combined sensor registration and fusion approach for cooperative driving in intelligent transportation systems (ITSs). A realistic augmented registration and fusion-state space model in three dimensions is first developed for dissimilar sensors. In order to have unbiased sensor registration parameter estimates, the expectation-maximization (EM) algorithm is incorporated with the extended Kalman filter (EKF) to give simultaneous state and parameter estimates. Furthermore, the interacting multiple model (IMM) filter is introduced here for collaborative driving in order to deal with the jumping model problem occurred in different vehicles driving status. To evaluate the registration and fusion performance, a new recursive relationship is derived theoretically for computing the posterior Cramer-Rao bound (PCRB). It is shown by simulation that the proposed EM-IMM-EKF method has a more robust estimation performance than the conventional approach. The performance is furthermore verified by comparing the mean square error with the PCRB.
  • 23.

    【24hr】Reliable Method for Driving Events Recognition

    包量

    机译 驾驶事件识别的可靠方法
    • 作者：Dejan Mitrovic;
    • 刊名：IEEE Transactions on Intelligent Transportation Systems
    • 2005年第2期
    摘要：Motor vehicles greatly influence human life but are also a major cause of death and road congestion, which is an obstacle to future economic development. We believe that by learning driving patterns, useful navigation support can be provided for drivers. In this paper, we present a simple and reliable method for the recognition of driving events using hidden Markov models (HMMs), popular stochastic tools for studying time series data. A data acquisition system was used to collect longitudinal and lateral acceleration and speed data from a real vehicle in a normal driving environment. Data were filtered, normalized, segmented, and quantified to obtain the symbolic representation necessary for use with discrete HMMs. Observation sequences for training and evaluation were manually selected and classified as events of a particular type. An appropriate model size was selected, and the model was trained for each type of driving events. Observation sequences from the training set were evaluated by multiple models, and the highest probability decides what kind of driving event this sequence represents. The recognition results showed that HMMs could recognize driving events very accurately and reliably.
  • 24.

    【24hr】Comparative Evaluation of Microscopic Car-Following Behavior

    包量

    机译 微观跟车行为的比较评价
    摘要：Microscopic traffic-simulation tools are increasingly being applied to evaluate the impacts of a wide variety of intelligent transport systems (ITS) applications and other dynamic problems that are difficult to solve using traditional analytical models. The accuracy of a traffic-simulation system depends highly on the quality of the traffic-flow model at its core, with the two main critical components being the car-following and lane-changing models. This paper presents findings from a comparative evaluation of car-following behavior in a number of traffic simulators [advanced interactive microscopic simulator for urban and nonurban networks (AIMSUN), parallel microscopic simulation (PARAMICS), and Verkehr in Stadten-simulation (VISSIM)]. The car-following algorithms used in these simulators have been developed from a variety of theoretical backgrounds and are reported to have been calibrated on a number of different data sets. Very few independent studies have attempted to evaluate the performance of the underlying algorithms based on the same data set. The results reported in this study are based on a car-following experiment that used instrumented vehicles to record the speed and relative distance between follower and leader vehicles on a one-lane road. The experiment was replicated in each tool and the simulated car-following behavior was compared to the field data using a number of error tests. The results showed lower error values for the Gipps-based models implemented in AIMSUN and similar error values for the psychophysical spacing models used in VISSIM and PARAMICS. A qualitative "drift and goal-seeking behavior" test, which essentially shows how the distance headway between leader and follower vehicles should oscillate around a stable distance, also confirmed the findings.
  • 25.

    【24hr】An Approach to Tune Fuzzy Controllers Based on Reinforcement Learning for Autonomous Vehicle Control

    包量

    机译 基于强化学习的无人车辆控制微调模糊控制器的方法
    摘要：In this paper, we suggest a new approach for tuning parameters of fuzzy controllers based on reinforcement learning. The architecture of the proposed approach is comprised of a Q estimator network (QEN) and a Takagi-Sugeno-type fuzzy inference system (TSK-FIS). Unlike other fuzzy Q-learning approaches that select an optimal action based on finite discrete actions, the proposed controller obtains the control output directly from TSK-FIS. With the proposed architecture, the learning algorithms for all the parameters of the QEN and the FIS are developed based on the temporal-difference (TD) methods as well as the gradient-descent algorithm. The performance of the proposed design technique is illustrated by simulation studies of a vehicle longitudinal-control system.
  • 26.

    【24hr】State Space Reduction for Nonstationary Stochastic Shortest Path Problems With Real-Time Traffic Information

    包量

    机译 具有实时交通信息的非平稳随机最短路径问题的状态空间约简
    摘要：Routing vehicles based on real-time traffic conditions has been shown to significantly reduce travel time, and hence cost, in high-volume traffic situations. However, taking real-time traffic data and transforming them into optimal route decisions are a computational challenge. This is in a large part due to the amount of data available that could be valuable in the route selection. The authors model the dynamic route determination problem as a Markov decision process (MDP) and present procedures for identifying traffic data having no decision-making value. Such identification can be used to reduce the state space of the MDP, thereby improving its computational tractability. This reduction can be achieved by a two-step process. The first is an a priori reduction that may be performed using a stationary deterministic network with upper and lower bounds on the cost functions before the trip begins. The second part of the process reduces the state space further on the nonstationary stochastic road network as the trip optimally progresses. The authors demonstrate the potential computational advantages of the introduced methods based on actual data collected on a road network in southeast Michigan.
  • 27.

    【24hr】Real-Time Hazardous Traffic Condition Warning System: Framework and Evaluation

    包量

    机译 实时危险交通状况预警系统：框架和评估
    摘要：This study presents a warning information system based on an innovate methodology to estimate accident likelihood in real time. Bayesian modeling approach implemented by the probabilistic neural network (PNN) is conducted to identify hazardous traffic conditions leading to potential accident occurrence. The proposed system displays warning signs to call drivers' attention for safer and careful driving once hazardous traffic conditions are observed by evaluating accident likelihood. It is believed that the proposed system to produce effective warning information for real-time safety enhancement could be a valuable tool to highway users and operators.
  • 28.

    【24hr】A Novel Architecture for Multilane-Free-Flow Electronic-Toll-Collection Systems in the Millimeter-Wave Range

    包量

    机译 毫米波范围内多通道自由流动电子收费系统的新型架构
    摘要：An architecture for simultaneously performing multitarget tracking and multidata communication suitable for millimeter-wave multilane-free-flow electronic-toll-collection (ETC) systems is presented. This architecture combines the idea of frequency multiplexing in communication systems and the technique of target tracking in the pulse-Doppler radar. For target tracking, we make use of pulse ranging by the aid of pulse compression and fine target-direction determination by amplitude comparison to obtain high resolution in the radial direction (down-range), as well as both lateral directions (cross ranges). This architecture can be utilized for both active and passive onboard-unit (OBU) systems. Another important advantage of this architecture is that it can easily identify the passing vehicles not equipped with an OBU. This will activate some subsequent enforcement activities against the violation vehicles.
  • 29.

    【24hr】In Traffic Jam IVC-RVC System for ITS Using Bluetooth

    包量

    机译 在用于蓝牙的ITS交通堵塞IVC-RVC系统中
    摘要：At present, in the field of intelligent transport systems (ITSs), research on in-vehicle communications (VCs), intervehicle communications (IVCs), road-to-vehicle communications (RVCs), etc. continues. All information communication technology, especially radio communications technology, was applied. In this paper, in order to minimize the costs of equipment and simplify the design, equipment, structure of VC, IVC, and RVC for traffic jam area, the authors proposed to utilize a wireless Bluetooth technology system. The whole proposed system is connected to the Internet backbone, and provided some access point (AP) areas, the Internet can be accessed from inside the vehicle, and information, such as news and weather information, can be downloaded. It is also possible to know traffic information for each AP area by accessing a data center server.
  • 30.

    【24hr】Coordinated Road-Junction Traffic Control by Dynamic Programming

    包量

    机译 动态规划协调路口交通控制
    摘要：This paper presents a novel approach to road-traffic control for interconnected junctions. With a local fuzzy-logic controller (FLC) installed at each junction, a dynamic-programming (DP) technique is proposed to derive the green time for each phase in a traffic-light cycle. Coordination parameters from the adjacent junctions are also taken into consideration so that organized control is extended beyond a single junction. Instead of pursuing the absolute optimization of traffic delay, this study examines a practical approach to enable the simple implementation of coordination among junctions, while attempting to reduce delays, if possible. The simulation results show that the delay per vehicle can be substantially reduced, particularly when the traffic demand reaches the junction capacity. The implementation of this controller does not require complicated or demanding hardware, and such simplicity makes it a useful tool for offline studies or real-time control purposes.
  • 31.

    【24hr】Lane Keeping Based on Location Technology

    包量

    机译 基于定位技术的车道保持
    摘要：Vehicle positioning with an accuracy of 10 cm or less will enable lane-keeping assistance in addition to other safety benefits when an enhanced lane-level digital map is in place. With constantly evolving technology and sensors, a high-precision positioning system that fits into the automotive market can be expected within the next decade. Such a system will incorporate Global Positioning System (GPS) and inertial system (INS) for enhanced positioning performance and availability. In this paper, the technology fields that will have a significant impact on the deployment of a centimeter-level vehicle-positioning system will be discussed. Vision-based lane-recognition (VBLR) systems are relatively mature and have already been introduced to the market for lane-departure warning, etc. However, both systems have some limitations. GPS/INS-based systems may suffer from frequent satellite signal masking or blockage, while vision-based systems do not work well in adverse weather conditions or with poor lane signature. Effectively combining these two technologies can make a robust lane-departure warning system. A precision map was made for the test area near Stuttgart using DaimlerChrysler Research and Technology North America (RTNA)'s map-making approach. A Mercedes S-class equipped with both a vision system and a high-precision GPS/INS was used for the test. The positioning map-matching results and the vision offset are compared and the complementary effectiveness is illustrated.
  • 32.

    【24hr】Aircraft Conflict Prediction in the Presence of a Spatially Correlated Wind Field

    包量

    机译 空间相关风场存在下的飞机冲突预测
    摘要：In this paper, the problem of automated aircraft conflict prediction is studied for two-aircraft midair encounters. A model is introduced to predict the aircraft positions along some look-ahead time horizon, during which each aircraft is trying to follow a prescribed flight plan despite the presence of additive wind perturbations to its velocity. A spatial correlation structure is assumed for the wind perturbations such that the closer the two aircraft, the stronger the correlation between the perturbations to their velocities. Using this model, a method is introduced to evaluate the criticality of the encounter situation by estimating the probability of conflict, namely, the probability that the two aircraft come closer than a minimum allowed distance at some time instant during the look-ahead time horizon. The proposed method is based on the introduction of a Markov chain approximation of the stochastic processes modeling the aircraft motions. Several generalizations of the proposed approach are also discussed.
  • 33.

    【24hr】Airborne Video Registration and Traffic-Flow Parameter Estimation

    包量

    机译 机载视频注册和交通流参数估计
    摘要：This paper investigates airborne helicopter video for estimating traffic parameters. Roll, pitch, and yaw of the helicopter make the video unstable, difficult to view, and the derived parameters less accurate. To correct this, a frame-by-frame video-registration technique using a feature tracker to automatically determine control-point correspondences is proposed. This converts the spatio-temporal video into temporal information, thereby correcting for airborne platform motion and attitude errors. The registration is robust, with the residual jitter being less than a few pixels over hundreds of frames. A simple vehicle-detection scheme identifies vehicle locations in the video, which are then tracked by the feature tracker, enabling us to estimate average velocity, instantaneous velocity, and other parameters automatically to within 10% of manual measurements. The entire process of registration, detection, tracking, and estimation takes only a few seconds for each frame. A prototype multimedia geographic information system (GIS) is created as a visualization tool for viewing the registered video, other airborne or satellite imagery, and data pertaining to georeferenced locations within a base map.
  • 34.

    【24hr】Power-Steering Control Architecture for Automatic Driving

    包量

    机译 自动驾驶的动力转向控制架构
    摘要：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, providing an alternative mathematical formalism for computation, human reasoning, and integration of qualitative and quantitative information.
  • 35.

    【24hr】A Vision-Based Approach to Collision Prediction at Traffic Intersections

    包量

    机译 基于视觉的交通交叉口碰撞预测方法
    摘要：Monitoring traffic intersections in real time and predicting possible collisions is an important first step towards building an early collision-warning system. We present a vision-based system addressing this problem and describe the practical adaptations necessary to achieve real-time performance. Innovative low-overhead collision-prediction algorithms (such as the one using the time-as-axis paradigm) are presented. The proposed system was able to perform successfully in real time on videos of quarter-video graphics array (VGA) (320 × 240) resolution under various weather conditions. The errors in target position and dimension estimates in a test video sequence are quantified and several experimental results are presented.
  • 36.

    【24hr】Detection of pedestrian crossing using bipolarity feature-an image-based technique

    包量

    机译 使用双极性特征的人行横道检测-一种基于图像的技术
    摘要：This paper presents a novel approach for detecting pedestrian crossings to enhance the safety and mobility of blind people while crossing a road. It is extremely important for a blind person to know whether a frontal area is a crossing or not. In a crossing, the usual black road surface is painted with constant-width periodic white bands. An image-based technique has been developed to detect the bipolar patterns of pedestrian crossings. The presence of pedestrian crossings are inferred by careful analysis of crossing width, crossing direction, number of crossing bands, as well as bandwidth trend. Experimental evaluation of the proposed approach was conducted using 100 real images with and without crossings. It was found that the proposed technique performed with 95% accuracy and with no false positive.
  • 37.

    【24hr】Stability of Intersecting Aircraft Flows Using Heading-Change Maneuvers for Conflict Avoidance

    包量

    机译 使用航向改变操纵避免冲突的相交飞机流的稳定性
    摘要：This paper analyzes two intersecting flows of aircraft that must avoid each other, utilizing maneuvers modeled by instantaneous heading changes. Sufficient conditions are derived for stable conflict avoidance, whereby one aircraft's conflict-avoidance action does not generate cascaded diverging conflict-avoidance behavior (known as the domino effect) in neighboring aircraft The mathematics involved with the heading-change model are considerably more complex than those using the simpler offset-maneuver models utilized in the previous work. However, this additional effort is largely compensated by the unproved realism of the maneuver model, as well as new insights in the inherent robustness of conflict-avoidance maneuver schemes based oh heading changes against specified separation standards. The analytical results are compared with simulations.
  • 38.

    【24hr】Detection of Text on Road Signs From Video

    包量

    机译 从视频中检测路标上的文字
    摘要：A fast and robust framework for incrementally detecting text on road signs from video is presented in this paper. This new framework makes two main contributions. 1) The framework applies a divide-and-conquer strategy to decompose the original task into two subtasks, that is, the localization of road signs and the detection of text on the signs. The algorithms for the two subtasks are naturally incorporated into a unified framework through a feature-based tracking algorithm. 2) The framework provides a novel way to detect text from video by integrating two-dimensional (2-D) image features in each video frame (e.g., color, edges, texture) with the three-dimensional (3-D) geometric structure information of objects extracted from video sequence (such as the vertical plane property of road signs). The feasibility of the proposed framework has been evaluated using 22 video sequences captured from a moving vehicle. This new framework gives an overall text detection rate of 88.9% and a false hit rate of 9.2%. It can easily be applied to other tasks of text detection from video and potentially be embedded in a driver assistance system.
  • 39.

    【24hr】Data Association and Tracking for Automotive Radar Networks

    包量

    机译 汽车雷达网络的数据关联和跟踪
    摘要：Radar sensors in the 24- and 77-GHz frequency domain will be used to increase comfort and safety in many future automotive applications. In this paper, a radar network with four short-range radars is considered. Each sensor measures individually only the range information of all targets inside the observation area. The Cartesian coordinates of each target are calculated by a trilateration technique based on range measurements selected in a data-association procedure. Estimating a target position based on range measurements is called trilateration. In contrast to this, estimation of a target position based on pure angular measurements is called triangulation. In automotive applications, situations with multiple targets almost always occur. Therefore, a high-performance data association is very important to separate and to distinguish between these targets. To avoid errors in the data-association step and resulting ghost targets, this paper describes a technique that combines the procedures of data association and position estimation into a single step. This signal-processing technique shows very good results in multitarget situations and reduces the number of ghost targets drastically.
  • 40.

    【24hr】A Reliable Advanced-Join System for Data Multicasting in ITS Networks

    包量

    机译 ITS网络中可靠的数据组播组播系统
    摘要：A number of mobile hosts (MHs) might be densely grouped in an area caused by traffic congestion. In such a situation, the greater part of the MHs will require useful data, such as traffic information, parking information, and other driving-related information. Simultaneous data-transmission broadcasts using a common link are regarded as a suitable medium to distribute this location-dependent information. However, there is no guarantee that MHs can finish receiving the information completely within a limited time. In this paper, we propose a reliable multicast system that consists of a multicast-group-management method called "Advanced-Join (AJ) system," a data-retransmission method, and a data-recovery-processing method. A "base station (BS) multicast group" is defined as the set of BSs in a certain area to which MHs belonging to the same multicast group connect. The AJ system allows a BS that is a member of a BS multicast group to make consolidated join requests to a multicast group on behalf of its MHs. The data-retransmission method determines and processes retransmission data by coordinating retransmission requests from two or more MHs that are members of the same multicast group. The data-recovery-processing method performs interactive data recovery between BSs belonging to the same BS multicast group. By controlling the members of the BS multicast group according to the movement of MHs and deciding the retransmission packets, it is expected that message traffic for the multicast-group management will be reduced, and packet loss during an MHs' movement between BSs will be eliminated. Evaluation results show that about 86.8% of MHs complete data reception with the proposed system, while only two MHs complete reception with the simple broadcast system. In addition, the proposed system with the data-retransmission method needs only two-thirds of BSs compared with that without retransmissions.
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