We propose a new method for free space detection and description for Advanced Driver Assistance Systems (ADAS) and autonomous vehicles. The detection is based on successive morphological image processing steps that ar...
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We propose a new method for free space detection and description for Advanced Driver Assistance Systems (ADAS) and autonomous vehicles. The detection is based on successive morphological image processing steps that are applied to an occupancy grid map-based environment representation acquired by an automotive radar sensor. The boundary of the found free space segment is traced and serves as a virtual measurement for a time-variant Kalman Filter in order to estimate and track the control points of a two-dimensional B-spline closed free space contour over time. In contrast to existing free space detection methods, the proposed solution incorporates knowledge about the vehicle's dimensions and does not exclude free space that is not directly in the line of sight, but mapped beforehand, as well as free space behind obstacles. Furthermore, the algorithm shows advantages in terms of an intuitive control over spatial and temporal smoothness of the solution as well as an inherent robustness due to model-based filtering. Moreover, the control points of the B-spline curve are proposed as a new low-dimensional representation of drivable free space of arbitrary shape. The effectiveness of the algorithm is demonstrated in real traffic scenarios.
Because the classical controltheory does not give satisfactory results in the DEDS (discrete event dynamic systems) control systems synthesis, especially in analytical terms, and because such systems are very importa...
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Because the classical controltheory does not give satisfactory results in the DEDS (discrete event dynamic systems) control systems synthesis, especially in analytical terms, and because such systems are very important in human life-e.g. flexible manufacturing systems (FMS), transport systems, communications systems, etc.-another approaches are wanted. The main aim of this paper is to point out a simple approach leading to a very simple dealing with the FMS (as a kind of the DEDS) modelling and intelligent control problems solving. On that way imbedding some results of applied artificial intelligence, especially the rule-based knowledge representation and simple form of automatic reasoning, is used.
In this paper, a new procedure for constrained digital signal smoothing is presented. It is based on least-squares approximation of functions defined on an equidistant set of points by orthogonal polynomials. The digi...
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ISBN:
(纸本)9539676940
In this paper, a new procedure for constrained digital signal smoothing is presented. It is based on least-squares approximation of functions defined on an equidistant set of points by orthogonal polynomials. The digital signal smoothing is described by linear operators represented by circulant Toeplitz matrices with integer coefficients which can be efficiently realized.
A new view on discrete event dynamic systems (DEDS) modelling and control synthesis is presented. The adjacency matrix of an oriented graph is successfully utilized in the DEDS control synthesis procedure. The state r...
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A new view on discrete event dynamic systems (DEDS) modelling and control synthesis is presented. The adjacency matrix of an oriented graph is successfully utilized in the DEDS control synthesis procedure. The state reachability tree in both the straight-line system dynamics development and the backtracking one are generated. To solve the DEDS control synthesis problem a suitable combination of both these kinds of model dynamics development is utilized, namely, the intersection of both the state reachability trees yields all feasible trajectories of the system dynamics development, i.e., all realizable possibilities of how to reach the prescribed terminal state from the given initial one, are automatically found. To choose the most suitable solution of the control synthesis problem, rule-based knowledge about the control task specifications is utilized.
An effective direct method for determination of planar affine transform coefficients is described. It is based on construction of triangles defined by barycentric centroids of corresponding parts of reference anti tra...
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An effective direct method for determination of planar affine transform coefficients is described. It is based on construction of triangles defined by barycentric centroids of corresponding parts of reference anti transformed images which are cut by straight lines determined by barycentric centroids. Numerical experiments performed have confirmed a good performance of proposed method.
Presents a Petri nets-based approach to both modelling the discrete event dynamic systems (DEDS) to be controlled and the representation of knowledge about details or specifications concerning the control task. In ord...
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Presents a Petri nets-based approach to both modelling the discrete event dynamic systems (DEDS) to be controlled and the representation of knowledge about details or specifications concerning the control task. In order to synthesize intelligent control systems for the DEDS a procedure utilizing the Petri nets-based model of both the DEDS and the knowledge representation (both of them expressed in analytical terms) is proposed.< >
Uncertainty is present in most tasks that require intelligent behaviour. Probability theory has by far the longest tradition in problems connected with uncertainty, but the Dempster-Shafer theory provides more general...
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Uncertainty is present in most tasks that require intelligent behaviour. Probability theory has by far the longest tradition in problems connected with uncertainty, but the Dempster-Shafer theory provides more general model. A central problem of this theory is conditioning. M. Spies's paper (1994) presents a new approach to a solution of this problem, by establishing a link between conditional events and discrete random sets. Conditional events were introduced as sets of equivalent events under conditioning. These sets are targets of a multivalued mapping and conditional belief functions were introduced. We study properties of these functions in the cases that belief functions were obtained by Bayesian conditioning from an unconditional belief function.
In this paper we will construct, the base of generalized semi-Markov process (GSMP) model of asynchronous automatic assembly system (AAAS) with simultaneous resource possession (SRP) property, and perturbation analysi...
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In this paper we will construct, the base of generalized semi-Markov process (GSMP) model of asynchronous automatic assembly system (AAAS) with simultaneous resource possession (SRP) property, and perturbation analysis (PA) algorithm corresponding to the system.
In this paper we describe an abstract and (as we hope) a uniform frame for Petri net models, which enable to generalise algebra as well as enabling rule used in the dynamics of Petri nets. Our approach of such an abst...
In this paper we describe an abstract and (as we hope) a uniform frame for Petri net models, which enable to generalise algebra as well as enabling rule used in the dynamics of Petri nets. Our approach of such an abstract frame is based on using partial groupoids in Petri nets. Further, we study properties of Petri nets constructed in this manner through related labelled transition systems. In particular, we investigate the relationships between properties of partial groupoids used in Petri nets and properties of labelled transition systems crucial for the existence of the state equation and linear algebraic techniques. We show that partial groupoids embeddable to Abelian groups play an important role in preserving these properties.
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