27,253 research outputs found
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
Memory effects in microscopic traffic models and wide scattering in flow-density data
By means of microscopic simulations we show that non-instantaneous adaptation
of the driving behaviour to the traffic situation together with the
conventional measurement method of flow-density data can explain the observed
inverse- shape and the wide scattering of flow-density data in
``synchronized'' congested traffic. We model a memory effect in the response of
drivers to the traffic situation for a wide class of car-following models by
introducing a new dynamical variable describing the adaptation of drivers to
the surrounding traffic situation during the past few minutes (``subjective
level of service'') and couple this internal state to parameters of the
underlying model that are related to the driving style. % For illustration, we
use the intelligent-driver model (IDM) as underlying model, characterize the
level of service solely by the velocity and couple the internal variable to the
IDM parameter ``netto time gap'', modelling an increase of the time gap in
congested traffic (``frustration effect''), that is supported by single-vehicle
data. % We simulate open systems with a bottleneck and obtain flow-density data
by implementing ``virtual detectors''. Both the shape, relative size and
apparent ``stochasticity'' of the region of the scattered data points agree
nearly quantitatively with empirical data. Wide scattering is even observed for
identical vehicles, although the proposed model is a time-continuous,
deterministic, single-lane car-following model with a unique fundamental
diagram.Comment: 8 pages, submitted to Physical Review
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