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

Environment Perception Framework Fusing Multi-Object Tracking, Dynamic Occupancy Grid Maps and Digital Maps

Autonomously driving vehicles require a complete and robust perception of the local environment. A main challenge is to perceive any other road users, where multi-object tracking or occupancy grid maps are commonly used. The presented approach combines both methods to compensate false positives and receive a complementary environment perception. Therefore, an environment perception framework is introduced that defines a common representation, extracts objects from a dynamic occupancy grid map and fuses them with tracks of a Labeled Multi-Bernoulli filter. Finally, a confidence value is developed, that validates object estimates using different constraints regarding physical possibilities, method specific characteristics and contextual information from a digital map. Experimental results with real world data highlight the robustness and significance of the presented fusing approach, utilizing the confidence value in rural and urban scenarios

One-sample log-rank tests with consideration of reference curve sampling variability

The one-sample log-rank test is the method of choice for single-arm Phase II trials with time-to-event endpoint. It allows to compare the survival of the patients to a reference survival curve that typically represents the expected survival under standard of care. The classical one-sample log-rank test, however, assumes that the reference survival curve is deterministic. This ignores that the reference curve is commonly estimated from historic data and thus prone to statistical error. Ignoring sampling variability of the reference curve results in type I error rate inflation. For that reason, a new one-sample log-rank test is proposed that explicitly accounts for the statistical error made in the process of estimating the reference survival curve. The test statistic and its distributional properties are derived using martingale techniques in the large sample limit. In particular, a sample size formula is provided. Small sample properties regarding type I and type II error rate control are studied by simulation. A case study is conducted to study the influence of several design parameters of a single-armed trial on the inflation of the type I error rate when reference curve sampling variability is ignored.Comment: 24 pages, 2 pictures, 1 supplementary fil

On Minc's sheltered middle path

This paper shows that a construction, which was introduced by Piotr Minc in connection with a problem that came from Helly type theorems and that allows to replace three PL-arcs with a "sheltered middle path", can in the case of general (non-PL) paths result in the topologist's sine curve.Comment: 18 pages, 3 figure

Liquid‐Liquid Equilibrium and Interfacial Properties of the System Water + Hexylacetate + 1‐Hexanol

Experimental and theoretical investigations of the phase diagram and the interfacial tension are presented. The theoretical framework was able to predict the phase behavior and the interfacial tension with a high accuracy, where only binary experimental data enter the model parameter. The theory permits the calculation of the concentration profiles across the interface. The profiles show that 1-hexanol will be enriched, which was expected. In same circumstances a competition between hexylacetate and 1-hexanol was figured out leading to slight minima in the profile of 1-hexanol

Hadron Spectroscopy with Dynamical Chirally Improved Fermions

We simulate two dynamical, mass degenerate light quarks on 16^3x32 lattices with a spatial extent of 2.4 fm using the Chirally Improved Dirac operator. The simulation method, the implementation of the action and signals of equilibration are discussed in detail. Based on the eigenvalues of the Dirac operator we discuss some qualitative features of our approach. Results for ground state masses of pseudoscalar and vector mesons as well as for the nucleon and delta baryons are presented.Comment: 26 pages, 17 figures, 10 table

Automation of the UNICARagil Vehicles

The German research project UNICARagil is a collaboration between eight universities and six industrial partners funded by the Federal Ministry of Education and Research. It aims to develop innovative modular architectures and methods for new agile, automated vehicle concepts. This paper summarizes the automation approach of the driverless vehicle concept and its modular realization within the four demonstration vehicles to be built by the consortium. On-board each vehicle, this comprises sensor modules for environment perception and modelling, motion planning for normal driving and safe halts, as well as the respective control algorithms and base functionalities like precise localization. A control room and cloud functionalities provide off-board support to the vehicles, which are additionally addressed in this paper