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driver assistance systems, a long way to AHS

Driver assistance systems, a long way to AHS

引用

IEEE Intelligent vehicles Symposium

作者： Blosseville, Jean Marc Research Unit on Vehicle-Driver-Road Interactions INRETS (French National Research Institute on Transportation and Safety) LCPC (French National Research Institute on Civil Engineering) France

ISBN: (纸本)490112286X

research on AHS has shown potentialitiesfor high benefits Mainly done during the 1990s, research has shown, how high, potentalities lie in Automated Highway Systems (AHS). The highest research effort was done in US. More recently, France and UK have investigated the concept taking account their own national demand and networks characteristics. All studies conclude on high flow capacities to be expected depending on the possibilities to deploy few robust generic functions, autonomous and cooperative. Subjacent technologies rely on perception techniques, localisation and telecommunications. Although, discussions and conclusions on the deployment were different, it is wise to conclude that AHS should be deployed in progressive steps through driver assistance functions (that are different for cars and trucks) with respect to the subjecent technologie progresses. This flip-flop movement from AHS to Advanced driver Assistance systems (ADAS) was also justified by high technical commonalities between generic functions that base AHS or ADASE. The talk will address some results obtained through a study conducted for the French ministry of transport between 1998 and 2004. A proliferation of research projects on ADASE all over the world VII succeeds to IVI in US, SmartCruise 21 is proving the benefits of the ADAS concept in Japan through experiments. In Europe, the sixth framework program encompasses many projects covering autonomous and cooperative systems through technical, driver related and societal topics. France has developed its own projects : ARCOS, SARI... As a follow up, a cluster related to "cars and networks of the future" is emerging in the Paris region. Difficulties to be overcome, new research areas to investigate The rationale of all those projects was mainly oriented toward improving the safety of the interactions. The author as project coordinator of the French national project ARCOS had the opportunity to go deeply in investigating non technical and technical

关键词： Automobile drivers

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Improvement of the Proprioceptive-Sensors based EKF and IMM Localization

Improvement of the Proprioceptive-Sensors based EKF and IMM ...

引用

International Conference on Intelligent Transportation

作者： Alexandre Ndjeng Ndjeng Dominique Gruyer Sebastien Glaser INRETS/LCPC Vehicle-Infrastructures-Driver Interactions Research Unit Versailles France

This paper presents the localization problem of outdoor vehicles using Interacting Multiple Model (IMM) and Extended Kalman Filter (EKF), in their predictive step without exteroceptive sensors data. Usually, hybridization operates between exteroceptive sensors (e.g. GNSS) and proprioceptive sensors (e.g. Odometer, Inertial Measurement unit etc.) through a merging algorithm. Common experiments use the GPS receiver PPS time for stamping the odometric, gyrometric and IMU measurements, after what all these sensors are in the same UTC reference time. Now it is well known that the low cost GNSS devices have a very low frequency compared to proprioceptive sensors, combined to a low accuracy. Therefore in order to assess the vehicle positioning at higher frequency for safety applications, the sensors measurements are generally synchronized before being exploited in the merging algorithm. In our approach, the sensors remain in their original frequencies. The objective is to design a reliable and robust system that exploits asynchronous data. In order to reach this goal it is important to guarantee accuracy and integrity of filters even during the predictive steps, when exteroceptive GNSS data are not available: that is proprioceptive-sensors based positioning. We introduce in this paper, a study on the influence of the road bank angle assessment on the output. This parameter is used to correct the gyrometric and inertial unit measurements leading to an improvement of both IMM and EKF predictive output positioning. Tests performed with real data proved the suitability of introducing this parameter in the system.

关键词： Satellite navigation systems Frequency Measurement units Merging vehicle safety Position measurement vehicles Predictive models Global Positioning System Time measurement

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New likelihood updating for the IMM approach application to outdoor vehicles localization

New likelihood updating for the IMM approach application to ...

引用

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Alexandre Ndjeng Ndjeng Dominique Gruyer Sébastien Glaser Driver Interactions Research Unit (LIVIC) INRETS-LCPC Vehicle Infrastructures Versailles France

This paper presents the problematic of outdoor vehicle localization under the IMM (interacting multiple model) approach. The IMM is now a well known modular approach, which is based on the discretization of the vehicle evolution space into simple maneuvers, represented each by a simple dynamic model such as constant velocity or constant turning etc. This allows the method to be optimized for highly dynamic vehicles. Unfortunately classical IMM shows some drawbacks concerning some real time multi sensors applications. In this work, we focus on outdoor vehicle localization with asynchronous sensors in order to report these drawbacks and then propose a new solution. Many tests carried out with simulated and real data confirm the interest for using such a solution in our applications.

关键词： Robustness vehicle dynamics Global Positioning System Sensor systems vehicle driving Road vehicles Modeling Frequency Equations Intelligent robots

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Low Cost Sensors Ego Localization with IMM Approach for unusual Maneuvers

Low Cost Sensors Ego Localization with IMM Approach for unus...

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International Conference on Intelligent Transportation

作者： Alexandre Ndjeng Ndjeng Dominique Gruyer Sebastien Glaser Combined INRETS/LCPC Vehicle-Infrastructures-Driver Interactions Research Unit (LIVIC) Versailles France

This paper presents the problematic of outdoor vehicle localization in unusual maneuvers under the IMM (interacting multiple model) approach. The IMM, contrary to the non modular methods, is based on the discretization of the vehicle evolution space into simple maneuvers, represented each by a simple dynamic model such as constant velocity or constant turning etc. This allows the method to be optimized for highly dynamic vehicles. In this work, we focus on the various vehicle dynamics identification in some special driving situations, including very strong accelerations, turning with a high speed (more than 15 mldrs -1 ) or backward driving with stops. The presented results are based on real measurements collected from different scenarios. These results show a real interest in using the IMM method in order to reach our goal.

关键词： Costs vehicle dynamics Acceleration Turning Robustness Intelligent transportation systems Intelligent sensors Road vehicles vehicle driving Kinematics

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A single framework for vehicle roll, pitch, yaw estimation and obstacles detection by stereovision

A single framework for vehicle roll, pitch, yaw estimation a...

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IEEE Symposium on Intelligent vehicle

作者： R. Labayrade D. Aubert Vehicle-Infrastructure-Driver Interactions Research Unit-LIVIC INRETS/LCPC Versailles Satory France

This paper presents original framework and method for robust estimation of vehicle roll, pitch, yaw and obstacles detection using stereovision. The "v-disparity" algorithm for generic road obstacles detection, described and evaluated by Labayrade et al. (2002, 2003), is here extended to provide accurate and reliable values of the Euler angles of the vehicle. The algorithm can be divided in three main stages. The first one is designed for roll and pitch estimation. The second one is about obstacles detection and free road estimation. The third one concerns yaw estimation. Each stage is presented and experimental results are shown. In particular, the roll angle is estimated with a precision better than 0.2/spl deg/.

关键词： vehicle detection Cameras Road vehicles Noise robustness Image sensors Layout Pixel Equations Solid modeling Geometry

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A reliable road lane detector approach combining two vision-based algorithms

A reliable road lane detector approach combining two vision-...

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International Conference on Intelligent Transportation

作者： R. Labayrade S.S. Leng D. Aubert Vehicle-Infrastructure-Driver Interactions Research Unit (INRETS/LCPC) Versailles France Interactions Res. Unit. LCPC Versailles-Satory France

We present a new approach for detecting road lane with reliability using vision-based techniques. The single used sensor is an on-board frontal monocular monochromic camera. The novelty is to introduce redundancy by using several (two in this paper) independent algorithms. By combining their outputs together, we obtain more reliable results as well as a confidence value about the reliability of the results. When the confidence value is low, an initialization of the algorithms is performed to avoid false detection. The first algorithm computes longitudinal-coherent results, whereas the second algorithm computes lateral-coherent results. First, each algorithm is presented and then the way in which their outputs are combined is described. We also discuss how the two algorithms interact together. Then, experiments in a real-time context underline the improvements provided by this approach and show that results are relevant.

关键词： Detectors Roads Cameras Shape Redundancy Intelligent transportation systems Feature extraction Robustness Real time systems Computer vision

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Assistance control based on a composite Lyapunov function for lane departure avoidance

Assistance control based on a composite Lyapunov function fo...

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2007 Mediterranean Conference on Control and Automation, MED

作者： Minoiu, N. Netto, M. Mammar, S. INRETS/LCPC-LIVIC Vehicle-Infrastructure-Driver Interactions Research Unit 14 Route de la minière 78000 Versailles France LSC/CNRS-FRE 2494 Université d'Evry Val d'Essonne 40 Rue de Pelvoux CE 1455 91025 Evry Cedex France

ISBN: (纸本)142441282X

This paper presents a vehicle steering assistance designed to avoid lane departure during driver inattention periods. Activated for a driver loss of concentration during a lane keeping maneuver the steering assistance drives the vehicle back to the center of the lane. In order to ensure a vehicle trajectory as close as possible to the centerline, the control law has been developed based on invariant sets theory and on composite Lyapunov functions. The computation has been performed using LMI methods, which allow in addition imposing a maximum bound for the control steering angle. ©2007 IEEE.

关键词： Steering

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A switched optimized approach for road-departure avoidance: implementation results

A switched optimized approach for road-departure avoidance: ...

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IEEE Symposium on Intelligent vehicle

作者： Nicoleta Minoiu Mariana Netto Said Mammar Benoit Lusetti Vehicle-Infrastructure-Driver Interactions Research Unit INRETS/LCPC-LIVIC Versailles France LSC/CNRS-FRE Université d''Evry Evry France

We present in this contribution the design and implementation of a steering assistance control. The main goal is to avoid the lane departure in case the driver loses attention. This control has been developed to keep the vehicle's trajectory within certain bounds during the assistance intervention, while maintaining a limited torque control input. In order to achieve this goal we have employed both Lyapunov theory and LMI optimization methods.

关键词： Torque control vehicle driving Automatic control Wheels Optimal control vehicle dynamics Control systems Gravity Displacement control Strips

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A switched optimized approach for road-departure avoidance

A switched optimized approach for road-departure avoidance

引用

ITSC 2006: 2006 IEEE Intelligent Transportation Systems Conference

作者： Minoiu, Nicoleta Netto, Mariana Mammar, Said INRETS/LCPC-LIVIC Vehicle - Infrastructure - Driver Interactions Research Unit 14 Route de la Minière 7800 Versailles France IEEE LSC/CNRS-FRE 2494 Université d'Evry Val d'Essonne 40 Rue de Pelvoux CE 1455 91025 Evry Cedex France

ISBN: (纸本)1424400945

A control for vehicle steering assistance has been developed in this paper to help the driver keep the lane during inattention periods. Activated by the front wheels exceeding a predefined central lane strip, the control guarantees to maintain the vehicle within an extended strip in the middle of the lane. Moreover, the assistance torque and the values of the state are bounded for the transient response. The designed control has been obtained as a result of a LMI convex optimization problem. © 2006 IEEE.

关键词： Highway traffic control

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Experimental vehicle longitudinal control using second order sliding modes

Experimental vehicle longitudinal control using second order...

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American Control Conference (ACC)

作者： L. Nouveliere S. Mammar Vehicle-Infrastructure-Driver Interactions Research Unit INRETS/LCPC-LIVIC Versailles France LSC CNRS-FRE 2494 Universiteè dÉvry val dEssonne France

This paper presents the first phase of an experimental implementation of vehicle longitudinal control at low speed. The main objectives are the increase of traffic capacity while improving safety and comfort. Longitudinal control method used is based on second order sliding mode technique. Results are presented either by simulation or by use of an experimental process with a vehicle prototype which is equipped with needed sensors and actuators. The principle is based on the well management of inter-vehicular spacing in relation to vehicle speed. Examples obtained with the automatic system are provided for several traffic situations such as stop-and-go, stop on obstacles, car-following with merging/overtaking. Positive impacts of such a system are given in terms of traffic capacity enhancement and collision gravity reduction.

关键词： Sliding mode control vehicle driving Traffic control Automatic control Telecommunication traffic Road accidents Gravity Automation vehicle safety Virtual prototyping

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