| 1. |
- Hult, Robert, 1984, et al.
(author)
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Coordination of Cooperative Autonomous Vehicles: Toward safer and more efficient road transportation
- 2016
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In: IEEE Signal Processing Magazine. - : Institute of Electrical and Electronics Engineers (IEEE). - 1558-0792 .- 1053-5888. ; 33:6, s. 74-84
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Journal article (peer-reviewed)abstract
- While intelligent transportation systems come in many shapes and sizes, arguably the most transformational realization will be the autonomous vehicle. As such vehicles become commercially available in the coming years, first on dedicated roads and under specific conditions, and later on all public roads at all times, a phase transition will occur. Once a sufficient number of autonomous vehicles is deployed, the opportunity for explicit coordination appears. This article treats this challenging network control problem, which lies at the intersection of control theory, signal processing, and wireless communication. We provide an overview of the state of the art, while at the same time highlighting key research directions for the coming decades.
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| 2. |
- Steinmetz, Erik M, 1984, et al.
(author)
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Communication analysis for centralized intersection crossing coordination
- 2014
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In: Proc. 11th International Symposium on Wireless Communications Systems. - 9781479958634 ; , s. 813-818
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Conference paper (peer-reviewed)abstract
- Coordination of autonomous cooperative vehicles is an important challenge for future intelligent transportation systems. In particular, coordination to cross intersections captures the inherent and connected challenges among control and communication. While intersection coordination and vehicular wireless communication have both received extensive treatment in their respective communities, few works consider their interaction. We provide a communication system analysis for the specific problem of centralized intersection crossing coordination, leading to design guidelines for both uplink (whereby vehicles send intentions to the central controller) and downlink (where the controller prescribes vehicles of safe control actions).
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| 3. |
- Abdulla, Mouhamed, 1979, et al.
(author)
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Vehicle-to-Vehicle Communications with Urban Intersection Path Loss Models
- 2016
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In: 2016 IEEE Globecom Workshops, GC Wkshps 2016 - Proceedings. ; , s. 1-6
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Conference paper (peer-reviewed)abstract
- Vehicle-to-vehicle (V2V) communication can improve road safety and traffic efficiency, particularly around critical areas such as intersections. We analytically derive V2V success probability near an urban intersection, based on empirically supported line-of-sight (LOS), weak-line-of-sight (WLOS), and nonline-of-sight (NLOS) channel models. The analysis can serve as a preliminary design tool for performance assessment over different system parameters and target performance requirements.
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| 4. |
- Ahlström, Christer, et al.
(author)
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Processing of Eye/Head-Tracking Data in Large-Scale Naturalistic Driving Data Sets
- 2012
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In: IEEE Transactions on Intelligent Transportation Systems. - 1524-9050 .- 1558-0016. ; vol.13:no.2, s. pp.553-564
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Journal article (peer-reviewed)abstract
- Driver distraction and driver inattention are frequently recognized as leading causes of crashes and incidents. Despite this fact, there are few methods available for the automatic detection of driver distraction. Eye tracking has come forward as the most promising detection technology, but the technique suffers from quality issues when used in the field over an extended period of time. Eye-tracking data acquired in the field clearly differs from what is acquired in a laboratory setting or a driving simulator, and algorithms that have been developed in these settings are often unable to operate on noisy field data. The aim of this paper is to develop algorithms for quality handling and signal enhancement of naturalistic eye- and head-tracking data within the setting of visual driver distraction. In particular, practical issues are highlighted. Developed algorithms are evaluated on large-scale field operational test data acquired in the Sweden-Michigan Field Operational Test (SeMiFOT) project, including data from 44 unique drivers and more than 10 000 trips from 13 eye-tracker-equipped vehicles. Results indicate that, by applying advanced data-processing methods, sensitivity and specificity of eyes-off-road glance detection can be increased by about 10%. In conclusion, postenhancement and quality handling is critical when analyzing large databases with naturalistic eye-tracking data. The presented algorithms provide the first holistic approach to accomplish this task.
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| 5. |
- Bärgman, Jonas, 1972, et al.
(author)
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On data security and analysis platforms for analysis of naturalistic driving data
- 2011
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In: Proceedings of the 8th European Congress and Exhibition on Intelligent Transport Systems and Services, June 2011, Lyon.
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Conference paper (peer-reviewed)abstract
- Studies involving naturalistic driving data, of which Naturalistic Field Operational Tests (N-FOTs) are a subset, are becoming increasingly important for understanding the factors influencing accident causation as well as for the development and evaluation of active safety systems. The methodology project FESTA developed a handbook on how to plan and implement FOTs. This handbook has been extensively used as a guideline in the euroFOT project. However, “the devil is in the details” when implementing e.g. the platforms for data security and analysis in projects which deal with analysis of large amounts of sensitive naturalistic driving data, such as euroFOT. That is, although a guideline such as FESTA is used, how the details are implemented is what makes the implementation a success or not. This paper is a case description of the implementation of the data security and analysis platform used for euroFOT (and other naturalistic data projects) at the SAFER Vehicle and Traffic Safety Centre. The paper covers aspects ranging from physical access to analysis rooms and corresponding digital access, via the platforms for pre-processing of data, to the platforms for information extraction for hypothesis analysis and statistics. The considerations in the design and choice of these platforms include subjects (drivers) privacy concerns, industry commercial concerns, as well as the needs and requirements from the analysis.
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| 6. |
- Steinmetz, Erik M, 1984, et al.
(author)
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Assessment of GPS derived speed for verification of speed measuring devices
- 2014
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In: Int. J. of Instrumentation Technology. - 2043-7862. ; 1, s. 212-227
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Journal article (peer-reviewed)abstract
- Speed information from GPS is increasingly used and provides an alternative to conventional methods such as wheel speed sensors. We investigate the possibility to use GPS derived speed as a reference when verifying laser and radar-based speed measuring devices used in traffic enforcement. We have set up a realistic test scenario where a GPS equipped vehicle was driven at three different speeds (40, 90 and 130 km/h) through a pre-defined measurement zone. An independent and traceable reference speed was calculated by accurately measuring the length of the measurement zone (approximately 15 metres), and the time it took to pass through it. The reference speed was compared to the average GPS speed for each passage. This comparisons show that the standard uncertainty of such GPS speed measurements is less than 0.05 km/h. Hence, GPS derived speed meets the accuracy requirements for verification of laser and radar based speed measuring devices.
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| 7. |
- Steinmetz, Erik M, 1984
(author)
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Communication and Positioning Uncertainties in Cooperative Intelligent Transportation Systems
- 2019
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Doctoral thesis (other academic/artistic)abstract
- The current road transport system has problems with both safety and efficiency. Future intelligent transportation systems (ITS) are envisioned to alleviate these problems. In particular, cooperative ITS, where vehicles are connected to each other and the cloud, will allow vehicles to collaborate and share both sensor and control information. This will significantly expand the possibilities of optimizing traffic flow and increasing safety. However, as both communication and sensing are unreliable, a key challenge in cooperative ITS is how to accommodate for communication and sensing impairments. This requires an understanding of what the limitations of communication and sensing systems are, and how their uncertainties affect the control and coordination task. The contribution of this thesis lies on the intersection of the fields of communication, sensing, and control, and can be summarized as follows. First of all, through the use of stochastic geometry, we analyze the impact of interference in vehicular networks, and propose a general procedure to analytically determine key performance metrics such as packet reception probabilities and throughput. Along with this procedure, we provide a model repository that can be used to adapt to both rural and urban propagation characteristics, and different medium access control protocols. The procedure can be used to gain fundamental insights about the performance of vehicular communication systems in a variety of scenarios of practical relevance. Secondly, when it comes to sensing uncertainties, we use Fisher information theory to provide bounds on the achievable performance of cooperative positioning solutions. We thereby characterize how the composition of the vehicle fleet, and the penetration rate of vehicles with extensive sensing capabilities affects positioning and mapping performance. While the analysis is generally applicable, we present simulation results from a multi-lane freeway scenario, which indicate that introducing a small fraction of cooperating vehicles with high-end sensors significantly improves the positioning quality of the entire fleet, but may not be enough to meet the stringent demands posed by safety-critical applications. Finally, we study how communication and sensing uncertainties impact cooperative intersection coordination. We show that the requirements on control, communication and sensing are stringent if they are treated separately and that they could be relaxed if the individual systems are made aware of each other. This awareness is explored in two ways: we provide a communication system analysis for a centralized intersection coordination scheme using stochastic geometry, which can be used to provide guidelines on how to design the communication system to guarantee a control-dependent communication quality. We also propose a collision aware resource allocation strategy, which proactively reduces channel congestion by only assigning communication resources to vehicles that are in critical configurations, i.e., when there is a risk for future collisions. This thesis, through the use of several mathematical tools, thus sheds new insights into the communication, sensing and control performance of cooperative ITS.
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| 8. |
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| 9. |
- Steinmetz, Erik M, 1984, et al.
(author)
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WiP abstract: Reception probability model for vehicular ad-hoc networks in the vicinity of intersections
- 2014
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In: 2014 ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2014. - 9781479949311 ; , s. 223-
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Conference paper (peer-reviewed)abstract
- In order to guide and validate the communication system design for vehicular ad-hoc networks (VANETs), and to obtain important insight about scalability and performance in these networks, analytical expressions of key performance metrics are necessary. In this study, we present an analytical model based on stochastic geometry to evaluate the reliability of packet transmission in VANETs in the vicinity of intersections.
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| 10. |
- Westlund, Karin, et al.
(author)
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EVALUATION OF NAVIGATION SATELLITE SYSTEMS FOR FORESTRY AND ITS PRECISION IN A FOREST ENVIRONMENT
- 2012
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In: Proceedings of FORMEC 2012: Forest Engineering - Concern, Knowledge and Accountability in Today’s Environment.
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Conference paper (peer-reviewed)abstract
- The Swedish forestry industry is dependent of reliable positioning in the forest since much of the information in the supply chain carries positioning data. Correct coordinates are needed for the survey of the site, information of the harvesting and forwarding progress as well as positioning of road side inventory. The position data should also be able to save e.g. for planning purposes to be used throughout the forest production life-cycle. One way of providing position data is through the use of Global Navigation Satellite Systems (GNSS) where the most accurate equipment and strategies provide positions of order 1 cm accuracy in fair conditions. The GNSS equipment currently being used on the machines in the forest is however often more basic equipment that at best may provide accuracies of order 10 m under the same conditions, and often worse. In addition to the antenna, receiver and other technical equipment many factors affect the positioning quality; the forest environment itself causes uncertainty in the positioning due to tree trunk blockage of signal paths, reflections from trees, etc. Currently there are two operating GNSS systems: the American GPS and the Russian GLONASS systems. Today only GPS is being used, but with more systems emerging in the near future (e.g. the European Galileo system) the availability of satellite signals for positioning will increase significantly in the forest environment. The aim of the project is to evaluate the current accuracy of the positioning as well as compare stand-alone GPS with multiple GNSS system solutions in the forest environment. The project will also suggest techniques for improving the accuracy and robustness of the positioning suitable for the forestry field of application. The project will contribute with improvements of information flows through the whole value chain, making use of reliable positioning data. It will also provide input for ICT based systems to increase logging efficiency and minimize ground and soil impacts. Additionally, costs through misleading positioning in timber transport will be reduced and the traceability of timber and forest products will improve. The project will be ongoing during spring and finalized during the summer 2012.
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