scholarly journals L*a*b* color model based road lane detection in autonomous vehicles

2017 ◽  
Vol 52 (4) ◽  
pp. 273-280
Author(s):  
M Kazemi ◽  
Y Baleghi
Keyword(s):  
Intelligent Transportation Systems ◽  
Autonomous Vehicles ◽  
Color Space ◽  
Main Idea ◽  
Transportation Systems ◽  
Intelligent Vehicles ◽  
Lane Detection ◽  
The Road ◽  
Robotic Vehicle ◽  
Video Sensors

Autonomous vehicles, as a main part of Intelligent Transportation Systems (ITS), will have great impact on transportation in near future. They could navigate autonomously in specific areas or highways and city streets using maps, GPS, video sensors and so on. To navigate autonomously or follow a road, intelligent vehicles need to detect lanes. This paper presents a method for lane detection in image sequences of a camera on top of a robotic vehicle. The main idea is to find the road area using the L*a*b* color space in consecutive frames. Subsequently, by applying this model in road area and equalization of histogram and calculation of gradient image using Sobel operator, the parameters of the lane can be calculated using a Hough transform. The proposed method is tested under various illumination conditions and experimental results indicate the good performance of the proposed method.Bangladesh J. Sci. Ind. Res. 52(4), 273-280, 2017

scholarly journals A Novel Algorithm Based on the Pixel-Entropy for Automatic Detection of Number of Lanes, Lane Centers, and Lane Division Lines Formation

Entropy ◽  
2018 ◽  
Vol 20 (10) ◽  
pp. 725 ◽  
Author(s):  
Fernando Hermosillo-Reynoso ◽  
Deni Torres-Roman ◽  
Jayro Santiago-Paz ◽  
Julio Ramirez-Pacheco
Keyword(s):  
Traffic Flow ◽  
Intelligent Transportation Systems ◽  
Moving Objects ◽  
Color Space ◽  
Automatic Detection ◽  
Weather Conditions ◽  
Transportation Systems ◽  
Lane Detection ◽  
Computational Time ◽  
The Road

Lane detection for traffic surveillance in intelligent transportation systems is a challenge for vision-based systems. In this paper, a novel pixel-entropy based algorithm for the automatic detection of the number of lanes and their centers, as well as the formation of their division lines is proposed. Using as input a video from a static camera, each pixel behavior in the gray color space is modeled by a time series; then, for a time period τ , its histogram followed by its entropy are calculated. Three different types of theoretical pixel-entropy behaviors can be distinguished: (1) the pixel-entropy at the lane center shows a high value; (2) the pixel-entropy at the lane division line shows a low value; and (3) a pixel not belonging to the road has an entropy value close to zero. From the road video, several small rectangle areas are captured, each with only a few full rows of pixels. For each pixel of these areas, the entropy is calculated, then for each area or row an entropy curve is produced, which, when smoothed, has as many local maxima as lanes and one more local minima than lane division lines. For the purpose of testing, several real traffic scenarios under different weather conditions with other moving objects were used. However, these background objects, which are out of road, were filtered out. Our algorithm, compared to others based on trajectories of vehicles, shows the following advantages: (1) the lowest computational time for lane detection (only 32 s with a traffic flow of one vehicle/s per-lane); and (2) better results under high traffic flow with congestion and vehicle occlusion. Instead of detecting road markings, it forms lane-dividing lines. Here, the entropies of Shannon and Tsallis were used, but the entropy of Tsallis for a selected q of a finite set achieved the best results.

scholarly journals Modeling of Situation Response Time in Vehicular Ad-Hoc Network

MATICS ◽  
2018 ◽  
Vol 10 (1) ◽  
pp. 1
Author(s):  
Raphael AKINYEDE
Keyword(s):  
Response Time ◽  
Intelligent Transportation Systems ◽  
Vehicular Ad Hoc Networks ◽  
Ad Hoc ◽  
New Technology ◽  
Main Idea ◽  
Transportation Systems ◽  
The Road ◽  
Vehicle To Vehicle ◽  
On The Road

<p class="Text"><strong>—<em> </em></strong>In Vehicular Ad-Hoc Networks (VANETs), wireless-equipped vehicles form a network spontaneously while traveling along the road. The direct wireless transmission from vehicle to vehicle makes it possible for them to communicate even where there is no telecommunication infrastructure; this emerging new technology provide ubiquitous connectivity to vehicular nodes while on the move, The main idea is to provide ubiquitous connectivity to vehicular nodes while on the move, and to create efficient vehicle-to-vehicle communications that enable the Intelligent Transportation Systems (ITS). This is achieved by allowing nodes within certain ranges to connect with each other in order to exchange information. Since accident happens in split seconds, to avoid communication inefficiency, there is need for this information to get to the intended vehicle on time. To solve this problem, this work models each vehicle in a chain of others and how it responds to the traffic around it using Microscopic (also known as car-following) method for modeling traffic flow; driver- to-driver and driver-to-road interactions within a traffic stream and the interaction between a driver and another driver on road were considered. The essence of this modeling is to determine the minimum response time required for a vehicle in VANET to respond and communicate situations on the road. A simulated scenario was carried out for two vehicles, a leading vehicle and following vehicle. The result shows that with an average of 32 meters apart with average difference in velocity of   1.23m/s, a minimum of 0.9secs is required for efficient situation response communication to ensue between them.</p>

The convergence of Internet of Things, Blockchain and Connected Vehicles: Conceptual Advantages and Disadvantages of a new Cooperative Intelligent Transportation System

2021 ◽  
Vol 03 (01) ◽  
pp. 33-41
Author(s):  
Vittorio Astarita ◽  
Vincenzo Pasquale Giofrè ◽  
Giuseppe Guido ◽  
Alessandro Vitale
Keyword(s):  
Internet Of Things ◽  
Intelligent Transportation Systems ◽  
Intelligent Transportation System ◽  
Main Idea ◽  
Intelligent Transportation ◽  
Transportation Systems ◽  
Connected Vehicles ◽  
City Management ◽  
Advantages And Disadvantages ◽  
Blockchain Technology

This paper intends to explore the convergence of some technological innovations that could lead to new cooperative Intelligent Transportation Systems (ITS). The technologies that might soon converge and lead to some new developments are: the Blockchain Technology (BT) concept, Internet of Things (IoT) and Connected and Automated Vehicles (CAV). Advantages and disadvantages of the new concepts founding a new ITS system are discussed in this conceptual paper. Blockchain technology has been recently introduced and many research ideas have been presented for application in the transportation sector. In this paper, we discuss a system that is based on a dedicated blockchain, able to involve both drivers and city administrations in the adoption of promising and innovative technologies that will create cooperation among connected vehicles. The proposed blockchain-based system can allow city administrators to reward drivers when they are willing to share travel data. The system manages in a special way the creation of rewards which are assigned to drivers and institutions participating actively in the system. Moreover, the system allows keeping a complete track of all transactions and interactions between drivers and city management on a completely open and shared platform. The main idea is to combine connected vehicles with BT to promote Cooperative ITS use, a better use of infrastructures and a more sustainable eco-system of cryptocurrencies. A short description of BT is introduced to evidence energy problems of sustainability in the implementation of Proof of Work (PoW) that is adopted by many blockchains.

scholarly journals ANALYSIS OF DIFFERENT VISUAL STRATEGIES OF ‘ISOLATED VEHICLE’ AND ‘DISTURBED VEHICLE’

Transport ◽  
2018 ◽  
Vol 33 (3) ◽  
pp. 853-860
Author(s):  
Nicola BONGIORNO ◽  
Gaetano BOSURGI ◽  
Orazio PELLEGRINO ◽  
Giuseppe SOLLAZZO
Keyword(s):  
Intelligent Transportation Systems ◽  
Transportation Systems ◽  
Disturbed Condition ◽  
The Road ◽  
Driving Behaviour ◽  
Visual Behaviour ◽  
Road Geometry ◽  
Potential Applications ◽  
Road Characteristics

This paper analyses the driver’ visual behaviour in the different conditions of ‘isolated vehicle’ and ‘disturbed vehicle’. If the meaning of the former is clear, the latter condition considers the influence on the driving behaviour of various objects that could be encountered along the road. These can be classified in static (signage, stationary vehicles at the roadside, etc.) and dynamic objects (cars, motorcycles, bicycles). The aim of this paper is to propose a proper analysis regarding the driver’s visual behaviour. In particular, the authors examined the quality of the visually informa-tion acquired from the entire road environment, useful for detecting any critical safety condition. In order to guaran-tee a deep examination of the various possible behaviours, the authors combined the several test outcomes with other variables related to the road geometry and with the dynamic variables involved while driving. The results of this study are very interesting. As expected, they obviously confirmed better performances for the ‘isolated vehicle’ in a rural two-lane road with different traffic flows. Moreover, analysing the various scenarios in the disturbed condition, the proposed indices allow the authors to quantitatively describe the different influence on the visual field and effects on the visual behaviour, favouring critical analysis of the road characteristics. Potential applications of these results may contribute to improve the choice of the best maintenance strategies for a road, to select the optimal signage location, to define forecasting models for the driving behaviour and to develop useful instruments for intelligent transportation systems.

Maximizing the value for money of road projects through digitalization

2018 ◽  
Vol 19 (1-2) ◽  
pp. 69-92 ◽  
Author(s):  
Carlos Oliveira Cruz ◽  
Joaquim Miranda Sarmento
Keyword(s):  
Autonomous Vehicles ◽  
Technological Development ◽  
Central Element ◽  
Transportation Systems ◽  
The Road ◽  
Road Systems ◽  
Technological Developments ◽  
Road Projects ◽  
Barriers To Implementation ◽  
Using Data

Roads are a central element of transportation systems, enabling economic and social development, fostering territorial cohesion and facilitating the movement of people and cargo. Governments have devoted significant financial resources to developing and improving their road networks, and are still facing increasing pressure to ensure proper maintenance and payments to those concessionaires that developed roads under public–private partnership arrangements. As in other sectors, digitalization is paving a way towards significant changes in the way we build, operate and finance infrastructure. These changes will have a profound impact on the entire life cycle of an infrastructure, from the design and/or construction stage, to its operation and transfer. This article provides an overall overview of the main technological developments which are, or could impact road infrastructure in the short, medium and long term. For each technological development identified in our research, we analyse the potential impact on Capex, Opex and revenues as well as their level of maturity and expected lifetime for mass adoption, and also the main bottlenecks or barriers to implementation. Additionally, we explore potential savings on investment (capex) and operational costs (opex) and increase in revenues, using data from the Portuguese highway companies. Savings can represent almost 30% of capex and opex. Overall, savings and increases in revenues can represent an impact similar to 20–40% of current revenues. The findings show that digitalization and technological development in the road sector can significantly impact the economic performance of roads, thus enhancing the value of money for the society. The findings also show that there might be some excess capacity of road systems once autonomous vehicles achieve higher market penetration. However, there are still some relevant legal, regulatory, institutional and technological and economic barriers that are slowing down the digitalization process.

Potential Using Vehicle to Vehicle Communication Based on Wireless Fidelity (Wi-Fi) for Supporting Intelligent Transportation Systems (ITS)

2021 ◽  
pp. 61-76
Author(s):  
إسراء عصام بن موسى ◽  
عبدالسلام صالح الراشدي
Keyword(s):  
Intelligent Transportation Systems ◽  
Ad Hoc ◽  
Real Life ◽  
Intelligent Transportation ◽  
Transportation Systems ◽  
The Road ◽  
Vehicle Communication ◽  
Vehicle To Vehicle ◽  
Vehicle To Vehicle Communication ◽  
Wireless Fidelity

Vehicular Ad-hoc Network (VANET) becomes one of the most popular modern technologies these days, due to its contribution to the development and modernization of Intelligent Transportation Systems (ITS). The primary goal of these networks is to provide safety and comfort for drivers and passengers in roads. There are many types of VANET that are used in ITS, in this paper, we particularly focus on the Vehicle to Vehicle communication (V2V), which each vehicle can exchange information to inform drivers of other vehicles about the current state of the road flow, in the event of any emergency to avoid accidents, and reduce congestion on roads. We proposed V2V using Wi-Fi (wireless fidelity); the reason of its unique characteristics that distinguish it from other types. There are many difficulties and the challenges in implementing most types of V2V, and the reason is due to the lack of devices and equipment needed for real implementation. To prove the possibility of applying this type in real life, we made a prototype contains a modified toy car, a 12-volt power supply, sensors, visual, audible alarm, a visual “LED” devices, and finally a 12-volt DC relay unit. As a conclusion, the proposed implementation in spite of minimal requirements and use simple equipment, we have achieved the most important main objectives of the paper: preventing vehicles from collision, early warning, and avoiding congestion on the roads.

Towards the Development of Vehicular Ad-Hoc Networks (VANETs)

2020 ◽  
pp. 21-47 ◽  
Author(s):  
Mekelleche Fatiha ◽  
Haffaf Hafid
Keyword(s):  
Ad Hoc Networks ◽  
Intelligent Transportation Systems ◽  
Road Safety ◽  
Vehicular Ad Hoc Networks ◽  
Ad Hoc ◽  
Intelligent Vehicles ◽  
The Road ◽  
Vehicle Communication ◽  
On The Road ◽  
Hoc Networks

Vehicular Ad-Hoc Networks (VANETs), a new mobile ad-hoc network technology (MANET), are currently receiving increased attention from manufacturers and researchers. They consist of several mobile vehicles (intelligent vehicles) that can communicate with each other (inter-vehicle communication) or with fixed road equipment (vehicle-infrastructure communication) adopting new wireless communication technologies. The objective of these networks is to improve road safety by warning motorists of any event on the road (accidents, hazards, possible deviations, etc.), and make the time spent on the road more pleasant and less boring (applications deployed to ensure the comfort of the passengers). Practically, VANETs are designed to support the development of Intelligent Transportation Systems (ITS). The latter are seen as one of the technical solutions to transport challenges. This chapter, given the importance of road safety in the majority of developed countries, presents a comprehensive study on the VANET networks, highlighting their main features.

scholarly journals How Can Smart Mobility Innovations Alleviate Transportation Disadvantage? Assembling a Conceptual Framework through a Systematic Review

2020 ◽  
Vol 10 (18) ◽  
pp. 6306 ◽  
Author(s):  
Luke Butler ◽  
Tan Yigitcanlar ◽  
Alexander Paz
Keyword(s):  
Conceptual Framework ◽  
Intelligent Transportation Systems ◽  
Urban Areas ◽  
Autonomous Vehicles ◽  
Intelligent Transportation ◽  
Transportation Systems ◽  
Technological Innovations ◽  
Potential Solution ◽  
Wide Range ◽  
Smart Mobility

Transportation disadvantage is about the difficulty accessing mobility services required to complete activities associated with employment, shopping, business, essential needs, and recreation. Technological innovations in the field of smart mobility have been identified as a potential solution to help individuals overcome issues associated with transportation disadvantage. This paper aims to provide a consolidated understanding on how smart mobility innovations can contribute to alleviate transportation disadvantage. A systematic literature review is completed, and a conceptual framework is developed to provide the required information to address transportation disadvantage. The results are categorized under the physical, economic, spatial, temporal, psychological, information, and institutional dimensions of transportation disadvantage. The study findings reveal that: (a) Primary smart mobility innovations identified in the literature are demand responsive transportation, shared transportation, intelligent transportation systems, electric mobility, autonomous vehicles, and Mobility-as-a-Services. (b) Smart mobility innovations could benefit urban areas by improving accessibility, efficiency, coverage, flexibility, safety, and the overall integration of the transportation system. (c) Smart mobility innovations have the potential to contribute to the alleviation of transportation disadvantage. (d) Mobility-as-a-Service has high potential to alleviate transportation disadvantage primarily due to its ability to integrate a wide-range of services.

scholarly journals Towards a Severity Assessment Method for Potential Cyber Attacks to Connected and Autonomous Vehicles

2020 ◽  
Vol 2020 ◽  
pp. 1-15
Author(s):  
Qiyi He ◽  
Xiaolin Meng ◽  
Rong Qu
Keyword(s):  
Cyber Security ◽  
Intelligent Transportation Systems ◽  
Autonomous Vehicles ◽  
Autonomous Vehicle ◽  
Assessment Method ◽  
Transportation Systems ◽  
Cyber Attacks ◽  
Large Set ◽  
Security Attacks ◽  
Physical Damage

CAV (connected and autonomous vehicle) is a crucial part of intelligent transportation systems. CAVs utilize both sensors and communication components to make driving decisions. A large number of companies, research organizations, and governments have researched extensively on the development of CAVs. The increasing number of autonomous and connected functions however means that CAVs are exposed to more cyber security vulnerabilities. Unlike computer cyber security attacks, cyber attacks to CAVs could lead to not only information leakage but also physical damage. According to the UK CAV Cyber Security Principles, preventing CAVs from cyber security attacks need to be considered at the beginning of CAV development. In this paper, a large set of potential cyber attacks are collected and investigated from the aspects of target assets, risks, and consequences. Severity of each type of attacks is then analysed based on clearly defined new set of criteria. The levels of severity for the attacks can be categorized as critical, important, moderate, and minor. Mitigation methods including prevention, reduction, transference, acceptance, and contingency are then suggested. It is found that remote control, fake vision on cameras, hidden objects to LiDAR and Radar, spoofing attack to GNSS, and fake identity in cloud authority are the most dangerous and of the highest vulnerabilities in CAV cyber security.

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