Driving Speed Estimation and Trapped Drivers’ Detection inside Tunnels Using Distributed MIMO Bluetooth Devices

Accidents in highway tunnels involving trucks carrying flammable cargoes can be dangerous, needing immediate confrontation to detect and safely evacuate the trapped people to lead them to the safety exits. Unfortunately, existing sensing technologies fail to detect and track trapped persons or moving vehicles inside tunnels in such an environment. This paper presents a distributed Bluetooth system architecture that uses detection equipment following a MIMO approach. The proposed equipment uses two long-range Bluetooth and one BLE transponder to locate vehicles and trapped people in motorway tunnels. Moreover, the detector’s parts and distributed architecture are analytically described, along with interfacing with the authors’ resources management system implementation. Furthermore, the authors also propose a speed detection process, based on classifier training, using RSSI input and speed calculations from the tunnel inductive loops as output, instead of the Friis equation with Kalman filtering steps. The proposed detector was experimentally placed at the Votonosi tunnel of the EGNATIA motorway in Greece, and its detection functionality was validated. Finally, the detector classification process accuracy is evaluated using feedback from the existing tunnel inductive loop detectors. According to the evaluation process, classifiers based on decision trees or random forests achieve the highest accuracy.

L2 and L1Trend Filtering: A Kalman Filter Approach amodification

<pre>$\ell_2$ and $\ell_1$ trend filtering are two of the most popular denoising algorithms that are widely used in science, engineering, and statistical signal and image processing applications. They are typically treated as separate entities, with the former as a linear time invariant (LTI) filter which is commonly used for smoothing the noisy data and detrending the time-series signals while the latter is a nonlinear filtering method suited for the estimation of piecewise-polynomial signals (\eg, piecewise-constant, piecewise-linear, piecewise-quadratic and \etc) observed in additive white Gaussian noise. In this article, we propose a Kalman filtering approach to design and implement $\ell_2$ and $\ell_1$ trend filtering % (QV and TV regularization) with the aim of teaching these two approaches and explaining their differences and similarities. Hopefully the framework presented in this article will provide a straightforward and unifying platform for understanding the basis of these two approaches. In addition, the material may be useful in lecture courses in signal and image processing, or indeed, it could be useful to introduce our colleagues in signal processing to the application of Kalman filtering in the design of $\ell_2$ and $\ell_1$ trend filtering.</pre>

Performance Evaluation of a Maneuver Classification Algorithm Using Different Motion Models in a Multi-Model Framework

Environment perception is one of the major challenges in the vehicle industry nowadays, as acknowledging the intentions of the surrounding traffic participants can profoundly decrease the occurrence of accidents. Consequently, this paper focuses on comparing different motion models, acknowledging their role in the performance of maneuver classification. In particular, this paper proposes utilizing the Interacting Multiple Model framework complemented with constrained Kalman filtering in this domain that enables the comparisons of the different motions models’ accuracy. The performance of the proposed method with different motion models is thoroughly evaluated in a simulation environment, including an observer and observed vehicle.