Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm

Session WedFT3 Pegaso B Wednesday, October 10, 2012, 16:15–17:30
Intelligent Transportation Systems
Chair Christian Laugier, INRIA Rhône-Alpes
Co-Chair
16:15–16:30 WedFT3.1
Evaluating Risk at Road Intersections by
Detecting Conflicting Intentions
Stéphanie Lefèvre, Christian Laugier
Inria Grenoble Rhône-Alpes, France
Javier Ibañez-Guzmán
Renault S.A.S., France
• Risk assessment at road intersections by
comparing driver intention with driver
expectation: no need to predict the future
trajectories of vehicles.
• Intention and expectation are inferred from
a probabilistic motion model incorporating
contextual information.
• Evaluation in simulation: analysis of the
collision prediction horizon and of the
potential impact on accident avoidance.
Dangerous situation detected:
priority violation at a road
intersection
16:45–17:00 WedFT3.3
Driver Assistance System for Backward
Maneuvers in Passive Multi-trailer Vehicles
Jesús Morales, Anthony Mandow,
Jorge L. Martínez and Alfonso J. García Cerezo
Dpto. Ingeniería de Sistemas y Automática,
Universidad de Málaga, Spain
• Advanced driver assistance (ADAS).
• Avoids jackknife and lack of visibility in
backward multi-trailer driving.
• In reverse, vehicle driven as from the back
of the last trailer aided by rear camera.
• Application of steering limitation method
on virtual tractor.
• Curvature limitations are felt through force
feedback in steering-wheel.
• Drive-by-wire controls & hitch angle
sensors.
• Case study: 2-trailer robotic vehicle.
17:15–17:30 WedFT3.5
Communication Coverage for Independently
Moving Robots
Stephanie Gil and Dan Feldman and Daniela Rus
CSAIL, MIT, USA
• We provide communication coverage over a
group of sensing vehicles via placement of
mobile base stations where
• Sensors move over unknown trajectories
• No assumed cooperation from sensors
• Only sensor-base station or base stationbase
station communication over distance
< R is reliable
• We develop provable exact and approximate
(faster) algorithms for finding optimal base
station locations
q
p
t+1
Communication network for
mobile agents moving over
unknown trajectories with
changing network topology
16:30–16:45 WedFT3.2
Contextual Scene Segmentation of Driving
Behavior based on Double Articulation Analyzer
Kazuhito Takenaka and Takashi Bando
Corporate R&D Div.3, DENSO CORPORATION, Japan
Shogo Nagasaka and Tadahiro Taniguchi
College of Information Science and Engineering, Ritsumeikan Univ., Japan
Kentarou Hitomi
Technical Research Division, Toyota InfoTechnology Center Co.,Ltd., Japan
• Segment driving behavior into meaningful chunks for driving scene
recognition
• Double articulation analyzer is used in a similar manner to natural
language processing
• The result of the segmentation is closer to the driving scene produced by
human recognition
Overview of double articulation analyzer (A), and Nested Pitman-Yor Language Model (B)
17:00–17:15 WedFT3.4
Investigation of Personal Mobility Vehicle
Stability and Maneuverability under Various
Road Scinarios
Jawad Masood and Matteo Zoppi
PMARlab DIME, University of Genoa, Italy
Rezia Molfino
PMARlab DIME, University of Genoa, Italy
• This paper investigates Stability and
manuuverability of personal mobility
vehicle.
• Suspension design concept of personal
mobility vehicle is based on accomodating
different roads in city centers.
• We have performed passive dynamic
analysis of hydraulic suspensions in order
to study the behaviour of the full scale
vehicle inertia.
• Multi-body dynamic simulations are
created to study angular velocity, angular
acceleration, pitch, yaw and roll variations.
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
–172–