Impact of positioning uncertainty of vulnerable road users on risk minimization in collision avoidance systems

Themann, Philipp; Kotte, Jens; Raudszus, Dominik; Eckstein, Lutz

doi:10.1109/ivs.2015.7225846

Cited by 24 publications

(20 citation statements)

References 16 publications

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“…However, the actual embedded cellular technology (4G) does not allow V2X communication, yet, but only communications through the eNodeB, thus with a latency which could be critical for VRUs' safety applications [65]. When V2P communication is addressed, another important aspect to be carefully considered is positioning, since the global positioning system (GPS) accuracy and the accuracy of the combination of different sensors, even if suitable for different ranges and weather conditions, is not sufficient [66,67]. Actual cellular positioning also provides poor accuracy, but this could be (at least partially) overcome with the introduction of 5G wireless communication systems introducing MIMO systems at mmWave [68].…”

Section: Pedestrian Detectionmentioning

confidence: 99%

The Use of Meta-Surfaces in Vehicular Networks

Masini

Silva

Balador

2020

JSAN

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Mobility as a service is becoming a new paradigm in the direction of travel planning on the basis of the best service offered by the travelled roads. Hence, the environment in which people move will become smarter and more and more connected to grant services along the whole path. This opens new challenges related not only to the on board connectivity and wireless access technologies, but also on the reliability and efficiency of the surrounding environment. In this context, reconfigurable meta-surfaces play a crucial role, since they can be used to coat buildings, vehicles or any other suitable surfaces and let the environment become an active part of the communication system by opportunistically redirecting (i.e., reflecting, without generating new waves) signals to the target receivers. The objective of this paper is to highlight the limits of current wireless access technologies for vehicular scenarios and to discuss the potential impact of a smart environment made of reconfigurable meta-surfaces on some next generation vehicular use cases, such as cooperative driving and vulnerable road users (VRUs) detection. In addition, a preliminary model is presented to derive, in a simplified way, the performance of an IEEE 802.11p network in terms of collision probability. Even if analytical and based on simplified assumptions, this model has been validated through simulations and allows to compare the performance of the network with and without reconfigurable meta-surfaces.

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Section: Pedestrian Detectionmentioning

confidence: 99%

The Use of Meta-Surfaces in Vehicular Networks

Masini

Silva

Balador

2020

JSAN

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“…There is a number of works explicitly considering perception/prediction uncertainties in the motion planning process (e.g. [21]), referred typically to as planning in belief space. A general formalization for this type of problem is the Partially Observable Markov Decision Process.…”

Section: A Considering Localization Uncertainty In Navigationmentioning

confidence: 99%

Motion Planning Approach Considering Localization Uncertainty

Artuñedo

Villagrá

Godoy

et al. 2020

IEEE Trans. Veh. Technol.

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Localization plays an important role in autonomous driving since a high level of accuracy in vehicle localization is indispensable for a safe navigation. Most of the motion planning approaches in the literature assume negligible uncertainty in vehicle localization. However, the accuracy of localization systems can be low by design or even can drop depending on the environment in some cases. In these situations, the localization uncertainty can be taken into consideration in motion planning to increase the system reliability. Accordingly, this work presents two main contributions: (i) a probabilistic occupancy grid-based approach for localization uncertainty propagation, and (ii) a motion planning strategy that relies on such occupancy grid. Thus, the proposed motion planning solution for automated driving is able to generate safe human-like trajectories in real time while considering the localization uncertainty, ego-vehicle constrains and obstacles. In order to validate the proposed algorithms, several experiments have been conducted in a real environment.

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“…Themann et al (2015) showed that the prediction accuracy of the future VRU position for vehicle velocities of 50 km/h should provide a standard deviation of less than 55 cm. Today's systems, as well as the previously mentioned V2P or V2I systems, predict the future position of pedestrians based on the assumptions that pedestrians will maintain a constant velocity or acceleration and heading (Westhofen et al 2012).…”

Section: Introductionmentioning

confidence: 99%

Concept of an enhanced V2X pedestrian collision avoidance system with a cost function–based pedestrian model

Kotte

Schmeichel

Zlocki

et al. 2017

Traffic Injury Prevention

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Objective: State-of-the-art collision avoidance and collision mitigation systems predict the behavior of pedestrians based on trivial models that assume a constant acceleration or velocity. New sources of sensor information-for example, smart devices such as smartphones, tablets, smartwatches, etc.-can support enhanced pedestrian behavior models. The objective of this article is the development and implementation of a V2Xpedestrian collision avoidance system that uses new information sources. Methods: A literature review of existing state-of-the-art pedestrian collision avoidance systems, pedestrian behavior models in advanced driver assistance systems (ADAS), and traffic simulations is conducted together with an analysis of existing studies on typical pedestrian patterns in traffic. Based on this analysis, possible parameters for predicting pedestrian behavior were investigated. The results led to new requirements from which a concept was developed and implemented.Results: The analysis of typical pedestrian behavior patterns in traffic situations showed the complexity of predicting pedestrian behavior. Requirements for an improved behavior prediction were derived. A concept for a V2X collision avoidance system, based on a cost function that predicts pedestrian near future presence, and its implementation is presented. The concept presented considers several challenges such as information privacy, inaccuracies of the localization, and inaccuracies of the prediction. Conclusion:A concept for an enhanced V2X pedestrian collision avoidance system was developed and introduced. The concept uses new information sources such as smart devices to improve the prediction of the pedestrian's presence in the near future and considers challenges that come along with the usage of these information sources.

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Impact of positioning uncertainty of vulnerable road users on risk minimization in collision avoidance systems

Cited by 24 publications

References 16 publications

The Use of Meta-Surfaces in Vehicular Networks

The Use of Meta-Surfaces in Vehicular Networks

Motion Planning Approach Considering Localization Uncertainty

Concept of an enhanced V2X pedestrian collision avoidance system with a cost function–based pedestrian model

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