A machine learning approach to pedestrian detection for autonomous vehicles using High-Definition 3D Range Data

This article describes an automated sensor-based system to detect pedestrians in an autonomous vehicle application. Although the vehicle is equipped with a broad set of sensors, the article focuses on the processing of the information generated by a Velodyne HDL-64E LIDAR sensor. The cloud of points generated by the sensor (more than 1 million points per revolution) is processed to detect pedestrians, by selecting cubic shapes and applying machine vision and machine learning algorithms to the XY, XZ, and YZ projections of the points contained in the cube. The work relates an exhaustive analysis of the performance of three different machine learning algorithms: k-Nearest Neighbours (kNN), Naïve Bayes classifier (NBC), and Support Vector Machine (SVM). These algorithms have been trained with 1931 samples. The final performance of the method, measured a real traffic scenery, which contained 16 pedestrians and 469 samples of non-pedestrians, shows sensitivity (81.2%), accuracy (96.2%) and specificity (96.8%).This work was partially supported by ViSelTR (ref. TIN2012-39279) and cDrone (ref. TIN2013-45920-R) projects of the Spanish Government, and the “Research Programme for Groups of Scientific Excellence at Region of Murcia” of the Seneca Foundation (Agency for Science and Technology of the Region of Murcia—19895/GERM/15). 3D LIDAR has been funded by UPCA13-3E-1929 infrastructure projects of the Spanish Government. Diego Alonso wishes to thank the Spanish Ministerio de Educación, Cultura y Deporte, Subprograma Estatal de Movilidad, Plan Estatal de Investigación Científica y Técnica y de Innovación 2013–2016 for grant CAS14/00238

Technical Evaluation of the Carolo-Cup 2014 - A Competition for Self-Driving Miniature Cars

The Carolo-Cup competition conducted for the eighth time this year, is an international student competition focusing on autonomous driving scenarios implemented on 1:10 scale car models. Three practical sub-competitions have to be realized in this context and represent a complex, interdisciplinary challenge. Hence, students have to cope with all core topics like mechanical development, electronic design, and programming as addressed usually by robotic applications. In this paper we introduce the competition challenges in detail and evaluate the results of all 13 participating teams from the 2014 competition. For this purpose, we analyze technical as well as non-technical configurations of each student group and derive best practices, lessons learned, and criteria as a precondition for a successful participation. Due to the comprehensive orientation of the Carolo-Cup, this knowledge can be applied on comparable projects and related competitions as well

Shared-control for typical driving scenarios

A shared-control algorithm for the kinematic model of a rear-wheel driving car is presented. The design of the shared-controller is based on a hysteresis switch and its properties are established by a Lyapunov-like analysis. The shared-controller guarantees the safety of the car in both predefined, static environments and time-varying environments. The effectiveness of the controller is verified by two studies

Effect of roundabout design on the behavior of road users: A case study of roundabouts with application of Unsupervised Machine Learning

This research aims to evaluate the performance of the rotors and study the behavior of the human driver in interacting with the rotors. In recent years, rotors have been increasingly used between countries due to their safety, capacity, and environmental advantages, and because they provide safe and fluid flows of vehicles for transit and integration. It turns out that roundabouts can significantly reduce speed at twisting intersections, entry speed and the resulting effect on speed depends on the rating of road users. In our research, (bus, car, truck) drivers were given special attention and their behavior was categorized into (conservative, normal, aggressive). Anticipating and recognizing driver behavior is an important challenge. Therefore, the aim of this research is to study the effect of roundabouts on these classifiers and to develop a method for predicting the behavior of road users at roundabout intersections. Safety is primarily due to two inherent features of the rotor. First, by comparing the data collected and processed in order to classify and evaluate drivers' behavior, and comparing the speeds of the drivers (bus, car and truck), the speed of motorists at crossing the roundabout was more fit than that of buses and trucks. We looked because the car is smaller and all parts of the rotor are visible to it. So drivers coming from all directions have to slow down, giving them more time to react and mitigating the consequences in the event of an accident. Second, with fewer conflicting flows (and points of conflict), drivers only need to look to their left (in right-hand traffic) for other vehicles, making their job of crossing the roundabout easier as there is less need to split attention between different directions