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Safety control of a class of stochastic order preserving systems with application to collision avoidance near stop signs

Mojtaba Forghani, John M. McNew, Daniel Hoehener, Domitilla Del Vecchio
2015 2015 American Control Conference (ACC)  
We focus on a class of order preserving systems with a constant input disturbance that is extracted from a known probability distribution.  ...  We apply this supervisor to a collision avoidance problem, where a semi-autonomous vehicle is engaged in preventing a rear-end collision with a preceding human-driven vehicle, while stopping at a stop  ...  The application of our algorithms to collision avoidance scenarios near stop signs is the second goal of our work.  ... 
doi:10.1109/acc.2015.7170786 dblp:conf/amcc/ForghaniMHV15 fatcat:vvm43qzkgncqblrf6jrwojjehi

Design of Driver-Assist Systems Under Probabilistic Safety Specifications Near Stop Signs

Mojtaba Forghani, John M. McNew, Daniel Hoehener, Domitilla Del Vecchio
2016 IEEE Transactions on Automation Science and Engineering  
A major problem with the design of such driver-assist systems is to guarantee the absence of collisions even in the presence of uncertainty.  ...  We formulate this problem as a control problem for uncertain systems under probabilistic safety specifications and leverage the structure of the application domain to reach computationally efficient implementations  ...  We apply the method for designing a driver-assist system that prevents rear-end collisions with a preceding vehicle at stop signs, intersections, or speed bumps.  ... 
doi:10.1109/tase.2015.2499221 fatcat:vj2qgimotbbqhphjz5yowim4oe

Infusing Reachability-Based Safety into Planning and Control for Multi-agent Interactions [article]

Xinrui Wang, Karen Leung, Marco Pavone
2020 arXiv   pre-print
To achieve this, we use Hamilton-Jacobi (HJ) reachability theory at the planning level to provide the robot planner with the foresight to avoid entering regions with possible inevitable collision.  ...  In conjunction with this HJ reachability-infused planner, we propose a minimally-interventional multi-agent safety-preserving controller also derived via HJ-reachability theory.  ...  For instance, this could be applied to the planner used in [3] . D. Multi-agent Safety-Preserving Control A system may fall back to a safety controller when near safety violation.  ... 
arXiv:2008.00067v1 fatcat:2ihcgqcornfa5iliooo5q3z534

Composition and Application of Current Advanced Driving Assistance System: A Review [article]

Xinran Li, Kuo-Yi Lin, Min Meng, Xiuxian Li, Li Li, Yiguang Hong, Jie Chen
2021 arXiv   pre-print
Due to the growing awareness of driving safety and the development of sophisticated technologies, advanced driving assistance system (ADAS) has been equipped in more and more vehicles with higher accuracy  ...  The latest progress in this field has called for a review to sum up the conventional knowledge of ADAS, the state-of-the-art researches, and novel applications in real-world.  ...  of collision avoidance systems in all new highway vehicles and reducing fatigue-related accidents are all in the top 10 of most wanted list of transportation safety improvements.  ... 
arXiv:2105.12348v3 fatcat:ymblcizg65e7hhmch5c5mly22q

Deep Review and Analysis of Data exchange in Vehicle-to-Vehicle Communications Systems: Coherent Taxonomy, Challenges, Motivations, Recommendations, Substantial Analysis and Future Directions

H. A. Ameen, A. K. Bin Mahamad, B. B. Zaidan, A. A. Zaidan, S. Saon, D. Md. Nor, R. Q. Malik, Z. H. Kareem, Salem Garfan, R. A. Zaidan, Ali Mohammed
2019 IEEE Access  
V2V collision avoidance system, which is a field requiring automated solutions, tools and methods, entails the capability to facilitate early detection.  ...  INDEX TERMS Data exchange, vehicle to vehicle, vehicular ad hoc network, safety, collision avoidance, driving behaviors. ABBREVIATIONS V2V Vehicle to Vehicle VANET Vehicular Ad Hoc Network  ...  , ie, a situation of stop at a stop sign, red light, walkway, parking, etc.  ... 
doi:10.1109/access.2019.2949130 fatcat:zwoo7jc2gzhtbnifjxtnj4euqy

Collision mitigation for crossing traffic in urban scenarios

Philip Heck, Jan Bellin, Martin Matousek, Stefan Wonneberger, Ondrej Sychrovsky, Radim Sara, Markus Maurer
2013 2013 IEEE Intelligent Vehicles Symposium (IV)  
Current collision mitigation systems focus on rear end collisions. To address the full spectrum of real world accidents, these systems could be enhanced to cover more traffic situations.  ...  Based on this concept the requirements for the detection of crossing traffic were derived. These requirements were met by developing a video system based on a monocular wide field of view camera.  ...  Previous projects have focused on avoiding collisions by assisting the drivers (stop-sign and red-light assistance).  ... 
doi:10.1109/ivs.2013.6629526 dblp:conf/ivs/HeckBMWSSM13 fatcat:sp55uz6yjfclrcv55he2rxei7y

Survey of Cooperative Advanced Driver Assistance Systems: From a Holistic and Systemic Vision

Juan Felipe González-Saavedra, Miguel Figueroa, Sandra Céspedes, Samuel Montejo-Sánchez
2022 Sensors  
Finally, to quantify the performance of C-ADAS, we describe the principal evaluation mechanisms and performance metrics employed in these systems.  ...  The design of cooperative advanced driver assistance systems (C-ADAS) involves a holistic and systemic vision that considers the bidirectional interaction among three main elements: the driver, the vehicle  ...  , stops, and near stops.  ... 
doi:10.3390/s22083040 pmid:35459025 pmcid:PMC9024749 fatcat:cro4c577vjgldpznxec7cnbxni

DiffCo: Auto-Differentiable Proxy Collision Detection with Multi-class Labels for Safety-Aware Trajectory Optimization [article]

Yuheng Zhi, Nikhil Das, Michael Yip
2022 arXiv   pre-print
In real-world scenarios where environments can be complex and non-homogeneous, a robot needs to be able to gauge whether a state will be in collision with various objects in order to meet some safety metrics  ...  The objective of trajectory optimization algorithms is to achieve an optimal collision-free path between a start and goal state.  ...  in avoiding collision between object classes with different risk profiles.  ... 
arXiv:2102.07413v2 fatcat:zsk4xw233vgu3eq4ypqos7zqfa

Scanning the Issue

Azim Eskandarian
2022 IEEE transactions on intelligent transportation systems (Print)  
To promote the international standardization of novel signaling devices, this study is conducted in an international context in three countries.  ...  In total, 90 subjects from China, South Korea, and the USA assume a pedestrian's role in a virtual reality-based pedestrian simulator and experience three encounter scenarios with an automated vehicle.  ...  It uses a student's t-distribution in order to bound the distribution of the position error applicable to small integrity risks after a learning step.  ... 
doi:10.1109/tits.2022.3160062 fatcat:4gklzaonfzcehnvps6oge35fwe

A Systematic Literature Review about the impact of Artificial Intelligence on Autonomous Vehicle Safety [article]

A. M. Nascimento, L. F. Vismari, C. B. S. T. Molina, P.S. Cugnasca, J.B. Camargo Jr., J.R. de Almeida Jr., R. Inam, E. Fersman, M. V. Marquezini, A. Y. Hata
2019 arXiv   pre-print
However, while some researchers in this field believe AI is the core element to enhance safety, others believe AI imposes new challenges to assure the safety of these new AI-based systems and applications  ...  In this non-convergent context, this paper presents a systematic literature review to paint a clear picture of the state of the art of the literature in AI on AV safety.  ...  conditions of high probability of a collision if no action is taken to avoid the collision Bayesian Artificial Intelligence Systems can be designed to feature collision warnings as well as automated active  ... 
arXiv:1904.02697v1 fatcat:jsruqsy3kvcyvdyfhzo4ojfaqi

D2.3 System Requirements Specification

Filip, Aleš; Holík, Filip; Neri, Alessandro; Salvitti, Maurizio; Dionisio, Cesare; Xefteris, Panagiotis; Salvatori, Pietro; Capua, Roberto; Gattuso, Luca; Innoccenti, Manuele; Giangolini, Marco; Grosch, Anja; Crespillo, Omar Garcia; Zhu, Chen; Kutik, Ondrej; Krajíček, Miroslav; Loupis, Michael; Spanoudakis, John
2020 Zenodo  
This is part of H2020 HELMET Project  ...  This requirement defines Accuracy (2*sigma) of position determination of 20 cm (lateral) related to driving on local roads.  ...  Rationale This requirement results from the analysis of the operational scenarios performed in the HELMET deliverable D2.  ... 
doi:10.5281/zenodo.4560425 fatcat:mc3u52bmxfcpxpp2pkat54lwdq

Scanning the Issue

Azim Eskandarian
2022 IEEE transactions on intelligent transportation systems (Print)  
practical applications, including traffic management, safety, and energy efficiency.  ...  Then machine learning and blockchain techniques as novel defense mechanisms are explored to enhance the security of vehicular networks.  ...  The proposed framework motivates PEV users to avoid over-utilization of particular service classes.  ... 
doi:10.1109/tits.2022.3141513 fatcat:gvywr655cvgolg7rfjrqmt33b4

Cooperative Intersection Support System Based on Mirroring Mechanisms Enacted by Bio-Inspired Layered Control Architecture

Mauro Da Lio, Alessandro Mazzalai, Marco Darin
2018 IEEE transactions on intelligent transportation systems (Print)  
This paper presents a cooperative intersection support system implemented with an artificial cognitive system enacted by an agent that replicates human driver longitudinal sensorimotor control in the application  ...  Application to driver assistance system of the above idea was introduced in general terms in [11] .  ...  to recognize a stop sign and proceeds as in Fig.7 , right).  ... 
doi:10.1109/tits.2017.2731901 fatcat:gwlkrtxzpndc7l6swd5qrkfkvm

A Survey of Vision-Based Trajectory Learning and Analysis for Surveillance

B.T. Morris, M.M. Trivedi
2008 IEEE transactions on circuits and systems for video technology (Print)  
It describes techniques that use trajectory data to define a general set of activities that are applicable to a wide range of scenes and environments.  ...  This paper presents a survey of trajectory-based activity analysis for visual surveillance.  ...  stop sign.  ... 
doi:10.1109/tcsvt.2008.927109 fatcat:uyv2bx4h2fghtmh4qwpwhu5ohq

IEEE Access Special Section Editorial: Big Data Technology and Applications in Intelligent Transportation

Sabah Mohammed, Hamid R. Arabnia, Xiaobo Qu, Dalin Zhang, Tai-Hoon Kim, Jiandong Zhao
2020 IEEE Access  
unilateral and bilateral power supplies in urban rail transit (URT) systems that cause great safety hazards to the metal structures in and near the URT system.  ...  A first-order collaborative control algorithm (CSRR) was proposed for the under-driven AGVs, which guaranteed the convergence of system states.  ... 
doi:10.1109/access.2020.3035440 fatcat:r3i3wkhttndbjnyciux3xuny3a
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