Pedestrian collision avoidance systems: a survey of computer vision based recent studies

Gandhi, T.; Trivedi, Mohan M.

doi:10.1109/itsc.2006.1706871

Cited by 97 publications

(55 citation statements)

References 25 publications

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“…Using forward looking radars for adaptive cruise control and collision avoidance or mitigation is becoming common in new cars, and has been thoroughly investigated [11,98], and in later years there has been research and implementations where the radars are supplemented with, or replaced by, camera based systems [4,8,21,89]. Common for this type of predictions are that the whole disturbance function is not known beforehand, but there is a prediction horizon that gives an upper limit for the optimization horizon and the control actions can therefore not be optimized beforehand.…”

Section: Predictionmentioning

confidence: 99%

Optimal Predictive Control of Wheel Loader Transmissions

Nilsson

2015

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The cover illustrations show wheel loaders at work. The transmissions of present heavy wheel loaders are in general based on torque converters. The characteristics of this component suits these machines, especially in that it enables thrust from zero vehicle speed without risk of stalling the engine, without active control. Unfortunately, the component also causes losses which might become large compared to the transmitted power. One approach for mitigating these losses is to switch to a continuously variable transmission.Changing to such a system greatly increases the possibility, and the need, for actively selecting the engine speed, and here a conict emerges. A low engine speed is desired for high eciency but a high speed is required for high power.Heavy wheel loaders often operate according to a common repeating pattern known as the short loading cycle.This cycle is extremely transient, which makes the choice of engine operating point both important and dicult. At the same time, the repeating pattern in the operation enables a rough prediction of the future operation. One way to use the uncertain prediction is to use optimization techniques for selecting the best control actions. This requires a method for detecting the operational pattern and producing a prediction from this, to formulate a manageable optimization problem, and for solving this, and nally to actually control the machine according to the optimization results.This problem is treated in the four papers that are included in this dissertation.The rst paper describes a method for automatically detecting when the machine is operating according to any of several predened patterns. The detector uses events and automata descriptions of the cycles, which makes the method simple yet powerful. In the evaluations over 90% of the actual cycles are detected and correctly identied. The detector also enables a quick analysis of large datasets. In several of the following papers this is used to condense measured data sequences into statistical cycles for the control optimization.In the second paper dynamic programming and Pontryagin's maximum principle is applied to a simplied system consisting of a diesel engine and a generator. Methods are developed based on the maximum principle analysis, for nding the fuel optimal trajectories at output power steps, and the simplicity of the system enables a deeper analysis of these solutions. The methods are used to examine and visualize the mechanisms behind the solutions at power transients, and the models form the basis for the models in the following papers.The third paper describes two dierent concepts for implementing dynamic programming based optimal control of a hydrostatic transmission. In this system one load component forms a stochastic state constraint, and the concepts present two dierent strategies for handling this constraint. The controller concepts are evaluated through simulations, in terms of implementability, robustness against uncertainties in the prediction and fuel savings. generell kunskap om hur m...

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Section: Predictionmentioning

confidence: 99%

Optimal Predictive Control of Wheel Loader Transmissions

Nilsson

2015

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“…Unlike the vehicles, which are large rigid objects moving fast along welldefined trajectories, the pedestrians are slow moving small thin objects having articulated motion and more complex trajectories. Surveys of pedestrian detection research are presented in [27], [36].…”

Section: B Looking-out Of the Vehicle: Dynamic Panoramic Surround (Dps)mentioning

confidence: 99%

Looking-In and Looking-Out of a Vehicle: Computer-Vision-Based Enhanced Vehicle Safety

Trivedi¹,

Gandhi²,

McCall

2007

IEEE Trans. Intell. Transport. Syst.

262

123

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Abstract-This paper presents investigations into the role of computer-vision technology in developing safer automobiles. We consider vision systems, which cannot only look out of the vehicle to detect and track roads and avoid hitting obstacles or pedestrians but simultaneously look inside the vehicle to monitor the attentiveness of the driver and even predict her intentions. In this paper, a systems-oriented framework for developing computervision technology for safer automobiles is presented. We will consider three main components of the system: environment, vehicle, and driver. We will discuss various issues and ideas for developing models for these main components as well as activities associated with the complex task of safe driving. This paper includes a discussion of novel sensory systems and algorithms for capturing not only the dynamic surround information of the vehicle but also the state, intent, and activity patterns of drivers.

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“…(Gandhi and Trivedi (2006) give an overview on the state of the art in pedestrian collision warning systems.) Although many systems presented in the past using active sensors produce promising results, they often reveal drawbacks including low data acquisition speed, low resolution, and high costs.…”

Section: Introductionmentioning

confidence: 99%

Detection of Moving Objects in Image Sequences using 3D Velocity Filters

Schauland

Velten

Kummert

2008

International Journal of Applied Mathematics and Computer Science

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A movement analysis of objects contained in visual scenes can be performed by means of linear multidimensional filters, which have already been analyzed in the past. While the soundness of the results was convincing, interest in those systems declined due to the limited computational power of contemporary computers. Recent advances in design and implementation of integrated circuits and hardware architectures allow realizing velocity filters if the n-D system is carefully adapted to the analyzed problem. In this paper, the fundamental principles of visual scene analysis by linear multidimensional filters are examined with respect to possible sources of degradation. The extraction of movement information and its practical use are demonstrated using a wave digital filter (WDF) implementation.

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Pedestrian collision avoidance systems: a survey of computer vision based recent studies

Cited by 97 publications

References 25 publications

Optimal Predictive Control of Wheel Loader Transmissions

Optimal Predictive Control of Wheel Loader Transmissions

Looking-In and Looking-Out of a Vehicle: Computer-Vision-Based Enhanced Vehicle Safety

Detection of Moving Objects in Image Sequences using 3D Velocity Filters

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