Predictive Force-Centric Emergency Collision Avoidance

2021 ◽  
Author(s):  
Victor Fors ◽  
Pavel Anistratov ◽  
Björn Olofsson ◽  
Lars Nielsen
Keyword(s):  
Real Time ◽  
Time Perspective ◽  
The Body ◽  
Steering Angle ◽  
The Road ◽  
Functional Perspective ◽  
Acceleration Vector ◽  
On The Road ◽  
Horizon Planning ◽  
Moving Obstacle

Abstract A controller for critical vehicle maneuvering is proposed that avoids obstacles and keeps the vehicle on the road while achieving heavy braking. It operates at the limit of friction and is structured in two main steps: a motion-planning step based on receding-horizon planning to obtain acceleration-vector references, and a low-level controller for following these acceleration references and transforming them into actuator commands. The controller is evaluated in a number of challenging scenarios and results in a well behaved vehicle with respect to, e.g., the steering angle, the body slip, and the path. It is also demonstrated that the controller successfully balances braking and avoidance, such that it really takes advantage of the braking possibilities. Specifically, for a moving obstacle it makes use of a widening gap to perform more braking, which is a clear advantage of the online replanning capability if the obstacle should be a moving human or animal. Finally, real-time capabilities are demonstrated. In conclusion, the controller performs well, both from a functional perspective and from a real-time perspective.

scholarly journals Load Measurement of the Cervical Vertebra C7 and the Head of Passengers of a Car While Driving Across Uneven Terrain

Sensors ◽  
2021 ◽  
Vol 21 (11) ◽  
pp. 3849
Author(s):  
Martin Svoboda ◽  
Milan Chalupa ◽  
Karel Jelen ◽  
František Lopot ◽  
Petr Kubový ◽  
...  
Keyword(s):  
Cervical Vertebrae ◽  
Vertical Direction ◽  
Cervical Vertebra ◽  
Parietal Bone ◽  
The Body ◽  
Human Organism ◽  
Dynamic Effects ◽  
The Road ◽  
Real Environment ◽  
On The Road

The article deals with the measurement of dynamic effects that are transmitted to the driver (passenger) when driving in a car over obstacles. The measurements were performed in a real environment on a defined track at different driving speeds and different distributions of obstacles on the road. The reaction of the human organism, respectively the load of the cervical vertebrae and the heads of the driver and passenger, was measured. Experimental measurements were performed for different variants of driving conditions on a 28-year-old and healthy man. The measurement’s main objective was to determine the acceleration values of the seats in the vehicle in the vertical movement of parts of the vehicle cabin and to determine the dynamic effects that are transmitted to the driver and passenger in a car when driving over obstacles. The measurements were performed in a real environment on a defined track at various driving speeds and diverse distributions of obstacles on the road. The acceleration values on the vehicle’s axles and the structure of the driver’s and front passenger’s seats, under the buttocks, at the top of the head (Vertex Parietal Bone) and the C7 cervical vertebra (Vertebra Cervicales), were measured. The result of the experiment was to determine the maximum magnitudes of acceleration in the vertical direction on the body of the driver and the passenger of the vehicle when passing a passenger vehicle over obstacles. The analysis of the experiment’s results is the basis for determining the future direction of the research.

Grasshopper theology: Heading to the Promised Land instead of climate disaster

2018 ◽  
Vol 115 (3) ◽  
pp. 412-416
Author(s):  
Brooks Berndt
Keyword(s):  
The Body ◽  
Body Of Christ ◽  
Self Assessment ◽  
The Road ◽  
Promised Land ◽  
The Future ◽  
The Face ◽  
On The Road ◽  
Uncertain Future ◽  
Climate Crisis

Today’s climate crisis provokes dystopian and utopian narratives of the future faced by humanity. To navigate the theological terrain between the present and an uncertain future, this article explores passages pertaining to the journey of Moses and the Israelites to the Promised Land. The guiding point of orientation for this exploration comes from a verse that captures the seeming powerlessness of the Israelites in the face of the giants inhabiting the Promised Land. Numbers 13:33 reads, “To ourselves we seemed like grasshoppers, and so we seemed to them.” Of crucial importance in coming to terms with such honest self-assessment is the period of discernment and growth that comes from being in the wilderness with the presence of a God who loves and empowers grasshoppers in the face of seemingly insurmountable odds. Because the future of the Body of Christ is inseparable from how the climate crisis is confronted, the journey through the wilderness becomes not merely a story for self-coping but rather a story about churches finding a way forward, even as some dystopian narratives place churches on the road to irrelevance and ultimately extinction. This article explores how the story of exodus provides a sacred ground for imagining a different, even if difficult, future.

scholarly journals Towards a Real-Time Driver Workload Estimator: An On-the-Road Study

2016 ◽  
pp. 1151-1164
Author(s):  
Peter van Leeuwen ◽  
Renske Landman ◽  
Lejo Buning ◽  
Tobias Heffelaar ◽  
Jeroen Hogema ◽  
...  
Keyword(s):  
Real Time ◽  
The Road ◽  
Driver Workload ◽  
On The Road ◽  
Road Study

scholarly journals Automatic Detection and Classification of Road, Car, and Pedestrian Using Binocular Cameras in Traffic Scenes with a Common Framework

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-17
Author(s):  
Yongchao Song ◽  
Jieru Yao ◽  
Yongfeng Ju ◽  
Yahong Jiang ◽  
Kai Du
Keyword(s):  
Real Time ◽  
Pedestrian Detection ◽  
Minimum Energy ◽  
Automatic Detection ◽  
Initial Contour ◽  
Target Area ◽  
Threshold Method ◽  
The Real ◽  
The Road ◽  
On The Road

In order to solve the problems of traffic object detection, fuzzification, and simplification in real traffic environment, an automatic detection and classification algorithm for roads, vehicles, and pedestrians with multiple traffic objects under the same framework is proposed. We construct the final V view through a considerate U-V view method, which determines the location of the horizon and the initial contour of the road. Road detection results are obtained through error label reclassification, omitting point reassignment, and so an. We propose a peripheral envelope algorithm to determine sources of vehicles and pedestrians on the road. The initial segmentation results are determined by the regional growth of the source point through the minimum neighbor similarity algorithm. Vehicle detection results on the road are confirmed by combining disparity and color energy minimum algorithms with the object window aspect ratio threshold method. A method of multifeature fusion is presented to obtain the pedestrian target area, and the pedestrian detection results on the road are accurately segmented by combining the disparity neighbor similarity and the minimum energy algorithm. The algorithm is tested in three datasets of Enpeda, KITTI, and Daimler; then, the corresponding results prove the efficiency and accuracy of the proposed approach. Meanwhile, the real-time analysis of the algorithm is performed, and the average time efficiency is 13 pfs, which can realize the real-time performance of the detection process.

Reforming child welfare: Diverting by-ways on the road to utopia?

1985 ◽  
Vol 18 (4) ◽  
pp. 237-256 ◽  
Author(s):  
Terry Carney
Keyword(s):  
Child Welfare ◽  
Social Policy ◽  
The Body ◽  
Main Theme ◽  
Free Standing ◽  
The Road ◽  
Existing Structures ◽  
Australian State ◽  
Significant Area ◽  
On The Road

This article, written from a less than detached standpoint by the chairperson of the body concerned, takes the recently completed review of child welfare practice and legislation in the Australian State of Victoria, as a case study of the contours, and of the factors which shape, law reform in areas of social policy. Substantive issues dealt with in the body of the Report1 will not be addressed here. Rather, the article considers some of the reasons which might explain why the task was not entrusted to one of the existing structures for the review of law and social policy in this State, and it canvasses some of the features which may make review by such a free-standing committee the preferred approach when reviewing social policy. The main theme to be explored is that of the role of reviews in accelerating (or inhibiting) the process of change in a legal, welfare practice and public policy context. To this end the article addresses such matters as: the significance of the composition of the review body; its techniques of consultation with the public and with government; its dealings with government and major centres of power; and related matters which bear on its capacity to discharge its basic mandate. The contextual pressures which favour system inertia, or which may transform reform measures into something other than what was intended by the proponents of change, will also be alluded to. It will be argued that the model of expert independent committee suffers from a vulnerability to the effects of external factors and relationships. These may leach away much of its capacity to undertake a thorough, detached evaluation of its specified field, and preclude it from building up significant momentum for change. Nevertheless, it is contended that these weak points are capable of being shored up. As a consequence it is concluded that this model is superior to its competitors when a significant area of social policy is thought to be ripe for evaluation and change.

Air-Car

2005 ◽  
Author(s):  
Mahmood Anwar
Keyword(s):  
Lift Force ◽  
Third World ◽  
Large Scale ◽  
Ground Level ◽  
The Body ◽  
Stream Line ◽  
Traffic Jam ◽  
Traffic System ◽  
The Road ◽  
On The Road

The name of my proposing project is “air-car”. Now a day’s traffic jam is common problem of the mega city, especially in third world countries. so, if we design the traffic system such that the light vehicles like car will flies over certain height from the ground level about 100-200 ft and the heavy vehicle like bus, truck, lorry, etc. will run on the road simultaneously then the traffic jam will be minimize with a large scale. Let us introduce with the concept “air-car”. Air car is the vehicle which can run in both way of air and road. That means that it can fly over a certain height from the ground and also run in the road as usual. We know that for the car design is such the lift force is minimized than the drag force. I want to design for the car such that, when the car has to fly lift force will be increase as much as it can fly for the required height. The body of the car also be a stream line body and the flap, aileron, rudder also be added. But this should be hidden at the time of running in the road.

A Picture is Worth a Thousand Words: Share Your Real-Time View on the Road

2017 ◽  
Vol 66 (4) ◽  
pp. 2902-2914 ◽  
Author(s):  
Xiong Wang ◽  
Lei Ding ◽  
Qi Wang ◽  
Jin Xie ◽  
Tianyi Wang ◽  
...  
Keyword(s):  
Real Time ◽  
The Road ◽  
On The Road

scholarly journals An advanced planner for urban freight delivering

2018 ◽  
Vol 4 (48) ◽  
pp. 27-40 ◽  
Author(s):  
Antonio COMI ◽  
Berta BUTTARAZZI ◽  
Massimiliano SCHIRALDI ◽  
Rosy INNARELLA ◽  
Martina VARISCO ◽  
...  
Keyword(s):  
Real Time ◽  
Web Application ◽  
Road Network ◽  
Time Windows ◽  
Mobile App ◽  
Delivery Time ◽  
Time Data ◽  
Urban Freight ◽  
The Road ◽  
On The Road

The paper aims at introducing an advanced delivery tour planner to support operators in urban delivery operations through a combined approach which chooses delivery bays and delivery time windows while optimizing the delivery routes. After a literature review on tools for the management and the control of the delivery system implemented for optimizing the usage of on-street delivery bays, a prototypical tour delivery planner is described. The tool allows transport and logistics operators to book the delivery bays and to have real-time suggestions on the delivery tour to follow, through the minimization of the total delivery time. Currently, at development phase, the tool has been tested in a target zone, considering the road network and time/city delivering constraints and real-time data about vehicles location, traffic and delivery bay availability. The tool identifies the possible tours based on the delivery preferences, ranks the possible solutions according to the total route time based on information on the road network (i.e. travel time forecasts), performs a further optimization to reduce the total travel times and presents the user the best alternative along with the indications of which delivery bay to use in each delivery stop. The developed prototype is composed by two main parts: a web application that manages communication between the database and the road network simulation, and, an Android mobile App that supports transport and logistic operators in managing their delivering, pre trip and en route, showing and updating routing based on real-time information.

scholarly journals A PRELIMINARY STUDY ON UPDATING HIGH DEFINITION MAPS: DETECTING AND POSITIONING A TRAFFIC CONE BY USING A STEREO CAMERA

2019 ◽  
Vol XLII-4/W19 ◽  
pp. 271-274
Author(s):  
M. L. R. Lagahit ◽  
Y. H. Tseng
Keyword(s):  
Real Time ◽  
Data Storage ◽  
Autonomous Vehicles ◽  
Detection System ◽  
Time Data ◽  
High Definition ◽  
Stereo Camera ◽  
The Road ◽  
On The Road ◽  
Self Driving Cars

Abstract. The concept of Autonomous Vehicles (AV) or self-driving cars has been increasingly popular these past few years. As such, research and development of AVs have also escalated around the world. One of those researches is about High-Definition (HD) maps. HD Maps are basically very detailed maps that provide all the geometric and semantic information on the road, which helps the AV in positioning itself on the lanes as well as mapping objects and markings on the road. This research will focus on the early stages of updating said HD maps. The methodology mainly consists of (1) running YOLOv3, a real-time object detection system, on a photo taken from a stereo camera to detect the object of interest, in this case a traffic cone, (2) applying the theories of stereo-photogrammetry to determine the 3D coordinates of the traffic cone, and (3) executing all of it at the same time on a Python-based platform. Results have shown centimeter-level accuracy in terms of obtained distance and height of the detected traffic cone from the camera setup. In future works, observed coordinates can be uploaded to a database and then connected to an application for real-time data storage/management and interactive visualization.

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