Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
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<strong>Session</strong> WedFT3 <strong>Pegaso</strong> B <strong>Wednesday</strong>, <strong>October</strong> <strong>10</strong>, <strong>2012</strong>, 16:15–17:30<br />
Intelligent Transportation Systems<br />
Chair Christian Laugier, INRIA Rhône-Alpes<br />
Co-Chair<br />
16:15–16:30 WedFT3.1<br />
Evaluating Risk at Road Intersections by<br />
Detecting Conflicting Intentions<br />
Stéphanie Lefèvre, Christian Laugier<br />
Inria Grenoble Rhône-Alpes, France<br />
Javier Ibañez-Guzmán<br />
Renault S.A.S., France<br />
• Risk assessment at road intersections by<br />
comparing driver intention with driver<br />
expectation: no need to predict the future<br />
trajectories of vehicles.<br />
• Intention and expectation are inferred from<br />
a probabilistic motion model incorporating<br />
contextual information.<br />
• Evaluation in simulation: analysis of the<br />
collision prediction horizon and of the<br />
potential impact on accident avoidance.<br />
Dangerous situation detected:<br />
priority violation at a road<br />
intersection<br />
16:45–17:00 WedFT3.3<br />
Driver Assistance System for Backward<br />
Maneuvers in Passive Multi-trailer Vehicles<br />
Jesús Morales, Anthony Mandow,<br />
Jorge L. Martínez and Alfonso J. García Cerezo<br />
Dpto. Ingeniería de Sistemas y Automática,<br />
Universidad de Málaga, Spain<br />
• Advanced driver assistance (ADAS).<br />
• Avoids jackknife and lack of visibility in<br />
backward multi-trailer driving.<br />
• In reverse, vehicle driven as from the back<br />
of the last trailer aided by rear camera.<br />
• Application of steering limitation method<br />
on virtual tractor.<br />
• Curvature limitations are felt through force<br />
feedback in steering-wheel.<br />
• Drive-by-wire controls & hitch angle<br />
sensors.<br />
• Case study: 2-trailer robotic vehicle.<br />
17:15–17:30 WedFT3.5<br />
Communication Coverage for Independently<br />
Moving Robots<br />
Stephanie Gil and Dan Feldman and Daniela Rus<br />
CSAIL, MIT, USA<br />
• We provide communication coverage over a<br />
group of sensing vehicles via placement of<br />
mobile base stations where<br />
• Sensors move over unknown trajectories<br />
• No assumed cooperation from sensors<br />
• Only sensor-base station or base stationbase<br />
station communication over distance<br />
< R is reliable<br />
• We develop provable exact and approximate<br />
(faster) algorithms for finding optimal base<br />
station locations<br />
q<br />
p<br />
t+1<br />
Communication network for<br />
mobile agents moving over<br />
unknown trajectories with<br />
changing network topology<br />
16:30–16:45 WedFT3.2<br />
Contextual Scene Segmentation of Driving<br />
Behavior based on Double Articulation Analyzer<br />
Kazuhito Takenaka and Takashi Bando<br />
Corporate R&D Div.3, DENSO CORPORATION, Japan<br />
Shogo Nagasaka and Tadahiro Taniguchi<br />
College of Information Science and Engineering, Ritsumeikan Univ., Japan<br />
Kentarou Hitomi<br />
Technical Research Division, Toyota InfoTechnology Center Co.,Ltd., Japan<br />
• Segment driving behavior into meaningful chunks for driving scene<br />
recognition<br />
• Double articulation analyzer is used in a similar manner to natural<br />
language processing<br />
• The result of the segmentation is closer to the driving scene produced by<br />
human recognition<br />
Overview of double articulation analyzer (A), and Nested Pitman-Yor Language Model (B)<br />
17:00–17:15 WedFT3.4<br />
Investigation of Personal Mobility Vehicle<br />
Stability and Maneuverability under Various<br />
Road Scinarios<br />
Jawad Masood and Matteo Zoppi<br />
PMARlab DIME, University of Genoa, Italy<br />
Rezia Molfino<br />
PMARlab DIME, University of Genoa, Italy<br />
• This paper investigates Stability and<br />
manuuverability of personal mobility<br />
vehicle.<br />
• Suspension design concept of personal<br />
mobility vehicle is based on accomodating<br />
different roads in city centers.<br />
• We have performed passive dynamic<br />
analysis of hydraulic suspensions in order<br />
to study the behaviour of the full scale<br />
vehicle inertia.<br />
• Multi-body dynamic simulations are<br />
created to study angular velocity, angular<br />
acceleration, pitch, yaw and roll variations.<br />
<strong>2012</strong> IEEE/RSJ International Conference on Intelligent Robots and Systems<br />
–172–