Driving style recognition for intelligent vehicle control and advanced driver assistance: a survey

Driver driving style plays an important role in vehicle energy management as well as driving safety. Furthermore, it is key for advance driver assistance systems development, toward increasing levels of vehicle automation. This fact has motivated numerous research and development efforts on driving style identification and classification. This paper provides a survey on driving style characterization and recognition revising a variety of algorithms, with particular emphasis on machine learning approaches based on current and future trends. Applications of driving style recognition to intelligent vehicle controls are also briefly discussed, including experts' predictions of the future development

Computer Vision System-On-Chip Designs for Intelligent Vehicles

Intelligent vehicle technologies are growing rapidly that can enhance road safety, improve transport efficiency, and aid driver operations through sensors and intelligence. Advanced driver assistance system (ADAS) is a common platform of intelligent vehicle technologies. Many sensors like LiDAR, radar, cameras have been deployed on intelligent vehicles. Among these sensors, optical cameras are most widely used due to their low costs and easy installation. However, most computer vision algorithms are complicated and computationally slow, making them difficult to be deployed on power constraint systems. This dissertation investigates several mainstream ADAS applications, and proposes corresponding efficient digital circuits implementations for these applications. This dissertation presents three ways of software / hardware algorithm division for three ADAS applications: lane detection, traffic sign classification, and traffic light detection. Using FPGA to offload critical parts of the algorithm, the entire computer vision system is able to run in real time while maintaining a low power consumption and a high detection rate. Catching up with the advent of deep learning in the field of computer vision, we also present two deep learning based hardware implementations on application specific integrated circuits (ASIC) to achieve even lower power consumption and higher accuracy. The real time lane detection system is implemented on Xilinx Zynq platform, which has a dual core ARM processor and FPGA fabric. The Xilinx Zynq platform integrates the software programmability of an ARM processor with the hardware programmability of an FPGA. For the lane detection task, the FPGA handles the majority of the task: region-of-interest extraction, edge detection, image binarization, and hough transform. After then, the ARM processor takes in hough transform results and highlights lanes using the hough peaks algorithm. The entire system is able to process 1080P video stream at a constant speed of 69.4 frames per second, realizing real time capability. An efficient system-on-chip (SOC) design which classifies up to 48 traffic signs in real time is presented in this dissertation. The traditional histogram of oriented gradients (HoG) and support vector machine (SVM) are proven to be very effective on traffic sign classification with an average accuracy rate of 93.77%. For traffic sign classification, the biggest challenge comes from the low execution efficiency of the HoG on embedded processors. By dividing the HoG algorithm into three fully pipelined stages, as well as leveraging extra on-chip memory to store intermediate results, we successfully achieved a throughput of 115.7 frames per second at 1080P resolution. The proposed generic HoG hardware implementation could also be used as an individual IP core by other computer vision systems. A real time traffic signal detection system is implemented to present an efficient hardware implementation of the traditional grass-fire blob detection. The traditional grass-fire blob detection method iterates the input image multiple times to calculate connected blobs. In digital circuits, five extra on-chip block memories are utilized to save intermediate results. By using additional memories, all connected blob information could be obtained through one-pass image traverse. The proposed hardware friendly blob detection can run at 72.4 frames per second with 1080P video input. Applying HoG + SVM as feature extractor and classifier, 92.11% recall rate and 99.29% precision rate are obtained on red lights, and 94.44% recall rate and 98.27% precision rate on green lights. Nowadays, convolutional neural network (CNN) is revolutionizing computer vision due to learnable layer by layer feature extraction. However, when coming into inference, CNNs are usually slow to train and slow to execute. In this dissertation, we studied the implementation of principal component analysis based network (PCANet), which strikes a balance between algorithm robustness and computational complexity. Compared to a regular CNN, the PCANet only needs one iteration training, and typically at most has a few tens convolutions on a single layer. Compared to hand-crafted features extraction methods, the PCANet algorithm well reflects the variance in the training dataset and can better adapt to difficult conditions. The PCANet algorithm achieves accuracy rates of 96.8% and 93.1% on road marking detection and traffic light detection, respectively. Implementing in Synopsys 32nm process technology, the proposed chip can classify 724,743 32-by-32 image candidates in one second, with only 0.5 watt power consumption. In this dissertation, binary neural network (BNN) is adopted as a potential detector for intelligent vehicles. The BNN constrains all activations and weights to be +1 or -1. Compared to a CNN with the same network configuration, the BNN achieves 50 times better resource usage with only 1% - 2% accuracy loss. Taking car detection and pedestrian detection as examples, the BNN achieves an average accuracy rate of over 95%. Furthermore, a BNN accelerator implemented in Synopsys 32nm process technology is presented in our work. The elastic architecture of the BNN accelerator makes it able to process any number of convolutional layers with high throughput. The BNN accelerator only consumes 0.6 watt and doesn\u27t rely on external memory for storage

Computer Vision System-On-Chip Designs for Intelligent Vehicles

Intelligent vehicle technologies are growing rapidly that can enhance road safety, improve transport efficiency, and aid driver operations through sensors and intelligence. Advanced driver assistance system (ADAS) is a common platform of intelligent vehicle technologies. Many sensors like LiDAR, radar, cameras have been deployed on intelligent vehicles. Among these sensors, optical cameras are most widely used due to their low costs and easy installation. However, most computer vision algorithms are complicated and computationally slow, making them difficult to be deployed on power constraint systems. This dissertation investigates several mainstream ADAS applications, and proposes corresponding efficient digital circuits implementations for these applications. This dissertation presents three ways of software / hardware algorithm division for three ADAS applications: lane detection, traffic sign classification, and traffic light detection. Using FPGA to offload critical parts of the algorithm, the entire computer vision system is able to run in real time while maintaining a low power consumption and a high detection rate. Catching up with the advent of deep learning in the field of computer vision, we also present two deep learning based hardware implementations on application specific integrated circuits (ASIC) to achieve even lower power consumption and higher accuracy. The real time lane detection system is implemented on Xilinx Zynq platform, which has a dual core ARM processor and FPGA fabric. The Xilinx Zynq platform integrates the software programmability of an ARM processor with the hardware programmability of an FPGA. For the lane detection task, the FPGA handles the majority of the task: region-of-interest extraction, edge detection, image binarization, and hough transform. After then, the ARM processor takes in hough transform results and highlights lanes using the hough peaks algorithm. The entire system is able to process 1080P video stream at a constant speed of 69.4 frames per second, realizing real time capability. An efficient system-on-chip (SOC) design which classifies up to 48 traffic signs in real time is presented in this dissertation. The traditional histogram of oriented gradients (HoG) and support vector machine (SVM) are proven to be very effective on traffic sign classification with an average accuracy rate of 93.77%. For traffic sign classification, the biggest challenge comes from the low execution efficiency of the HoG on embedded processors. By dividing the HoG algorithm into three fully pipelined stages, as well as leveraging extra on-chip memory to store intermediate results, we successfully achieved a throughput of 115.7 frames per second at 1080P resolution. The proposed generic HoG hardware implementation could also be used as an individual IP core by other computer vision systems. A real time traffic signal detection system is implemented to present an efficient hardware implementation of the traditional grass-fire blob detection. The traditional grass-fire blob detection method iterates the input image multiple times to calculate connected blobs. In digital circuits, five extra on-chip block memories are utilized to save intermediate results. By using additional memories, all connected blob information could be obtained through one-pass image traverse. The proposed hardware friendly blob detection can run at 72.4 frames per second with 1080P video input. Applying HoG + SVM as feature extractor and classifier, 92.11% recall rate and 99.29% precision rate are obtained on red lights, and 94.44% recall rate and 98.27% precision rate on green lights. Nowadays, convolutional neural network (CNN) is revolutionizing computer vision due to learnable layer by layer feature extraction. However, when coming into inference, CNNs are usually slow to train and slow to execute. In this dissertation, we studied the implementation of principal component analysis based network (PCANet), which strikes a balance between algorithm robustness and computational complexity. Compared to a regular CNN, the PCANet only needs one iteration training, and typically at most has a few tens convolutions on a single layer. Compared to hand-crafted features extraction methods, the PCANet algorithm well reflects the variance in the training dataset and can better adapt to difficult conditions. The PCANet algorithm achieves accuracy rates of 96.8% and 93.1% on road marking detection and traffic light detection, respectively. Implementing in Synopsys 32nm process technology, the proposed chip can classify 724,743 32-by-32 image candidates in one second, with only 0.5 watt power consumption. In this dissertation, binary neural network (BNN) is adopted as a potential detector for intelligent vehicles. The BNN constrains all activations and weights to be +1 or -1. Compared to a CNN with the same network configuration, the BNN achieves 50 times better resource usage with only 1% - 2% accuracy loss. Taking car detection and pedestrian detection as examples, the BNN achieves an average accuracy rate of over 95%. Furthermore, a BNN accelerator implemented in Synopsys 32nm process technology is presented in our work. The elastic architecture of the BNN accelerator makes it able to process any number of convolutional layers with high throughput. The BNN accelerator only consumes 0.6 watt and doesn\u27t rely on external memory for storage

Conserving woodland biodiversity: an evaluation of the Woodland Grant Scheme in Kent

Imperial Users onl

Developing Predictive Models of Driver Behaviour for the Design of Advanced Driving Assistance Systems

World-wide injuries in vehicle accidents have been on the rise in recent years, mainly due to driver error. The main objective of this research is to develop a predictive system for driving maneuvers by analyzing the cognitive behavior (cephalo-ocular) and the driving behavior of the driver (how the vehicle is being driven). Advanced Driving Assistance Systems (ADAS) include different driving functions, such as vehicle parking, lane departure warning, blind spot detection, and so on. While much research has been performed on developing automated co-driver systems, little attention has been paid to the fact that the driver plays an important role in driving events. Therefore, it is crucial to monitor events and factors that directly concern the driver. As a goal, we perform a quantitative and qualitative analysis of driver behavior to find its relationship with driver intentionality and driving-related actions. We have designed and developed an instrumented vehicle (RoadLAB) that is able to record several synchronized streams of data, including the surrounding environment of the driver, vehicle functions and driver cephalo-ocular behavior, such as gaze/head information. We subsequently analyze and study the behavior of several drivers to find out if there is a meaningful relation between driver behavior and the next driving maneuver

Evidence review of the potential wider impacts of climate change mitigation options: agriculture, forestry, land use and waste sectors

A report prepared for Scottish Government. Greenhouse gas (GHG) mitigation is a central policy objective in Scotland. The Climate Change (Scotland) Act 2009 sets an interim 42% reduction target for 2020 and an 80% target for 2050 across all sectors of society (1990 baseline). As a priority policy area, it has become vital to better understand the co-benefits and adverse impacts arising from mitigation actions on our environment, economy and society. Integrated assessment is key in prioritising environmental actions, reducing adverse impacts and enhancing positive co-effects. This report aims to summarise evidence on the wider impacts (WI) of GHG mitigation options (MO) in the Agriculture, land use, land use change and forestry sectors (ALULUCF) and those related waste management. The key findings of the review, are a summary of the wider impacts and an overview of the challenges in quantifying and monetising these impacts

Mass-Market Receiver for Static Positioning: Tests and Statistical Analyses

Nowadays, there are several low cost GPS receivers able to provide both pseudorange and carrier phase measurements in the L1band, that allow to have good realtime performances in outdoor condition. The present paper describes a set of dedicated tests in order to evaluate the positioning accuracy in static conditions. The quality of the pseudorange and the carrier phase measurements let hope for interesting results. The use of such kind of receiver could be extended to a large number of professional applications, like engineering fields: survey, georeferencing, monitoring, cadastral mapping and cadastral road. In this work, the receivers performance is verified considering a single frequency solution trying to fix the phase ambiguity, when possible. Different solutions are defined: code, float and fix solutions. In order to solve the phase ambiguities different methods are considered. Each test performed is statistically analyzed, highlighting the effects of different factors on precision and accurac

Application and evaluation of phosphorus and nitrogen loss quantification tools

Årsliste 2004 The report may also be downloaded from EUROHARP web site: www.euroharp.org. Editors, authors and NIVA assume no liability for any loss resulting from the use of this report.The EC funded EUROHARP project encompasses 22 research institutes from 17 European countries (2002-2005). The overall objective of the EUROHARP work is to provide end-users with guidance for an appropriate choice of quantification tools to satisfy existing European requirements on harmonisation and transparency for quantifying diffuse nutrient losses, e.g. to facilitate the implementation of the Water Framework Directive and the Nitrates Directive. The project includes both the assessment of the performance of individual models and the applicability of the same models in catchments with different data availability and environmental condition throughout Europe. The basis for the performance and applicability studies is the compilation of a harmonised GIS/database for all catchment data and the analysis of these data (trends, watercourse retention).Scoumans, O. (ALTERRA, The Netherlands) Silgram, M. (ADAS, United Kingdom

Development of a predictive thermal management function for Plug-in Hybrid Electric Vehicles

The present thesis is focused on the development of a predictive control strategy oriented to battery thermal management for plug-in hybrid electric vehicles (PHEVs). The basic principle of the strategy is to reduce as much as possible battery energy usage related to power request from the respective cooling circuit actuators. At this end, a thermo-hydraulic model of the in-vehicle battery cooling circuit has been developed in AMESim environment. Then, it has been implemented in an already existing Simulink vehicle model, which includes components analytical models and control strategies. The predictive aspect of the novel strategy is related to the evaluation of battery temperature over the electronic horizon on the base of input signals such as vehicle speed and road slope profile. As a consequence of temperature prediction, the developed strategy is able to establish in an energy-efficient way if cooling power is either required or not. Results highlight the advantages of applying the predictive strategy instead of a rule-based one, which is on-board implemented in each vehicle. It is shown that major energetic benefits, related to the extension of the all-electric range and the reduction of fuel consumption, take place at middle environmental temperatures, at which battery cooling power request can seriously make the difference on its drain rate. Therefore, project goal has been reached and the results can be considered an interesting starting point for further development and enhancing of predictive control strategies

Advances on the investigation of landslides by space-borne synthetic aperture radar interferometry

Landslides are destructive geohazards to people and infrastructure, resulting in hundreds of deaths and billions of dollars of damage every year. Therefore, mapping the rate of deformation of such geohazards and understanding their mechanics is of paramount importance to mitigate the resulting impacts and properly manage the associated risks. In this paper, the main outcomes relevant to the joint European Space Agency (ESA) and the Chinese Ministry of Science and Technology (MOST) Dragon-5 initiative cooperation project ID 59,339 “Earth observation for seismic hazard assessment and landslide early warning system” are reported. The primary goals of the project are to further develop advanced SAR/InSAR and optical techniques to investigate seismic hazards and risks, detect potential landslides in wide regions, and demonstrate EO-based landslide early warning system over selected landslides. This work only focuses on the landslide hazard content of the project, and thus, in order to achieve these objectives, the following tasks were developed up to now: a) a procedure for phase unwrapping errors and tropospheric delay correction; b) an improvement of a cross-platform SAR offset tracking method for the retrieval of long-term ground displacements; c) the application of polarimetric SAR interferometry (PolInSAR) to increase the number and quality of monitoring points in landslide-prone areas; d) the semiautomatic mapping and preliminary classification of active displacement areas on wide regions; e) the modeling and identification of landslides in order to identify triggering factors or predict future displacements; and f) the application of an InSAR-based landslide early warning system on a selected site. The achieved results, which mainly focus on specific sensitive regions, provide essential assets for planning present and future scientific activities devoted to identifying, mapping, characterizing, monitoring and predicting landslides, as well as for the implementation of early warning systems.This work was supported by the ESA-MOST China DRAGON-5 project with ref. 59339, by the Spanish Ministry of Science and Innovation, the State Agency of Research (AEI), and the European Funds for Regional Development under grant [grant number PID2020-117303GB-C22], by the Conselleria de Innovación, Universidades, Ciencia y Sociedad Digital in the framework of the project CIAICO/2021/335, by the Natural Science Foundation of China [grant numbers 41874005 and 41929001], the Fundamental Research Funds for the Central University [grant numbers 300102269712 and 300102269303], and China Geological Survey Project [grant numbers DD20190637 and DD20190647]. Xiaojie Liu and Liuru Hu have been funded by Chinese Scholarship Council Grants Ref. [grant number 202006560031] and [grant number 202004180062], respectively