Search results for: self-driving vehicles

Authors: Shih-Ching Lo

Abstract:

Understanding driving behavior is a complicated researching topic. To describe accurate speed, flow and density of a multiclass users traffic flow, an adequate model is needed. In this study, we propose the concept of standard passenger car equivalent (SPCE) instead of passenger car equivalent (PCE) to estimate the influence of heavy vehicles and slow cars. Traffic cellular automata model is employed to calibrate and validate the results. According to the simulated results, the SPCE transformations present good accuracy.

Keywords: traffic flow, passenger car equivalent, cellular automata

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Authors: S.A. Mahdavifar, G.R. Sotudeh., K. Heydari

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In this article, a single application is suggested to determine the position of vehicles using Geographical Information Systems (GIS) and Geographical Position Systems (GPS). The part of the article material included mapping three dimensional coordinates to two dimensional coordinates using UTM or LAMBERT geographical methods, and the algorithm of conversion of GPS information into GIS maps is studied. Also, suggestions are given in order to implement this system based on web (called web based systems). To apply this system in IRAN, related official in this case are introduced and their duties are explained. Finally, economy analyzed is assisted according to IRAN communicational system.

Keywords: GIS-GPS-UTM-LAMBERT.

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Authors: Han-yuh Liu, Chia-yen Wu

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Truly successful bloggers, navigating the public to know them, often use their blogs as a way to better communicate with customers. Integrating with marketing tools, storytelling can be regarded as one of the most effective ways that businesses can follow to gain competitive edge. Even though the literature on marketing contains much discussion of traditional vehicles, the issue of business blogs applying storytelling has, as yet, received little attention. In the exploration stage, this paper identifies four storytelling disciplines and then presents a road map to business blogging. This paper also provides a two-path framework for blog storytelling and initiates an issue for further study.

Keywords: Storytelling, business blog, blog content, blog position, blog navigation.

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Authors: Yiming Nie, Tao Wu, Xiangjing An, Hangen He

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Fast depth estimation from binocular vision is often desired for autonomous vehicles, but, most algorithms could not easily be put into practice because of the much time cost. We present an image-processing technique that can fast estimate depth image from binocular vision images. By finding out the lines which present the best matched area in the disparity space image, the depth can be estimated. When detecting these lines, an edge-emphasizing filter is used. The final depth estimation will be presented after the smooth filter. Our method is a compromise between local methods and global optimization.

Keywords: Depth estimation, image filters, stereo match.

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Authors: Jae-Neung Lee, Keun-Chang Kwak

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This paper describes an analysis of domestic and international trends of image processing for data in UAV (unmanned aerial vehicle) and also explains about UAV and Quadcopter. Overseas examples of image processing using UAV include image processing for totaling the total numberof vehicles, edge/target detection, detection and evasion algorithm, image processing using SIFT(scale invariant features transform) matching, and application of median filter and thresholding. In Korea, many studies are underway including visualization of new urban buildings.

Keywords: Image Processing, UAV, Quadcopter, Target detection.

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Authors: Paul Y. Oh, William E. Green

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This paper describes a prototype aircraft that can fly slowly, safely and transmit wireless video for tasks like reconnaissance, surveillance and target acquisition. The aircraft is designed to fly in closed quarters like forests, buildings, caves and tunnels which are often spacious but GPS reception is poor. Envisioned is that a small, safe and slow flying vehicle can assist in performing dull, dangerous and dirty tasks like disaster mitigation, search-and-rescue and structural damage assessment.

Keywords: Unmanned aerial vehicles, autonomous collisionavoidance, optic flow, near-Earth environments

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Authors: Y. Obikane, T. Nemoto , K. Ogura, M. Iwata, K. Ono

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The objective of this research was to find the diffusion properties of vehicles on the road by using the V-Sphere Code. The diffusion coefficient and the size of the height of the wake were estimated with the LES option and the third order MUSCL scheme. We evaluated the code with the changes in the moments of Reynolds Stress along the mean streamline. The results show that at the leading part of a bluff body the LES has some advantages over the RNS since the changes in the strain rates are larger for the leading part. We estimated that the diffusion coefficient with the computed Reynolds stress (non-dimensional) was about 0.96 times the mean velocity.

Keywords: Wake , bluff body, V-CAD, turbulence diffusion.

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Authors: Tomio Iwasaki, Yosuke Kawahito

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The adhesion strength and wettability at the interfaces between a polyetheretherketone (PEEK) resin and titanium dioxide (TiO2) have become more important because direct joining of PEEK resin and titanium (Ti), whose surface has usually the oxide (TiO2), is needed not only in vehicles such as airplanes, automobiles, and space vehicles, but also in medical devices such as implants. To realize strong joint between the PEEK resin and TiO2, the dependence of the adhesion strength and wettability on crystal orientations of rutile TiO2 were investigated by using molecular simulations. Molecular dynamics simulations were conducted by combining quantum-mechanics equation of electrons with Newton’s equation of motion of nuclear coordinates (atomic coordinates). By putting a PEEK-resin sphere on a rutile TiO2 surface and by heating the system to 650 K, the contact angles at the interfaces were calculated to evaluate the wettability. After the system is cooled to 300 K from 650 K, to evaluate the adhesin strength, the adhesive fracture energy is calculated as the difference between the energy of the PEEK-TiO2 attached state and that of the PEEK-TiO2 detached state. The results of the contact angles showed that PEEK resin on the TiO2(100) and that on the TiO2(001) surface has low wettability with large contact angles. On the other hand, PEEK resin on the TiO2(110) surface has high wettability with a small contact angle. The results of the adhesive fracture energies showed that the adhesion at the PEEK-resin/TiO2(100) and PEEK-resin/TiO2(001) interfaces are weak. On the other hand, the adhesion at the PEEK-resin/TiO2(110) interface is strong. To clarify the reason that the higher wettability and stronger adhesion are obtained at the PEEK/TiO2(110) interface than at the at the PEEK/TiO2(100) and PEEK/TiO2(001) interfaces, atomic configurations at the interfaces were visualized. The atomic configuration at the PEEK/TiO2(110) interface showed that the lattice-matched coherent interface is realized, and the atomic density is high. On the other hand, the atomic configuration at the PEEK/TiO2(001) interface showed the lattice-unmatched incoherent interface. The atomic configuration at the PEEK/TiO2(100) interface showed that the atomic density is very low although the lattice-matched interface is realized. Therefore, the lattice matching and the high atomic density at the PEEK/TiO2(001) interface are considered to be dominant factors in the high wettability and strong adhesion.

Keywords: Adhesion, direct joining, PEEK, TiO2, wettability.

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Authors: Κonstantinos Kalovrektis, Chryssanthi Palazi

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Schools today face ever-increasing demands in their attempts to ensure that students are well equipped to enter the workforce and navigate a complex world. Research indicates that computer technology can help support learning, implementation of various experiments or learning games, and that it is especially useful in developing the higher-order skills of critical thinking, observation, comprehension, implementation, comparison, analysis and active attention to activities such as research, field work, simulations and scientific inquiry. The ICT in education supports the learning procedure by enabling it to be more flexible and effective, create a rich and attractive training environment and equip the students with knowledge and potential useful for the competitive social environment in which they live. This paper presents the design, the development, and the results of the evaluation analysis of an interactive educational game which using real electric vehicles - toys (material) on a toy race track. When the game starts each student selects a specific vehicle toy. Then students are answering questionnaires in the computer. The vehicles' speed is related to the percentage of right answers in a multiple choice questionnaire (software). Every question has its own significant value depending of the different level of questionnaire. Via the developed software, each right or wrong answers in questionnaire increase or decrease the real time speed of their vehicle toys. Moreover the rate of vehicle's speed increase or decrease depends on the difficulty level of each question. The aim of the work is to attract the student’s interest in a learning process and also to improve their scores. The developed real time game was tested using independent populations of students of age groups: 8-10, 11-14, 15-18 years. Standard educational and statistical analysis tools were used for the evaluation analysis of the game. Results reveal that students using the developed real time control game scored much higher (60%) than students using a traditional simulation game on the same questionnaire. Results further indicate that student's interest in repeating the developed real time control gaming was far higher (70%) than the interest of students using a traditional simulation game.

Keywords: Real time game, sensor, learning games, LabVIEW

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Authors: N. Mirzaei Varzeghani, M. Saffarzadeh, A. Naderan, A. Taheri

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Countries are progressing, and the world's busiest airports see year-on-year increases in travel demand. Passenger acceptability of an airport depends on the airport's appeals, which may include one of these routes between the city and the airport, as well as the facilities to reach them. One of the critical roles of transportation planners is to predict future transportation demand so that an integrated, multi-purpose system can be provided and diverse modes of transportation (rail, air, and land) can be delivered to a destination like an airport. In this study, 356 questionnaires were filled out in person over six days. First, the attraction of business and non-business trips was studied using data and a linear regression model. Lower travel costs, more passengers aged 55 and older using this airport, and other factors are essential for business trips. Non-business travelers, on the other hand, have prioritized using personal vehicles to get to the airport and ensuring convenient access to the airport. Business travelers are also less price-sensitive than non-business travelers regarding airport travel. Furthermore, carrying additional luggage (for example, more than one suitcase per person) undoubtedly decreases the attractiveness of public transit. Afterward, based on the manner and purpose of the trip, the locations with the highest trip generation to the airport were identified. The most famous district in Tehran was District 2, with 23 visits, while the most popular mode of transportation was an online taxi, with 12 trips from that location. Then, significant variables in separation and behavior of travel methods to access the airport were investigated for all systems. In this scenario, the most crucial factor is the time it takes to get to the airport, followed by the method's user-friendliness as a component of passenger preference. It has also been demonstrated that enhancing public transportation trip times reduces private transportation's market share, including taxicabs. Based on the responses of personal and semi-public vehicles, the desire of passengers to approach the airport via public transportation systems was explored to enhance present techniques and develop new strategies for providing the most efficient modes of transportation. Using the binary model, it was clear that business travelers and people who had already driven to the airport were the least likely to change.

Keywords: Multimodal transportation, travel behavior, demand modeling, statistical models.

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Authors: George K. Fourlas, Konstantinos Kalovrektis, Evangelos Fountas

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Many agricultural and especially greenhouse applications like plant inspection, data gathering, spraying and selective harvesting could be performed by robots. In this paper multiple nonholonomic robots are used in order to create a desired formation scheme for screening solar energy in a greenhouse through data gathering. The formation consists from a leader and a team member equipped with appropriate sensors. Each robot is dedicated to its mission in the greenhouse that is predefined by the requirements of the application. The feasibility of the proposed application includes experimental results with three unmanned ground vehicles (UGV).

Keywords: Greenhouses application, robot formation, solarenergy.

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Authors: S. S. Dol

Abstract:

Improvement in vehicle efficiency can reduce global fossil fuels consumptions. For that sole reason, Shell Global Corporation introduces Shell Eco-marathon where student teams require to design, build and test energy-efficient vehicles. Hence, this paper will focus on design processes and the development of a fuel economic vehicle which satisfying the requirements of the competition. In this project, three components are designed and analyzed, which are the body, chassis and powertrain of the vehicle. Optimum design for each component is produced through simulation analysis and theoretical calculation in which improvement is made as the project progresses.

Keywords: Energy efficient vehicle, drag force, chassis, powertrain.

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Authors: Guilhem Baccialone, Nicolas Delaunay, Juan-Diego Gonzales, Céline Leclercq, Adrien Leroux, Santa Pallier

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This paper presents the software conception of a quadrotor UAV, named SKYWATCHER, which is able to follow a target. This capacity can at a long turn time permit to follow another drone and combine their performance in order to military missions for example.

From a low-cost architecture constructed by five students we implemented a software and added a camera to create a visual servoing. This project demonstrates the possibility to associate the technology of stabilization and the technology of visual enslavement.

Keywords: Quadrotor, visual servoing, student project, image processing, Unmanned Aerial Vehicles, stabilization.

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Authors: M. Kebisek, L. Spendla, M. Kopcek, T. Skulavik

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In our paper we describe the security capabilities of data collection. Data are collected with probes located in the near and distant surroundings of the company. Considering the numerous obstacles e.g. forests, hills, urban areas, the data collection is realized in several ways. The collection of data uses connection via wireless communication, LAN network, GSM network and in certain areas data are collected by using vehicles. In order to ensure the connection to the server most of the probes have ability to communicate in several ways. Collected data are archived and subsequently used in supervisory applications. To ensure the collection of the required data, it is necessary to propose algorithms that will allow the probes to select suitable communication channel.

Keywords: Communication, computer network, data collection, probe.

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Authors: Hoon Lee, Soonyoung Park, Kyoungho Choi

Abstract:

Understanding road features such as lanes, the color of lanes, and sidewalks in a live video captured from a moving vehicle is essential to build video-based navigation systems. In this paper, we present a novel idea to understand the road features using support vector machines. Various feature vectors including color components of road markings and the difference between two regions, i.e., chosen AOIs, and so on are fed into SVM, deciding colors of lanes and sidewalks robustly. Experimental results are provided to show the robustness of the proposed idea.

Keywords: video-based navigation system, lane detection, SVMs, autonomous vehicles

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Authors: B. Vadiraj, S. N. Omkar, B. Kapil Bharadwaj, Yash Vardhan Gupta

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During manned exploration of space, missions will require astronaut crewmembers to perform Extra Vehicular Activities (EVAs) for a variety of tasks. These EVAs take place after long periods of operations in space, and in and around unique vehicles, space structures and systems. Considering the remoteness and time spans in which these vehicles will operate, EVA system operations should utilize common worksites, tools and procedures as much as possible to increase the efficiency of training and proficiency in operations. All of the preparations need to be carried out based on studies of astronaut motions. Until now, development and training activities associated with the planned EVAs in Russian and U.S. space programs have relied almost exclusively on physical simulators. These experimental tests are expensive and time consuming. During the past few years a strong increase has been observed in the use of computer simulations due to the fast developments in computer hardware and simulation software. Based on this idea, an effort to develop a computational simulation system to model human dynamic motion for EVA is initiated. This study focuses on the simulation of an astronaut moving the orbital replaceable units into the worksites or removing them from the worksites. Our physics-based methodology helps fill the gap in quantitative analysis of astronaut EVA by providing a multisegment human arm model. Simulation work described in the study improves on the realism of previous efforts, incorporating joint stops to account for the physiological limits of range of motion. To demonstrate the utility of this approach human arm model is simulated virtually using ADAMS/LifeMOD^® software. Kinematic mechanism for the astronaut’s task is studied from joint angles and torques. Simulation results obtained is validated with numerical simulation based on the principles of Newton-Euler method. Torques determined using mathematical model are compared among the subjects to know the grace and consistency of the task performed. We conclude that due to uncertain nature of exploration-class EVA, a virtual model developed using multibody dynamics approach offers significant advantages over traditional human modeling approaches.

Keywords: Extra vehicular activity, biomechanics, inverse kinematics, human body modeling.

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Authors: J. Cheeneebash, S. Jugee

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In this paper, the Tabu search algorithm is used to solve a transportation problem which consists of determining the shortest routes with the appropriate vehicle capacity to facilitate the travel of the students attending the University of Mauritius. The aim of this work is to minimize the total cost of the distance travelled by the vehicles in serving all the customers. An initial solution is obtained by the TOUR algorithm which basically constructs a giant tour containing all the customers and partitions it in an optimal way so as to produce a set of feasible routes. The Tabu search algorithm then makes use of a search procedure, a swapping procedure and the intensification and diversification mechanism to find the best set of feasible routes.

Keywords: Tabu Search, Vehicle Routing, Transport.

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Authors: Ahmad Habibizad Navin, Mehdi Naghian Fesharaki, Mohamad Teshnelab, Ehsan Shahamatnia

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The anti-lock braking systems installed on vehicles for safe and effective braking, are high-order nonlinear and timevariant. Using fuzzy logic controllers increase efficiency of such systems, but impose a high computational complexity as well. The main concept introduced by this paper is reducing computational complexity of fuzzy controllers by deploying problem-solution data structure. Unlike conventional methods that are based on calculations, this approach is based on data oriented modeling.

Keywords: ABS, Fuzzy controller, PSDS, Time-Memory tradeoff, Data oriented modeling.

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Authors: Hun-Jung Lim, Tai-Myoung Chung

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Few decades ago, electronic and sensor technologies are merged into vehicles as the Advanced Driver Assistance System(ADAS). However, sensor-based ADASs have limitations about weather interference and a line-of-sight nature problem. In our project, we investigate a Relative Position based ADAS(RP-ADAS). We divide the RP-ADAS into four main research areas: GNSS, VANET, Security/Privacy, and Application. In this paper, we research the GNSS technologies and determine the most appropriate one. With the performance evaluation, we figure out that the C/A code based GPS technologies are inappropriate for 'which lane-level' application. However, they can be used as a 'which road-level' application.

Keywords: Relative Positioning, VANET, GNSS, ADAS

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Authors: Pradip Kundu, Samarjit Kar, Manoranjan Maiti

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In this paper, some practical solid transportation models are formulated considering per trip capacity of each type of conveyances with crisp and rough unit transportation costs. This is applicable for the system in which full vehicles, e.g. trucks, rail coaches are to be booked for transportation of products so that transportation cost is determined on the full of the conveyances. The models with unit transportation costs as rough variables are transformed into deterministic forms using rough chance constrained programming with the help of trust measure. Numerical examples are provided to illustrate the proposed models in crisp environment as well as with unit transportation costs as rough variables.

Keywords: Solid transportation problem, Rough set, Rough variable, Trust measure.

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Authors: S. Pathomsiri, P. Sukaboon

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The National Blood Center, Thai Red Cross Society is responsible for providing blood to hospitals all over the country. When any hospital needs blood, it will have to send the vehicle to pick up at the NBC. There are a lot of vehicles to pick up blood at the NBC every day. Each vehicle is usually empty for inbound trip and a little loaded for outbound. The NBC realized such waste or loss and there have been the third party offered to distribute blood and charge for fee. This paper proposes to apply the vehicle routing problem (VRP) for estimating the fair price. The idea is tested with the real data during seven-day period of 6 – 12 July 2010 to estimate the fair price for transporting blood in Bangkok Metropolitan Region.

Keywords: Blood Supply Chain, Vehicle Routing Problem, Heuristic, Saving Algorithm, Fair Price.

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Authors: Tohru Kawabe

Abstract:

In this paper, a new SMC (Sliding Mode Control) method with MP (Model Predictive Control) integral action for the slip suppression of EV (Electric Vehicle) under braking is proposed. The proposed method introduce the integral term with standard SMC gain , where the integral gain is optimized for each control period by the MPC algorithms. The aim of this method is to improve the safety and the stability of EVs under braking by controlling the wheel slip ratio. There also include numerical simulation results to demonstrate the effectiveness of the method.

Keywords: Sliding Mode Control, Model Predictive Control, Integral Action, Electric Vehicle, Slip suppression.

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Authors: Sungji Han, Youngjoon Han, Hernsoo Hahn

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This paper presents a robust vehicle detection approach using Haar-like feature. It is possible to get a strong edge feature from this Haar-like feature. Therefore it is very effective to remove the shadow of a vehicle on the road. And we can detect the boundary of vehicles accurately. In the paper, the vehicle detection algorithm can be divided into two main steps. One is hypothesis generation, and the other is hypothesis verification. In the first step, it determines vehicle candidates using features such as a shadow, intensity, and vertical edge. And in the second step, it determines whether the candidate is a vehicle or not by using the symmetry of vehicle edge features. In this research, we can get the detection rate over 15 frames per second on our embedded system.

Keywords: vehicle detection, haar-like feauture, single camera, real time

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Authors: Naeleh Motamedi, Masoud Mahmoudkhan Shirazi, Nima Nouraei

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Natural disasters, including earthquake, kill many people around the world every year. Society rescue actions, which start after the earthquake and are called LAST in abbreviation, include locating, access, stabilization and transportation. In the present article, we have studied the process of local accessibility to the injured and transporting them to health care centers. With regard the heavy traffic load due to earthquake, the destruction of connecting roads and bridges and the heavy debris in alleys and street, which put the lives of the injured and the people buried under the debris in danger, accelerating the rescue actions and facilitating the accessibilities are of great importance, obviously. Tehran, the capital of Iran, is among the crowded cities in the world and is the center of extensive economic, political, cultural and social activities. Tehran has a population of about 9.5 millions and because of the immigration of people from the surrounding cities. Furthermore, considering the fact that Tehran is located on two important and large faults, a 6 Richter magnitude earthquake in this city could lead to the greatest catastrophe during the entire human history. The present study is a kind of review and a major part of the required information for it, has been obtained from libraries all of the rescue vehicles around the world, including rescue helicopters, ambulances, fire fighting vehicles and rescue boats, and their applied technology, and also the robots specifically designed for the rescue system and the advantages and disadvantages of them, have been investigated. The studies show that there is a significant relationship between the rescue team-s arrival time at the incident zone and the number of saved people; so that, if the duration of burial under debris 30 minutes, the probability of survival is %99.3, after a day is %81, after 2days is %19 and after 5days is %7.4. The exiting transport systems all have some defects. If these defects are removed, more people could be saved each hour and the preparedness against natural disasters is increased. In this study, transport system has been designed for the rescue team and the injured; which could carry the rescue team to the incident zone and the injured to the health care centers. In addition, this system is able to fly in the air and move on the earth as well; so that the destruction of roads and the heavy traffic load could not prevent the rescue team from arriving early at the incident zone. The system also has the equipment required firebird for debris removing, optimum transport of the injured and first aid.

Keywords: earthquake, accelerating, accessibilities transportation, rescue system

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Authors: Saman M. Siddiqui, Fang Jiancheng

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Micro electromechanical sensors (MEMS) play a vital role along with global positioning devices in navigation of autonomous vehicles .These sensors are low cost ,easily available but depict colored noises and unpredictable discontinuities .Conventional filters like Kalman filters and Sigma point filters are not able to cope with nonwhite noises. This research has utilized H∞ filter in nonlinear frame work both with Kalman filter and Unscented filter for navigation and self alignment of an airborne vehicle. The system is simulated for colored noises and discontinuities and results are compared with not robust nonlinear filters. The results are found 40%-70% more robust against colored noises and discontinuities.

Keywords: filtering, integrated navigation, MEMS, nonlinearfiltering, self alignment

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Authors: A. A. Shafie, Fadhlan Hafiz, M. H. Ali

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Motion detection is very important in image processing. One way of detecting motion is using optical flow. Optical flow cannot be computed locally, since only one independent measurement is available from the image sequence at a point, while the flow velocity has two components. A second constraint is needed. The method used for finding the optical flow in this project is assuming that the apparent velocity of the brightness pattern varies smoothly almost everywhere in the image. This technique is later used in developing software for motion detection which has the capability to carry out four types of motion detection. The motion detection software presented in this project also can highlight motion region, count motion level as well as counting object numbers. Many objects such as vehicles and human from video streams can be recognized by applying optical flow technique.

Keywords: Background modeling, Motion detection, Optical flow, Velocity smoothness constant, motion trajectories.

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Authors: Jae Moon Lee

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In general, algorithms to find continuous k-nearest neighbors have been researched on the location based services, monitoring periodically the moving objects such as vehicles and mobile phone. Those researches assume the environment that the number of query points is much less than that of moving objects and the query points are not moved but fixed. In gaming environments, this problem is when computing the next movement considering the neighbors such as flocking, crowd and robot simulations. In this case, every moving object becomes a query point so that the number of query point is same to that of moving objects and the query points are also moving. In this paper, we analyze the performance of the existing algorithms focused on location based services how they operate under gaming environments.

Keywords: Flocking behavior, heterogeneous agents, similarity, simulation.

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Authors: Carolina Senabre, Sergio Valero, Emilio Velasco

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The brake systems of vehicles are tested periodically by a “brake tester” at Ministry of Transport (MOT) stations. This tester measures the effectiveness of vehicle. This parameter is established by the International Committee of Vehicle Inspection (CITA). In this paper, we present an investigation of the influence of the tire size on the measurements of brake force on three MOT brake testers. We performed an analysis of the vehicle braking capacity test at MOT stations. The influence of varying wheel diameter and width on the measurement of braking at MOT stations has been analyzed. Thereby, the MOT brake tester as a verification system for a vehicle has been evaluated.

Keywords: Brake tester, wheel diameter, Ministry of transport facilities.

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Authors: Y. Q. Chen, P. K. Wong, Z. C. Xie, H. W. Wu, K. U. Chan, J., L. Huang

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It is believed that continuously variable transmission (CVT) will dominate the automotive transmissions in the future. The most popular design is Van Doorne-s CVT with single metal pushing V-belt. However, it is only applicable to low power passenger cars because its major limitation is low torque capacity. Therefore, this research studies a novel dual-belt CVT system to overcome the limitation of traditional single-belt CVT, such that it can be applicable to the heavy-duty vehicles. This paper presents the mathematical model of the design and its experimental verification. Experimental and simulated results show that the model developed is valid and the proposed dual-belt CVT can really overcome the traditional limitation of single-belt Van Doorne-s CVT.

Keywords: Analytical model, CVT, Dual belts, Torque capacity.

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Authors: Hyun-Koo Kim, Sangmoon Lee, Ho-Youl Jung, Ju H. Park

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We present a system that finds road boundaries and constructs the virtual lane based on fusion data from a laser and a monocular sensor, and detects forward vehicle position even in no lane markers or bad environmental conditions. When the road environment is dark or a lot of vehicles are parked on the both sides of the road, it is difficult to detect lane and road boundary. For this reason we use fusion of laser and vision sensor to extract road boundary to acquire three dimensional data. We use parabolic road model to calculate road boundaries which is based on vehicle and sensors state parameters and construct virtual lane. And then we distinguish vehicle position in each lane.

Keywords: Vehicle Detection, Adaboost, Haar-like Feature, Road Boundary Detection

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