Challenges in Partially-Automated Roadway Feature Mapping Using Mobile Laser Scanning and Vehicle Trajectory Data

Connected vehicle and driver's assistance applications are greatly facilitated by Enhanced Digital Maps (EDMs) that represent roadway features (e.g., lane edges or centerlines, stop bars). Due to the large number of signalized intersections and miles of roadway, manual development of EDMs on a global basis is not feasible. Mobile Terrestrial Laser Scanning (MTLS) is the preferred data acquisition method to provide data for automated EDM development. Such systems provide an MTLS trajectory and a point cloud for the roadway environment. The challenge is to automatically convert these data into an EDM. This article presents a new processing and feature extraction method, experimental demonstration providing SAE-J2735 map messages for eleven example intersections, and a discussion of the results that points out remaining challenges and suggests directions for future research.Comment: 6 pages, 5 figure

Model Predictive Control Based Trajectory Generation for Autonomous Vehicles - An Architectural Approach

Research in the field of automated driving has created promising results in the last years. Some research groups have shown perception systems which are able to capture even complicated urban scenarios in great detail. Yet, what is often missing are general-purpose path- or trajectory planners which are not designed for a specific purpose. In this paper we look at path- and trajectory planning from an architectural point of view and show how model predictive frameworks can contribute to generalized path- and trajectory generation approaches for generating safe trajectories even in cases of system failures.Comment: Presented at IEEE Intelligent Vehicles Symposium 2017, Los Angeles, CA, US

Investigating Perceptual Congruence Between Data and Display Dimensions in Sonification

The relationships between sounds and their perceived meaning and connotations are complex, making auditory perception an important factor to consider when designing sonification systems. Listeners often have a mental model of how a data variable should sound during sonification and this model is not considered in most data:sound mappings. This can lead to mappings that are difficult to use and can cause confusion. To investigate this issue, we conducted a magnitude estimation experiment to map how roughness, noise and pitch relate to the perceived magnitude of stress, error and danger. These parameters were chosen due to previous findings which suggest perceptual congruency between these auditory sensations and conceptual variables. Results from this experiment show that polarity and scaling preference are dependent on the data:sound mapping. This work provides polarity and scaling values that may be directly utilised by sonification designers to improve auditory displays in areas such as accessible and mobile computing, process-monitoring and biofeedback

Parallel Multi-Hypothesis Algorithm for Criticality Estimation in Traffic and Collision Avoidance

Due to the current developments towards autonomous driving and vehicle active safety, there is an increasing necessity for algorithms that are able to perform complex criticality predictions in real-time. Being able to process multi-object traffic scenarios aids the implementation of a variety of automotive applications such as driver assistance systems for collision prevention and mitigation as well as fall-back systems for autonomous vehicles. We present a fully model-based algorithm with a parallelizable architecture. The proposed algorithm can evaluate the criticality of complex, multi-modal (vehicles and pedestrians) traffic scenarios by simulating millions of trajectory combinations and detecting collisions between objects. The algorithm is able to estimate upcoming criticality at very early stages, demonstrating its potential for vehicle safety-systems and autonomous driving applications. An implementation on an embedded system in a test vehicle proves in a prototypical manner the compatibility of the algorithm with the hardware possibilities of modern cars. For a complex traffic scenario with 11 dynamic objects, more than 86 million pose combinations are evaluated in 21 ms on the GPU of a Drive PX~2

Extreme flood-driven fluvial bank erosion and sediment loads: direct process measurements using integrated Mobile Laser Scanning (MLS) and hydro-acoustic techniques: Direct measurement of flood-driven erosion using MLS and MBES

Copyright © 2016 John Wiley & Sons, Ltd. This methods paper details the first attempt at monitoring bank erosion, flow and suspended sediment at a site during flooding on the Mekong River induced by the passage of tropical cyclones. We deployed integrated mobile laser scanning (MLS) and multibeam echo sounding (MBES), alongside acoustic Doppler current profiling (aDcp), to directly measure changes in river bank and bed at high (~0.05 m) spatial resolution, in conjunction with measurements of flow and suspended sediment dynamics. We outline the methodological steps used to collect and process this complex point cloud data, and detail the procedures used to process and calibrate the aDcp flow and sediment flux data. A comparison with conventional remote sensing methods of estimating bank erosion, using aerial images and Landsat imagery, reveals that traditional techniques are error prone at the high temporal resolutions required to quantify the patterns and volumes of bank erosion induced by the passage of individual flood events. Our analysis reveals the importance of cyclone-driven flood events in causing high rates of erosion and suspended sediment transport, with a c. twofold increase in bank erosion volumes and a fourfold increase in suspended sediment volumes in the cyclone-affected wet season. Copyright © 2016 John Wiley & Sons, Ltd

An Energy-Efficient Reconfigurable Circuit Switched Network-on-Chip

Network-on-Chip (NoC) is an energy-efficient on-chip communication architecture for multi-tile System-on-Chip (SoC) architectures. The SoC architecture, including its run-time software, can replace inflexible ASICs for future ambient systems. These ambient systems have to be flexible as well as energy-efficient. To find an energy-efficient solution for the communication network we analyze three wireless applications. Based on their communication requirements we observe that revisiting of the circuit switching techniques is beneficial. In this paper we propose a new energy-efficient reconfigurable circuit-switched Network-on-Chip. By physically separating the concurrent data streams we reduce the overall energy consumption. The circuit-switched router has been synthesized and analyzed for its power consumption in 0.13 ¿m technology. A 5-port circuit-switched router has an area of 0.05 mm2 and runs at 1075 MHz. The proposed architecture consumes 3.5 times less energy compared to its packet-switched equivalen

NoiseSPY: a real-time mobile phone platform for urban noise monitoring and mapping

In this paper we present the design, implementation, evaluation, and user experiences of the NoiseSpy application, our sound sensing system that turns the mobile phone into a low-cost data logger for monitoring environmental noise. It allows users to explore a city area while collaboratively visualizing noise levels in real-time. The software combines the sound levels with GPS data in order to generate a map of sound levels that were encountered during a journey. We report early findings from the trials which have been carried out by cycling couriers who were given Nokia mobile phones equipped with the NoiseSpy software to collect noise data around Cambridge city. Indications are that, not only is the functionality of this personal environmental sensing tool engaging for users, but aspects such as personalization of data, contextual information, and reflection upon both the data and its collection, are important factors in obtaining and retaining their interest