8,835 research outputs found
Offline reconstruction of missing vehicle trajectory data from 3D LIDAR
LIDAR has become an important part of many autonomous vehicles with its
advantages on distance measurement and obstacle detection. LIDAR produces point
clouds which have important information about surrounding environment. In this
paper, we collected trajectory data on a two lane urban road using a Velodyne
VLP-16 Lidar. Due to dynamic nature of data collection and limited range of the
sensor, some of these trajectories have missing points or gaps. In this paper,
we propose a novel method for recovery of missing vehicle trajectory data
points using microscopic traffic flow models. While short gaps (less than 5
seconds) can be recovered with simple linear regression, and longer gaps are
recovered with the proposed method that makes use of car following models
calibrated by assigning weights to known points based on proximity to the gaps.
Newell's, Pipes, IDM and Gipps' car following models are calibrated and tested
with the ground truth trajectory data from LIDAR and NGSIM I-80 dataset. Gipps'
calibrated model yielded the best result
Vision-Based Lane-Changing Behavior Detection Using Deep Residual Neural Network
Accurate lane localization and lane change detection are crucial in advanced
driver assistance systems and autonomous driving systems for safer and more
efficient trajectory planning. Conventional localization devices such as Global
Positioning System only provide road-level resolution for car navigation, which
is incompetent to assist in lane-level decision making. The state of art
technique for lane localization is to use Light Detection and Ranging sensors
to correct the global localization error and achieve centimeter-level accuracy,
but the real-time implementation and popularization for LiDAR is still limited
by its computational burden and current cost. As a cost-effective alternative,
vision-based lane change detection has been highly regarded for affordable
autonomous vehicles to support lane-level localization. A deep learning-based
computer vision system is developed to detect the lane change behavior using
the images captured by a front-view camera mounted on the vehicle and data from
the inertial measurement unit for highway driving. Testing results on
real-world driving data have shown that the proposed method is robust with
real-time working ability and could achieve around 87% lane change detection
accuracy. Compared to the average human reaction to visual stimuli, the
proposed computer vision system works 9 times faster, which makes it capable of
helping make life-saving decisions in time
The State-of-the-art of Coordinated Ramp Control with Mixed Traffic Conditions
Ramp metering, a traditional traffic control strategy for conventional
vehicles, has been widely deployed around the world since the 1960s. On the
other hand, the last decade has witnessed significant advances in connected and
automated vehicle (CAV) technology and its great potential for improving
safety, mobility and environmental sustainability. Therefore, a large amount of
research has been conducted on cooperative ramp merging for CAVs only. However,
it is expected that the phase of mixed traffic, namely the coexistence of both
human-driven vehicles and CAVs, would last for a long time. Since there is
little research on the system-wide ramp control with mixed traffic conditions,
the paper aims to close this gap by proposing an innovative system architecture
and reviewing the state-of-the-art studies on the key components of the
proposed system. These components include traffic state estimation, ramp
metering, driving behavior modeling, and coordination of CAVs. All reviewed
literature plot an extensive landscape for the proposed system-wide coordinated
ramp control with mixed traffic conditions.Comment: 8 pages, 1 figure, IEEE INTELLIGENT TRANSPORTATION SYSTEMS CONFERENCE
- ITSC 201
CityFlow: A Multi-Agent Reinforcement Learning Environment for Large Scale City Traffic Scenario
Traffic signal control is an emerging application scenario for reinforcement
learning. Besides being as an important problem that affects people's daily
life in commuting, traffic signal control poses its unique challenges for
reinforcement learning in terms of adapting to dynamic traffic environment and
coordinating thousands of agents including vehicles and pedestrians. A key
factor in the success of modern reinforcement learning relies on a good
simulator to generate a large number of data samples for learning. The most
commonly used open-source traffic simulator SUMO is, however, not scalable to
large road network and large traffic flow, which hinders the study of
reinforcement learning on traffic scenarios. This motivates us to create a new
traffic simulator CityFlow with fundamentally optimized data structures and
efficient algorithms. CityFlow can support flexible definitions for road
network and traffic flow based on synthetic and real-world data. It also
provides user-friendly interface for reinforcement learning. Most importantly,
CityFlow is more than twenty times faster than SUMO and is capable of
supporting city-wide traffic simulation with an interactive render for
monitoring. Besides traffic signal control, CityFlow could serve as the base
for other transportation studies and can create new possibilities to test
machine learning methods in the intelligent transportation domain.Comment: WWW 2019 Demo Pape
Multi-Object Tracking with Interacting Vehicles and Road Map Information
In many applications, tracking of multiple objects is crucial for a
perception of the current environment. Most of the present multi-object
tracking algorithms assume that objects move independently regarding other
dynamic objects as well as the static environment. Since in many traffic
situations objects interact with each other and in addition there are
restrictions due to drivable areas, the assumption of an independent object
motion is not fulfilled. This paper proposes an approach adapting a
multi-object tracking system to model interaction between vehicles, and the
current road geometry. Therefore, the prediction step of a Labeled
Multi-Bernoulli filter is extended to facilitate modeling interaction between
objects using the Intelligent Driver Model. Furthermore, to consider road map
information, an approximation of a highly precise road map is used. The results
show that in scenarios where the assumption of a standard motion model is
violated, the tracking system adapted with the proposed method achieves higher
accuracy and robustness in its track estimations
Fuzzy cellular model for on-line traffic simulation
This paper introduces a fuzzy cellular model of road traffic that was
intended for on-line applications in traffic control. The presented model uses
fuzzy sets theory to deal with uncertainty of both input data and simulation
results. Vehicles are modelled individually, thus various classes of them can
be taken into consideration. In the proposed approach, all parameters of
vehicles are described by means of fuzzy numbers. The model was implemented in
a simulation of vehicles queue discharge process. Changes of the queue length
were analysed in this experiment and compared to the results of NaSch cellular
automata model.Comment: The original publication is available at http://www.springerlink.co
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