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		<title><![CDATA[ Intelligent Transportation Systems, IEEE Transactions on - new TOC ]]></title>
		<link>http://ieeexplore.ieee.org</link>
		<description>TOC Alert for Publication# 6979 </description>
		<year>2012</year>
		<month>May      </month>
		<day>21</day>
		<item>
			<title><![CDATA[Table of contents]]></title>
			<link><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6157684]]></link>
			<description><![CDATA[ ]]></description>
			<pubDate><![CDATA[March  2012]]></pubDate>
			<guid><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6157684]]></guid>
			<volume>13</volume>
			<issue>1</issue>
			<startPage>C1</startPage>
			<endPage>C4</endPage>
			<fileSize>45</fileSize>
			<authors><![CDATA[]]></authors>
		</item>
		<item>
			<title><![CDATA[IEEE Transactions on Intelligent Transportation Systems publication information]]></title>
			<link><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6157685]]></link>
			<description><![CDATA[Provides a listing of current society officers.]]></description>
			<pubDate><![CDATA[March  2012]]></pubDate>
			<guid><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6157685]]></guid>
			<volume>13</volume>
			<issue>1</issue>
			<startPage>C2</startPage>
			<endPage>C2</endPage>
			<fileSize>38</fileSize>
			<authors><![CDATA[]]></authors>
		</item>
		<item>
			<title><![CDATA[Introduction to the Special Issue on Emergent Cooperative Technologies in Intelligent Transportation Systems]]></title>
			<link><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6142101]]></link>
			<description><![CDATA[The ten papers in this special issue cover the full range of cooperative technologies in Intelligent Transportation Systems, from V2V and V2I, including cooperative traffic management to vehicle-to-driver cooperation. These papers are summarized here.]]></description>
			<pubDate><![CDATA[March  2012]]></pubDate>
			<guid><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6142101]]></guid>
			<volume>13</volume>
			<issue>1</issue>
			<startPage>1</startPage>
			<endPage>5</endPage>
			<fileSize>160</fileSize>
			<authors><![CDATA[Sotelo, M. &#x00C1;.;van Lint, J. W. C.;Nunes, U.;Vlacic, L. B.;Chowdhury, M.;]]></authors>
		</item>
		<item>
			<title><![CDATA[A New Approach for Co-Operative Bus Priority at Traffic Signals]]></title>
			<link><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6075256]]></link>
			<description><![CDATA[Bus priority at traffic signals is a growing area of cooperative transport system applications. Interest in bus priority continues to grow as the cities pay more attention to the needs of buses to provide fast, frequent, and reliable services, thus contributing to a sustainable transport system. Bus priority at traffic signals is particularly favored at places where road space is limited and traffic signal density is high. With increasing the use of automatic vehicle location (AVL) systems, it is now possible to provide &#x201C;differential&#x201D; priority, where different levels of priority can be awarded to buses at traffic signals according to chosen criteria (e.g., to improve regularity). At present, common strategies are based on the comparison of the time headway of a bus with the scheduled headway. However, this paper shows that greater regularity benefits could be achieved through a strategy where priority for a bus is based not only on its own headway but also the headway of the bus behind (the following bus). This paper demonstrates the benefits of this on a theoretical basis and quantifies the benefits from simulation modeling of a high-frequency bus route. Such a strategy provides an opportunity to exploit the more detailed location information available from the growing number of AVL-based systems for buses being implemented around the world.]]></description>
			<pubDate><![CDATA[March  2012]]></pubDate>
			<guid><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6075256]]></guid>
			<volume>13</volume>
			<issue>1</issue>
			<startPage>6</startPage>
			<endPage>14</endPage>
			<fileSize>500</fileSize>
			<authors><![CDATA[Hounsell, N.;Shrestha, B.;]]></authors>
		</item>
		<item>
			<title><![CDATA[Collaborative Vision-Integrated Pseudorange Error Removal: Team-Estimated Differential GNSS Corrections with no Stationary Reference Receiver]]></title>
			<link><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6117086]]></link>
			<description><![CDATA[This paper presents an approach for generating Global Navigation Satellite System (GNSS) differential corrections by distributing GNSS and georeferenced vision measurements through a vehicle-to-vehicle (V2V) communications network. Conventionally, high-quality differential GNSS corrections are generated from a stationary reference receiver in close proximity to a set of mobile users. The proposed method, which is called Collaborative Vision Integrated Pseudorange Error Removal (C-VIPER), instead generates differential corrections using data from moving vehicles, thus eliminating the need for an infrastructure of stationary receivers. An important feature of the proposed algorithm is that individual differential corrections are computed for each satellite, so that corrections can be shared among users with different satellites in view. As demonstrated in simulation, measurement sharing significantly improves positioning accuracy in both the cross-track direction, where the quality of visual lane-boundary measurements is high, and the along-track direction, where the quality is low. Furthermore, because measurements are shared among many vehicles, the networked solution is robust to vision-sensor dropouts that may occur for individual vehicles.]]></description>
			<pubDate><![CDATA[March  2012]]></pubDate>
			<guid><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6117086]]></guid>
			<volume>13</volume>
			<issue>1</issue>
			<startPage>15</startPage>
			<endPage>24</endPage>
			<fileSize>622</fileSize>
			<authors><![CDATA[Rife, J.;]]></authors>
		</item>
		<item>
			<title><![CDATA[Extended Floating Car Data System: Experimental Results and Application for a Hybrid Route Level of Service]]></title>
			<link><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6135798]]></link>
			<description><![CDATA[This paper presents the results of a set of extensive experiments carried out under both daytime and nighttime real traffic conditions. The data were captured using an enhanced or extended Floating Car Data system (xFCD) that includes a stereo vision sensor for detecting the local traffic ahead. The collected information is then used to propose a novel approach to the level-of-service (LOS) calculation. This calculation uses information from both the xFCD and the magnetic loops deployed in the infrastructure to construct a speed/occupancy hybrid plane that characterizes the traffic state of a continuous route. In the xFCD system, the detection component implies the use of previously developed monocular approaches in combination with new stereo vision algorithms that add robustness to the detection and increase the accuracy of the measurements corresponding to relative distance and speed. In addition to the stereo pair of cameras, the vehicle is equipped with a low-cost Global Positioning System (GPS) and an electronic device for controller-area-network bus interfacing. The xFCD system has been tested in a 198-min sequence recorded in real traffic scenarios under different weather and illumination conditions. The results are promising and demonstrate that the xFCD system is ready for being used as a source of traffic status information. As an indicative example of the developed xFCD system, we construct a novel route LOS calculation that combines hybrid information about speed and occupancy from both the xFCD system and the magnetic loops in the infrastructure.]]></description>
			<pubDate><![CDATA[March  2012]]></pubDate>
			<guid><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6135798]]></guid>
			<volume>13</volume>
			<issue>1</issue>
			<startPage>25</startPage>
			<endPage>35</endPage>
			<fileSize>1501</fileSize>
			<authors><![CDATA[Vinagre Di&#x0301;az, J.J.;Fernandez Llorca, D.;Rodri&#x0301;guez Gonza&#x0301;lez, A.B.;Quintero Minguez, R.;Llamazares Llamazares, A.;Sotelo, M.A.;]]></authors>
		</item>
		<item>
			<title><![CDATA[Parallelized Particle and Gaussian Sum Particle Filters for Large-Scale Freeway Traffic Systems]]></title>
			<link><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6122508]]></link>
			<description><![CDATA[Large-scale traffic systems require techniques that are able to 1) deal with high amounts of data and heterogenous data coming from different types of sensors, 2) provide robustness in the presence of sparse sensor data, 3) incorporate different models that can deal with various traffic regimes, and 4) cope with multimodal conditional probability density functions (pdfs) for the states. Often, centralized architectures face challenges due to high communication demands. This paper develops new estimation techniques that are able to cope with these problems of large traffic network systems. These are parallelized particle filters (PPFs) and a parallelized Gaussian sum particle filter (PGSPF) that are suitable for online traffic management. We show how complex pdfs of the high-dimensional traffic state can be decomposed into functions with simpler forms and how the whole estimation problem solved in an efficient way. The proposed approach is general, with limited interactions, which reduce the computational time and provide high estimation accuracy. The efficiency of the PPFs and PGSPFs is evaluated in terms of accuracy, complexity, and communication demands and compared with the case where all processing is centralized.]]></description>
			<pubDate><![CDATA[March  2012]]></pubDate>
			<guid><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6122508]]></guid>
			<volume>13</volume>
			<issue>1</issue>
			<startPage>36</startPage>
			<endPage>48</endPage>
			<fileSize>848</fileSize>
			<authors><![CDATA[Mihaylova, L.;Hegyi, A.;Gning, A.;Boel, R.K.;]]></authors>
		</item>
		<item>
			<title><![CDATA[An Intelligent V2I-Based Traffic Management System]]></title>
			<link><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6121906]]></link>
			<description><![CDATA[Vehicles equipped with intelligent systems designed to prevent accidents, such as collision warning systems (CWSs) or lane-keeping assistance (LKA), are now on the market. The next step in reducing road accidents is to coordinate such vehicles in advance not only to avoid collisions but to improve traffic flow as well. To this end, vehicle-to-infrastructure (V2I) communications are essential to properly manage traffic situations. This paper describes the AUTOPIA approach toward an intelligent traffic management system based on V2I communications. A fuzzy-based control algorithm that takes into account each vehicle's safe and comfortable distance and speed adjustment for collision avoidance and better traffic flow has been developed. The proposed solution was validated by an IEEE-802.11p-based communications study. The entire system showed good performance in testing in real-world scenarios, first by computer simulation and then with real vehicles.]]></description>
			<pubDate><![CDATA[March  2012]]></pubDate>
			<guid><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6121906]]></guid>
			<volume>13</volume>
			<issue>1</issue>
			<startPage>49</startPage>
			<endPage>58</endPage>
			<fileSize>1116</fileSize>
			<authors><![CDATA[Milanes, V.;Villagra, J.;Godoy, J.;Simo, J.;Perez, J.;Onieva, E.;]]></authors>
		</item>
		<item>
			<title><![CDATA[Real-Time Lagrangian Traffic State Estimator for Freeways]]></title>
			<link><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6126042]]></link>
			<description><![CDATA[Freeway traffic state estimation and prediction are central components in real-time traffic management and information applications. Model-based traffic state estimators consist of a dynamic model for the state variables (e.g., a first- or second-order macroscopic traffic flow model), a set of observation equations relating sensor observations to the system state (e.g., the fundamental diagrams), and a data-assimilation technique to combine the model predictions with the sensor observations [e.g., the extended Kalman filter (EKF)]. Commonly, both process and observation models are formulated in Eulerian (space-time) coordinates. Recent studies have shown that this model can be formulated and solved more efficiently and accurately in Lagrangian (vehicle number-time) coordinates. In this paper, we propose a new model-based state estimator based on the EKF technique, in which the discretized Lagrangian Lighthill-Whitham and Richards (LWR) model is used as the process equation, and in which observation models for both Eulerian and Lagrangian sensor data (from loop detectors and vehicle trajectories, respectively) are incorporated. This Lagrangian state estimator is validated and compared with a Eulerian state estimator based on the same LWR model using an empirical microscopic traffic data set from the U.K. The results indicate that the Lagrangian estimator is significantly more accurate and offers computational and theoretical benefits over the Eulerian approach.]]></description>
			<pubDate><![CDATA[March  2012]]></pubDate>
			<guid><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6126042]]></guid>
			<volume>13</volume>
			<issue>1</issue>
			<startPage>59</startPage>
			<endPage>70</endPage>
			<fileSize>1026</fileSize>
			<authors><![CDATA[Yufei Yuan;van Lint, J.W.C.;Wilson, R.E.;van Wageningen-Kessels, F.;Hoogendoorn, S.P.;]]></authors>
		</item>
		<item>
			<title><![CDATA[Subliminal Persuasion and Its Potential for Driver Behavior Adaptation]]></title>
			<link><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6126041]]></link>
			<description><![CDATA[Mental overload is a problem drivers are increasingly exposed to in today's complex task of vehicle operation and is one of the causes of traffic accidents or hazards. To keep road safety high but allow for additional information to be forwarded to the driver, we propose to employ subliminal persuasion: a technique where the information is transferred below the level of conscious awareness. Thus, the driver becomes aware of the information, but his/her cognitive load is unaltered. To analyze the potential of this approach, we have designed a case study implementing an &#x201C;eco-driving&#x201D; strategy operating in the background. Driving economy is thereby estimated based on vehicles' mileage gathered in real time from numerous sensors in and around the car, and information is conveyed to the driver with very light, not attentively perceivable, vibration patterns originating from tactor elements integrated into the safety belt or the car seat. The main research hypothesis followed in this paper and investigated in real driving studies is that drivers would operate their vehicles more economically on vibrotactile instructions perceived inattentively, as compared with the case without any notifications. Indeed, results indicate an improvement in driving economy for segments driven with subliminal feedback compared with routes driven without assistance but not without qualifications. Statistical significance has been proven for the safety belt interface, whereas it has not been substantiated for the tactile car seat. (However, more research is needed to validate the applicability of subliminal persuasion across a wider range of driving and in-vehicle tasks.).]]></description>
			<pubDate><![CDATA[March  2012]]></pubDate>
			<guid><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6126041]]></guid>
			<volume>13</volume>
			<issue>1</issue>
			<startPage>71</startPage>
			<endPage>80</endPage>
			<fileSize>1026</fileSize>
			<authors><![CDATA[Riener, A.;]]></authors>
		</item>
		<item>
			<title><![CDATA[Development and Evaluation of a Cooperative Vehicle Intersection Control Algorithm Under the Connected Vehicles Environment]]></title>
			<link><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6121907]]></link>
			<description><![CDATA[Under the Connected Vehicles (CV) environment, it is possible to create a Cooperative Vehicle Intersection Control (CVIC) system that enables cooperation between vehicles and infrastructure for effective intersection operations and management when all vehicles are fully automated. Assuming such a CVIC environment, this paper proposed a CVIC algorithm that does not require a traffic signal. The CVIC algorithm was designed to manipulate individual vehicles' maneuvers so that vehicles can safely cross the intersection without colliding with other vehicles. By eliminating the potential overlaps of vehicular trajectories coming from all conflicting approaches at the intersection, the CVIC algorithm seeks a safe maneuver for every vehicle approaching the intersection and manipulates each of them. An additional algorithm was designed to deal with the system failure cases resulting from inevitable trajectory overlaps at the intersection and infeasible solutions. A simulation-based case study implemented on a hypothetical four-way single-lane approach intersection under varying congestion conditions showed that the CVIC algorithm significantly improved intersection performance compared with conventional actuated intersection control: 99% and 33% of stop delay and total travel time reductions, respectively, were achieved. In addition, the CVIC algorithm significantly improved air quality and energy savings: 44% reductions of CO<sub>2</sub> and 44% savings of fuel consumption.]]></description>
			<pubDate><![CDATA[March  2012]]></pubDate>
			<guid><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6121907]]></guid>
			<volume>13</volume>
			<issue>1</issue>
			<startPage>81</startPage>
			<endPage>90</endPage>
			<fileSize>625</fileSize>
			<authors><![CDATA[Joyoung Lee;Byungkyu Park;]]></authors>
		</item>
		<item>
			<title><![CDATA[Platooning With IVC-Enabled Autonomous Vehicles: Strategies to Mitigate Communication Delays, Improve Safety and Traffic Flow]]></title>
			<link><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6135795]]></link>
			<description><![CDATA[Intraplatoon information management strategies for dealing with safe and stable operation are proposed in this paper. New algorithms to mitigate communication delays are presented, and Matlab/Simulink-based simulation results are reported. We argue that using anticipatory information from both the platoon's leader and the followers significantly impacts platoon string stability. The obtained simulation results suggest that the effects of communication delays may be almost completely canceled out. The platoon presents a very stable behavior, even when subjected to strong acceleration patterns. When the communication channel is subjected to a strong load, proper algorithms may be selected, lowering network load and maintaining string stability. Upon emergency occurrences, the platoon's timely response may be ensured by dynamically increasing the weight of the platoons' leaders data over the behavior of their followers. The simulation results suggest that the algorithms are robust under several demanding scenarios. To assess if current intervehicle communication technology can cope with the proposed information-updating schemes, research into its operation was conducted through a network simulator.]]></description>
			<pubDate><![CDATA[March  2012]]></pubDate>
			<guid><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6135795]]></guid>
			<volume>13</volume>
			<issue>1</issue>
			<startPage>91</startPage>
			<endPage>106</endPage>
			<fileSize>1926</fileSize>
			<authors><![CDATA[Fernandes, P.;Nunes, U.;]]></authors>
		</item>
		<item>
			<title><![CDATA[Floating Car Data Augmentation Based on Infrastructure Sensors and Neural Networks]]></title>
			<link><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6135796]]></link>
			<description><![CDATA[The development of new-generation intelligent vehicle technologies will lead to a better level of road safety and CO<sub>2</sub> emission reductions. However, the weak point of all these systems is their need for comprehensive and reliable data. For traffic data acquisition, two sources are currently available: (1) infrastructure sensors and (2) floating vehicles. The former consists of a set of fixed point detectors installed in the roads, and the latter consists of the use of mobile probe vehicles as mobile sensors. However, both systems still have some deficiencies. The infrastructure sensors retrieve information from static points of the road, which are spaced, in some cases, kilometers apart. This means that the picture of the actual traffic situation is not a real one. This deficiency is corrected by floating cars, which retrieve dynamic information on the traffic situation. Unfortunately, the number of floating data vehicles currently available is too small and insufficient to give a complete picture of the road traffic. In this paper, we present a floating car data (FCD) augmentation system that combines information from floating data vehicles and infrastructure sensors, and that, by using neural networks, is capable of incrementing the amount of FCD with virtual information. This system has been implemented and tested on actual roads, and the results show little difference between the data supplied by the floating vehicles and the virtual vehicles.]]></description>
			<pubDate><![CDATA[March  2012]]></pubDate>
			<guid><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6135796]]></guid>
			<volume>13</volume>
			<issue>1</issue>
			<startPage>107</startPage>
			<endPage>114</endPage>
			<fileSize>712</fileSize>
			<authors><![CDATA[Naranjo, J.E.;Jime&#x0301;nez, F.;Serradilla, F.J.;Zato, J.G.;]]></authors>
		</item>
		<item>
			<title><![CDATA[A Novel Geodetic Engineering Method for Accurate and Automated Road/Railway Centerline Geometry Extraction Based on the Bearing Diagram and Fractal Behavior]]></title>
			<link><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6003789]]></link>
			<description><![CDATA[This paper describes a novel approach for extracting the centerline geometry of road/railway alignments in the form of traditional design elements (i.e., straight lines, circle arcs, and clothoids). As opposed to previous research, the proposed method attempts a completely general and a fully automated solution to the problem in a rigorous mathematical manner. Centerline locations originate in a ground-based mobile mapping system (e.g., global navigation satellite system/inertial navigation system vehicle trajectory or kinematic laser scanning profiles of the road/railway corridor). The core of the algorithm resides on the use, manipulation, and suitable reformulations of the bearing diagram of the centerline locations and its first- and second-order derivatives. To ensure highly accurate and consistent results, the algorithm practices a series of specifically designed/dynamically tuned filters that fully adhere to the fractal properties of the centerline location data. Extended test runs were undertaken to validate the correctness of the mathematical model and the feasibility of the algorithms and associated software. In this paper, test results using a simulated and a real (based on a multisensor geodetic survey) subset of a railway track data are discussed.]]></description>
			<pubDate><![CDATA[March  2012]]></pubDate>
			<guid><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6003789]]></guid>
			<volume>13</volume>
			<issue>1</issue>
			<startPage>115</startPage>
			<endPage>126</endPage>
			<fileSize>1089</fileSize>
			<authors><![CDATA[Gikas, V.;Stratakos, J.;]]></authors>
		</item>
		<item>
			<title><![CDATA[A Dynamic Privacy-Preserving Key Management Scheme for Location-Based Services in VANETs]]></title>
			<link><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6012553]]></link>
			<description><![CDATA[In this paper, to achieve a vehicle user's privacy preservation while improving the key update efficiency of location-based services (LBSs) in vehicular ad hoc networks (VANETs), we propose a dynamic privacy-preserving key management scheme called DIKE. Specifically, in the proposed DIKE scheme, we first introduce a privacy-preserving authentication technique that not only provides the vehicle user's anonymous authentication but enables double-registration detection as well. We then present efficient LBS session key update procedures: 1) We divide the session of an LBS into several time slots so that each time slot holds a different session key; when no vehicle user departs from the service session, each joined user can use a one-way hash function to autonomously update the new session key for achieving forward secrecy. 2) We also integrate a novel dynamic threshold technique in traditional vehicle-to-vehicle (V-2-V) and vehicle-to-infrastructure (V-2-I) communications to achieve the session key's backward secrecy, i.e., when a vehicle user departs from the service session, more than a threshold number of joined users can cooperatively update the new session key. Performance evaluations via extensive simulations demonstrate the efficiency and effectiveness of the proposed DIKE scheme in terms of low key update delay and fast key update ratio.]]></description>
			<pubDate><![CDATA[March  2012]]></pubDate>
			<guid><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6012553]]></guid>
			<volume>13</volume>
			<issue>1</issue>
			<startPage>127</startPage>
			<endPage>139</endPage>
			<fileSize>663</fileSize>
			<authors><![CDATA[Rongxing Lu;Xiaodong Lin;Xiaohui Liang;Xuemin Shen;]]></authors>
		</item>
		<item>
			<title><![CDATA[Tracking and Pairing Vehicle Headlight in Night Scenes]]></title>
			<link><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6018308]]></link>
			<description><![CDATA[Traffic surveillance is an important topic in computer vision and intelligent transportation systems and has intensively been studied in the past decades. However, most of the state-of-the-art methods concentrate on daytime traffic monitoring. In this paper, we propose a nighttime traffic surveillance system, which consists of headlight detection, headlight tracking and pairing, and camera calibration and vehicle speed estimation. First, a vehicle headlight is detected using a reflection intensity map and a reflection suppressed map based on the analysis of the light attenuation model. Second, the headlight is tracked and paired by utilizing a simple yet effective bidirectional reasoning algorithm. Finally, the trajectories of the vehicle's headlight are employed to calibrate the surveillance camera and estimate the vehicle's speed. Experimental results on typical sequences show that the proposed method can robustly detect, track, and pair the vehicle headlight in night scenes. Extensive quantitative evaluations and related comparisons demonstrate that the proposed method outperforms state-of-the-art methods.]]></description>
			<pubDate><![CDATA[March  2012]]></pubDate>
			<guid><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6018308]]></guid>
			<volume>13</volume>
			<issue>1</issue>
			<startPage>140</startPage>
			<endPage>153</endPage>
			<fileSize>1945</fileSize>
			<authors><![CDATA[Wei Zhang;Wu, Q.M.J.;Guanghui Wang;Xinge You;]]></authors>
		</item>
		<item>
			<title><![CDATA[Stereo-Camera-Based Urban Environment Perception Using Occupancy Grid and Object Tracking]]></title>
			<link><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6021374]]></link>
			<description><![CDATA[This paper deals with environment perception for automobile applications. Environment perception comprises measuring the surrounding field with onboard sensors such as cameras, radar, lidars, etc., and signal processing to extract relevant information for the planned safety or assistance function. Relevant information is primarily supplied using two well-known methods, namely, object based and grid based. In the introduction, we discuss the advantages and disadvantages of the two methods and subsequently present an approach that combines the two methods to achieve better results. The first part outlines how measurements from stereo sensors can be mapped onto an occupancy grid using an appropriate inverse sensor model. We employ the Dempster-Shafer theory to describe the occupancy grid, which has certain advantages over Bayes' theorem. Furthermore, we generate clusters of grid cells that potentially belong to separate obstacles in the field. These clusters serve as input for an object-tracking framework implemented with an interacting multiple-model estimator. Thereby, moving objects in the field can be identified, and this, in turn, helps update the occupancy grid more effectively. The first experimental results are illustrated, and the next possible research intentions are also discussed.]]></description>
			<pubDate><![CDATA[March  2012]]></pubDate>
			<guid><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6021374]]></guid>
			<volume>13</volume>
			<issue>1</issue>
			<startPage>154</startPage>
			<endPage>165</endPage>
			<fileSize>1225</fileSize>
			<authors><![CDATA[Thien-Nghia Nguyen;Michaelis, B.;Al-Hamadi, A.;Tornow, M.;Meinecke, M.;]]></authors>
		</item>
		<item>
			<title><![CDATA[Dynamic All-Red Extension at a Signalized Intersection: A Framework of Probabilistic Modeling and Performance Evaluation]]></title>
			<link><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6022795]]></link>
			<description><![CDATA[Dynamic all-red extension (DARE) has recently attracted research interest as a nontraditional intersection collision-avoidance method, for which the prediction of red-light running (RLR) and its related hazardous situations is a crucial part. We propose a probabilistic framework to model and predict RLR hazards for DARE. The RLR hazard, which is quantified by a predictive encroachment time, has contributory factors, including the speed, distance, and car-following status of the violator and the empirical distribution of the entry time of conflict traffic. An offline data analysis procedure is developed to set the parameters for RLR hazard prediction. Online-wise, a 2-D normal model is developed to predict the vehicle's stop-go maneuver based on speeds at advanced detectors and the car-following status. Additionally, unlike most prediction models that are designed to minimize mean errors, our model identifies two types of errors, namely, the false alarm and a missed report. The capability of distinguishing these two types of errors is crucial to the effectiveness of dynamic operations. To quantify the tradeoff between these two types of errors in DARE, a system operating characteristic (SOC) function is then defined. Effectiveness of the proposed model and its prediction algorithm is demonstrated using data collected from a field intersection. At a false-alarm rate of less than 5% (or equivalently about one false trigger per 8 h), the algorithm reached a correct detection rate of over 70% to more than 80%. Performance evaluation results showed that the proposed DARE framework can effectively predict the RLR hazards.]]></description>
			<pubDate><![CDATA[March  2012]]></pubDate>
			<guid><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6022795]]></guid>
			<volume>13</volume>
			<issue>1</issue>
			<startPage>166</startPage>
			<endPage>179</endPage>
			<fileSize>1146</fileSize>
			<authors><![CDATA[Liping Zhang;Lanjun Wang;Kun Zhou;Wei-bin Zhang;]]></authors>
		</item>
		<item>
			<title><![CDATA[Optimizing Pushback Decisions to Valuate Airport Surface Surveillance Information]]></title>
			<link><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6064892]]></link>
			<description><![CDATA[As airport surface surveillance technologies develop, aircraft ground position information becomes more easily available and accurate. This paper provides a better understanding of the value of future surface surveillance systems where departures, and more specifically pushback times, will be optimized. It analytically quantifies the potential benefits yielded by providing surveillance information to the agent or system that is entrusted with tactically optimizing pushback clearances under nominal conditions. A stochastic model of surface operations is developed for single-ramp surface operations and calibrated to emulate departure surface operations at LaGuardia Airport. Two levels of information are examined within a tactically optimized collaborative decision-making framework. For each level, emissions, number of taxiing aircraft, and runway utilization rate are analyzed and compared with a simple threshold policy to evaluate surface surveillance information. Safety benefits, however, are not considered in this paper. It is estimated that optimally controlling pushback clearances from a single-ramp area using detailed surface surveillance information does not provide significant benefits when compared with controlling pushback clearances using a gate-holding policy based on the number of aircraft currently taxiing. However, when the runway is functioning at intermediate capacity (50%-72% runway utilization rates), e.g., under adverse weather conditions, surveillance information may improve optimization of departure operations. In such case, emissions and the number of taxiing aircraft are reduced by up to 6% when compared with the gate-holding policy and by up to 3% when compared with the performance of an intelligent operator with limited information.]]></description>
			<pubDate><![CDATA[March  2012]]></pubDate>
			<guid><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6064892]]></guid>
			<volume>13</volume>
			<issue>1</issue>
			<startPage>180</startPage>
			<endPage>192</endPage>
			<fileSize>1221</fileSize>
			<authors><![CDATA[Burgain, P.;Pinon, O.J.;Feron, E.;Clarke, J.-P.;Mavris, D.N.;]]></authors>
		</item>
		<item>
			<title><![CDATA[Pedestrian Detection in Video Images via Error Correcting Output Code Classification of Manifold Subclasses]]></title>
			<link><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6029985]]></link>
			<description><![CDATA[Pedestrian detection in images and video frames is challenged by the view and posture problem. In this paper, we propose a new pedestrian detection approach by error correcting output code (ECOC) classification of manifold subclasses. The motivation is that pedestrians across views and postures form a manifold and that the ECOC method constructs a nonlinear classification boundary that can discriminate the manifold from negative samples. The pedestrian manifold is first constructed with a local linear embedding algorithm and then divided into subclasses with a -means clustering algorithm. The neighboring relationships of these subclasses are used to make the encoding rule for ECOCs, which we use to train multiple base classifiers with histogram of oriented gradient features and linear support vector machines. In the detection procedure, image windows are tested with all base classifiers, and their output codes are fed into an ECOC decoding procedure to decide whether it is a pedestrian or not. Experiments on three data sets show that the results of our approach improve the state of the art.]]></description>
			<pubDate><![CDATA[March  2012]]></pubDate>
			<guid><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6029985]]></guid>
			<volume>13</volume>
			<issue>1</issue>
			<startPage>193</startPage>
			<endPage>202</endPage>
			<fileSize>1328</fileSize>
			<authors><![CDATA[Qixiang Ye;Jixiang Liang;Jianbin Jiao;]]></authors>
		</item>
		<item>
			<title><![CDATA[Optimal Aviation Security Screening Strategies With Dynamic Passenger Risk Updates]]></title>
			<link><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6029453]]></link>
			<description><![CDATA[Passenger screening is a critical component of aviation security systems. This paper introduces the multistage sequential passenger screening problem (MSPSP), which models passenger and carry-on baggage screening operations in an aviation security system with the capability of dynamically updating the perceived risk of passengers. The passenger screening operation at an airport terminal is subdivided into multiple screening stages, with decisions made to assign each passenger to one of several available security classes at each such stage. Each passenger's assessed threat value (initially determined by an automated passenger prescreening system) is updated after the passenger proceeds through each screening stage. The objective of MSPSP is to maximize the total security of all passenger screening decisions over a fixed time period, given passenger perceived risk levels and security device performance parameters. An optimal policy for screening passengers in MSPSP is obtained using optimal sequential assignment theory. A Monte Carlo simulation-based heuristic is presented and compared with stochastic sequential assignment and feedback control algorithms. Computational analysis of a two-stage security system provides an assessment of the total security performance.]]></description>
			<pubDate><![CDATA[March  2012]]></pubDate>
			<guid><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6029453]]></guid>
			<volume>13</volume>
			<issue>1</issue>
			<startPage>203</startPage>
			<endPage>212</endPage>
			<fileSize>275</fileSize>
			<authors><![CDATA[Nikolaev, A.G.;Lee, A.J.;Jacobson, S.H.;]]></authors>
		</item>
		<item>
			<title><![CDATA[Leveraging Electronic Ticketing to Provide Personalized Navigation in a Public Transport Network]]></title>
			<link><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6032750]]></link>
			<description><![CDATA[Public transport networks (PTNs) are difficult to use when the user is unfamiliar with the area she is traveling to, as shown by a user survey that we present in this paper. This is true for both infrequent users (including visitors) and regular users who need to travel to areas with which they are not acquainted. In these situations, adequate on-trip navigation information can substantially ease the use of public transportation and be the driving factor in motivating travelers to prefer it over other modes of transportation. However, estimating the localization of a user is not trivial, although it is critical for providing relevant information. In this paper, we propose the use of an electronic ticketing infrastructure of a PTN operator for positioning within the context of the PTN to give on-trip personalized navigation cues. To our knowledge, this is an innovative contribution that has not been described or deployed, to date, elsewhere. We assess relevant design issues for a modular cost-efficient user-friendly on-trip navigation service that uses position sensors and present the details of a proof-of-concept prototype running in our laboratory. We also present and analyze the results of a user survey on the usefulness of the service and its acceptance by users.]]></description>
			<pubDate><![CDATA[March  2012]]></pubDate>
			<guid><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6032750]]></guid>
			<volume>13</volume>
			<issue>1</issue>
			<startPage>213</startPage>
			<endPage>220</endPage>
			<fileSize>292</fileSize>
			<authors><![CDATA[Aguiar, A.;Nunes, F.M.C.;Silva, M.J.F.;Silva, P.A.;Elias, D.;]]></authors>
		</item>
		<item>
			<title><![CDATA[Real-Time Driver's Stress Event Detection]]></title>
			<link><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6036175]]></link>
			<description><![CDATA[In this paper, a real-time methodology for the detection of stress events while driving is presented. The detection is based on the use of physiological signals, i.e., electrocardiogram, electrodermal activity, and respiration, as well as past observations of driving behavior. Features are calculated over windows of specific length and are introduced in a Bayesian network to detect driver's stress events. The accuracy of the stress event detection based only on physiological features, evaluated on a data set obtained in real driving conditions, resulted in an accuracy of 82%. Enhancement of the stress event detection model with the incorporation of driving event information has reduced false positives, yielding an increased accuracy of 96%. Furthermore, our methodology demonstrates good adaptability due to the application of online learning of the model parameters.]]></description>
			<pubDate><![CDATA[March  2012]]></pubDate>
			<guid><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6036175]]></guid>
			<volume>13</volume>
			<issue>1</issue>
			<startPage>221</startPage>
			<endPage>234</endPage>
			<fileSize>575</fileSize>
			<authors><![CDATA[Rigas, G.;Goletsis, Y.;Fotiadis, D.I.;]]></authors>
		</item>
		<item>
			<title><![CDATA[Inertial Navigation Aiding by Stationary Updates]]></title>
			<link><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6060912]]></link>
			<description><![CDATA[Sensor-aided inertial navigation has successfully been used for decades for localization of a roving body. When the rover is known to be stationary, artificial &#x201C;stationary&#x201D; measurements (i.e., zero velocity and/or zero angular rate) may be imposed. This corrects the velocity, attitude, and inertial measurement unit (IMU) biases, which decreases the rate of drift of the position and attitude. Implementation requires reliable automated tests to detect periods when the vehicle is stationary. Due to cost concerns, methods that use sensors that are already on the vehicle are preferred. This paper reviews existing stationary detection methods and proposes a new frequency domain approach, using only IMU data, to detect stationarity, with specifications and analysis for land vehicles. The performance of this new approach is evaluated in both theory and practice. In addition, this paper presents analytic and numeric evaluations of the observability of the inertial navigation system (INS) error states with stationary updates. Improvements in localization performance in an INS with stationary detection and aiding is shown experimentally.]]></description>
			<pubDate><![CDATA[March  2012]]></pubDate>
			<guid><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6060912]]></guid>
			<volume>13</volume>
			<issue>1</issue>
			<startPage>235</startPage>
			<endPage>248</endPage>
			<fileSize>1998</fileSize>
			<authors><![CDATA[Ramanandan, A.;Anning Chen;Farrell, J.A.;]]></authors>
		</item>
		<item>
			<title><![CDATA[Phase Transition of Message Propagation Speed in Delay-Tolerant Vehicular Networks]]></title>
			<link><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6087377]]></link>
			<description><![CDATA[Delay-tolerant network (DTN) architectures have recently been proposed as a means to enable efficient routing of messages in vehicular area networks (VANETs), which are characterized by alternating periods of connectivity and disconnection. Under such architectures, when multihop connectivity is available, messages propagate at the speed of radio over connected vehicles. On the other hand, when vehicles are disconnected, messages are carried by vehicles and propagate at vehicle speed. Our goal in this paper is to analytically determine what gains are achieved by DTN architectures and under which conditions, using the average message propagation speed as the primary metric of interest. We develop an analytical model for a bidirectional linear network of vehicles, as found on highways. We derive both upper and lower bounds on the average message propagation speed by exploiting a connection with the classical pattern-matching problem in probability theory. The bounds reveal an interesting phase transition behavior. Specifically, we find out that, below a certain critical threshold, which is a function of the traffic density in each direction, the average message speed is the same as the average vehicle speed, i.e., DTN architectures provide no gain. On the other hand, we determine another threshold above which the average message speed quickly increases as a function of traffic density and approaches radio speed. Based on the bounds, we also develop an approximation model for the average message propagation speed that we validate through numerical simulations.]]></description>
			<pubDate><![CDATA[March  2012]]></pubDate>
			<guid><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6087377]]></guid>
			<volume>13</volume>
			<issue>1</issue>
			<startPage>249</startPage>
			<endPage>263</endPage>
			<fileSize>833</fileSize>
			<authors><![CDATA[Agarwal, A.;Starobinski, D.;Little, T.D.C.;]]></authors>
		</item>
		<item>
			<title><![CDATA[A FIFO Rule Consistent Model for the Continuous Dynamic Network Loading Problem]]></title>
			<link><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6047575]]></link>
			<description><![CDATA[This paper presents a first-in-first-out (FIFO) rule consistent model for the continuous dynamic network loading problem. The model calculates the link travel time functions at a basic finite set of equally spaced times that are used to interpolate a monotone spline for all the other times. The model assumes a nonlinear link travel time function of the link volumes, but some corrections are made to satisfy the FIFO rule at the basic set. Furthermore, the use of monotone cubic splines preserving monotonicity guarantees that the FIFO rule is satisfied at all points. The model consists of five units: 1) a path origin flow wave definition unit; 2) a path wave propagation unit; 3) a congestion analysis unit; 4) a network flow propagation unit; and 5) an inference engine unit. The path flow intensity wave, which is the basic information, is modeled as a linear combination of basic waves. Next, the individual path waves are propagated throughout the paths by using a conservation equation that stretches or enlarges the wave lengths and increases or reduces the wave heights, depending on the degree of congestion at different links. Then, the individual path waves are combined together to generate the link and node waves. Finally, the inference engine unit combines all information items to make them compatible in times and locations using the aforementioned iterative method until convergence. The method is illustrated by some examples. The results seem to reproduce the observed trends closely. The required CPU times oscillated between seconds and a few minutes.]]></description>
			<pubDate><![CDATA[March  2012]]></pubDate>
			<guid><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6047575]]></guid>
			<volume>13</volume>
			<issue>1</issue>
			<startPage>264</startPage>
			<endPage>283</endPage>
			<fileSize>2678</fileSize>
			<authors><![CDATA[Castillo, E.;Menendez, J.M.;Nogal, M.;Jimenez, P.;Sanchez-Cambronero, S.;]]></authors>
		</item>
		<item>
			<title><![CDATA[On the Impact of Virtual Traffic Lights on Carbon Emissions Mitigation]]></title>
			<link><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6058657]]></link>
			<description><![CDATA[Considering that the transport sector is responsible for an increasingly important share of current environmental problems, we look at Intelligent Transportation Systems (ITS) as a feasible means of helping in solving this issue. In particular, we evaluate the impact in terms of Carbon Dioxide (CO<sub>2</sub>)emissions of Virtual Traffic Light (VTL), which is a recently proposed infrastructureless traffic control system solely based on Vehicle-to-Vehicle (V2V) communication. Our evaluation uses a real-city scenario in a complex simulation framework, involving microscopic traffic, wireless communication, and emission models. Compared with an approximation of the physical traffic light system deployed in the city, our results show a significant reduction on CO<sub>2</sub> emissions when using VTLs, reaching nearly 20% under high-density traffic.]]></description>
			<pubDate><![CDATA[March  2012]]></pubDate>
			<guid><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6058657]]></guid>
			<volume>13</volume>
			<issue>1</issue>
			<startPage>284</startPage>
			<endPage>295</endPage>
			<fileSize>1179</fileSize>
			<authors><![CDATA[Ferreira, M.;d'Orey, P.M.;]]></authors>
		</item>
		<item>
			<title><![CDATA[Microsimulation Model for Motorway Merges With Ramp-Metering Controls]]></title>
			<link><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6060913]]></link>
			<description><![CDATA[This paper presents a newly developed microsimulation model for motorway merge traffic, focusing on issues that relate to ramp-metering (RM) control and its effectiveness. The model deals with general and more specific drivers' behavioral tasks, such as the drivers' cooperative nature in allowing other drivers to merge in front of them either by decelerating or shifting to adjacent lanes. The main criteria of this model are governed by the application of car-following, lane-changing, and gap-acceptance rules. The model has been calibrated and validated mainly using real traffic data taken from loop detectors for two-, three-, and four-lane motorways. Compared with the S-PARAMICS software, using the same data, the model showed better results. The effectiveness of some of the widely used RM control algorithms, such as Demand-Capacity, ALINEA, and ANCONA, were also assessed after finding the optimum parameters (such as critical occupancy and position of loop detectors).]]></description>
			<pubDate><![CDATA[March  2012]]></pubDate>
			<guid><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6060913]]></guid>
			<volume>13</volume>
			<issue>1</issue>
			<startPage>296</startPage>
			<endPage>306</endPage>
			<fileSize>566</fileSize>
			<authors><![CDATA[Al-Obaedi, J.;Yousif, S.;]]></authors>
		</item>
		<item>
			<title><![CDATA[Robust Train Timetabling Problem: Mathematical Model and Branch and Bound Algorithm]]></title>
			<link><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6061961]]></link>
			<description><![CDATA[This paper illustrates the results of an investigation into developing a new robust train-timetabling problem in a single-track railway line. The proposed model is formulated as a robust form of the mixed integer approach. A branch-and-bound (B&amp;B) algorithm, along with a new heuristic beam search (BS) algorithm, is presented to solve the model for large-scale problems in reasonable time. We also propose two different methods to measure the required buffer times under the assumption of unknown and known distribution functions of disturbances. We have generated some random instances, and the efficiency of the B&amp;B and BS algorithms are demonstrated by comparing the results with common software packages as well as a new lower bound method. The results demonstrate that the B&amp;B algorithm can find optimum solutions in a shorter amount of time compared with common software packages such as Lingo. Moreover, the BS algorithm can effectively find a near-optimum solution in a rational amount of time.]]></description>
			<pubDate><![CDATA[March  2012]]></pubDate>
			<guid><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6061961]]></guid>
			<volume>13</volume>
			<issue>1</issue>
			<startPage>307</startPage>
			<endPage>317</endPage>
			<fileSize>426</fileSize>
			<authors><![CDATA[Shafia, M.A.;Aghaee, M.P.;Sadjadi, S.J.;Jamili, A.;]]></authors>
		</item>
		<item>
			<title><![CDATA[Intelligent Environment-Friendly Vehicles: Concept and Case Studies]]></title>
			<link><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6064893]]></link>
			<description><![CDATA[The concept of an intelligent environment-friendly vehicle (i-EFV) is proposed in this paper. It integrates three components, i.e., clean-energy powertrain, electrified chassis, and intelligent information interaction devices. By employing such technologies as structure sharing, data fusion, and control coordination, more comprehensive performances are achievable, in terms of traffic safety, fuel efficiency, and environmental protection. Based on its definition and configuration, some key technologies, including design for resource effectiveness, driving environment identification, and coordinated control, are studied. As a basic application, a platform of an intelligent hybrid electric vehicle (i-HEV), which incorporates a hybrid powertrain with adaptive cruise control, has been designed and implemented. Both simulation and experimental results demonstrated that the i-EFV performed better than a conventional vehicle.]]></description>
			<pubDate><![CDATA[March  2012]]></pubDate>
			<guid><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6064893]]></guid>
			<volume>13</volume>
			<issue>1</issue>
			<startPage>318</startPage>
			<endPage>328</endPage>
			<fileSize>1010</fileSize>
			<authors><![CDATA[Keqiang Li;Tao Chen;Yugong Luo;Jianqiang Wang;]]></authors>
		</item>
		<item>
			<title><![CDATA[Interacting Multiple Model Filter-Based Sensor Fusion of GPS With In-Vehicle Sensors for Real-Time Vehicle Positioning]]></title>
			<link><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6095631]]></link>
			<description><![CDATA[Vehicle position estimation for intelligent vehicles requires not only highly accurate position information but reliable and continuous information provision as well. A low-cost Global Positioning System (GPS) receiver has widely been used for conventional automotive applications, but it does not guarantee accuracy, reliability, or continuity of position data when GPS errors occur. To mitigate GPS errors, numerous Bayesian filters based on sensor fusion algorithms have been studied. The estimation performance of Bayesian filters primarily relies on the choice of process model. For this reason, the change in vehicle dynamics with driving conditions should be addressed in the process model of the Bayesian filters. This paper presents a positioning algorithm based on an interacting multiple model (IMM) filter that integrates low-cost GPS and in-vehicle sensors to adapt the vehicle model to various driving conditions. The model set of the IMM filter is composed of a kinematic vehicle model and a dynamic vehicle model. The algorithm developed in this paper is verified via intensive simulation and evaluated through experimentation with a real-time embedded system. Experimental results show that the performance of the positioning system is accurate and reliable under a wide range of driving conditions.]]></description>
			<pubDate><![CDATA[March  2012]]></pubDate>
			<guid><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6095631]]></guid>
			<volume>13</volume>
			<issue>1</issue>
			<startPage>329</startPage>
			<endPage>343</endPage>
			<fileSize>1964</fileSize>
			<authors><![CDATA[Kichun Jo;Keounyup Chu;Myoungho Sunwoo;]]></authors>
		</item>
		<item>
			<title><![CDATA[A Novel Approach for Modeling Land Vehicle Kinematics to Improve GPS Performance Under Urban Environment Conditions]]></title>
			<link><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6068254]]></link>
			<description><![CDATA[The satellite blockage problem, which adversely affects Global Positioning System (GPS) accuracy in urban environments, is addressed in this work. To provide a position solution, there must be at least four satellites within line of sight (LOS) of the receiver (vehicle). However, when satellite blockage occurs, this requirement is not met because most of the sky is obscured by tall buildings, and only a narrow sky sector is exposed to the receiver. Given the short duration of satellite blockages, an efficient solution to this problem can be accomplished through reliable modeling of vehicle motion. In this manner, information regarding vehicle motion can be more precisely obtained in the absence of a sufficient number of measurements. In this paper, a model that uses intrinsic quantities as part of the description of the vehicle path, such as curvature, tangent angle, and tangential speed, is proposed to achieve a more accurate modeling of both the trajectory and kinematics of a land vehicle. The model, which was implemented via an extended Kalman filter, was examined against currently known models during satellite blockage scenarios and demonstrated superior performance.]]></description>
			<pubDate><![CDATA[March  2012]]></pubDate>
			<guid><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6068254]]></guid>
			<volume>13</volume>
			<issue>1</issue>
			<startPage>344</startPage>
			<endPage>353</endPage>
			<fileSize>286</fileSize>
			<authors><![CDATA[Tzoreff, E.;Bobrovsky, B.-Z.;]]></authors>
		</item>
		<item>
			<title><![CDATA[Evaluating the Utility of Driving: Toward Automated Decision Making Under Uncertainty]]></title>
			<link><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6069860]]></link>
			<description><![CDATA[The complexity of advanced driver-assistance systems (ADASs) is steadily increasing. While the first applications were based on mere warnings, current systems actively intervene in the driving process. Due to this development, such systems have to automatically choose between different action alternatives. From an algorithmic point of view, this requires automatic decision making on the basis of uncertain data. In this paper, the application of decision networks for this problem is proposed. It is demonstrated how this approach facilitates automatic maneuver decisions in a prototypical lane change assistance system. Furthermore, relevant research questions and unsolved problems related to this topic are identified.]]></description>
			<pubDate><![CDATA[March  2012]]></pubDate>
			<guid><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6069860]]></guid>
			<volume>13</volume>
			<issue>1</issue>
			<startPage>354</startPage>
			<endPage>364</endPage>
			<fileSize>817</fileSize>
			<authors><![CDATA[Schubert, R.;]]></authors>
		</item>
		<item>
			<title><![CDATA[A Novel Lane Detection System With Efficient Ground Truth Generation]]></title>
			<link><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6097058]]></link>
			<description><![CDATA[A new night-time lane detection system and its accompanying framework are presented in this paper. The accompanying framework consists of an automated ground truth process and systematic storage of captured videos that will be used for training and testing. The proposed Advanced Lane Detector 2.0 (ALD 2.0) is an improvement over the ALD 1.0 or Layered Approach with integration of pixel remapping, outlier removal, and prediction with tracking. Additionally, a novel procedure to generate the ground truth data for lane marker locations is also proposed. The procedure consists of an original process called time slicing, which provides the user with unique visualization of the captured video and enables quick generation of ground truth information. Finally, the setup and implementation of a database hosting lane detection videos and standardized data sets for testing are also described. The ALD 2.0 is evaluated by means of the user-created annotations accompanying the videos. Finally, the planned improvements and remaining work are addressed.]]></description>
			<pubDate><![CDATA[March  2012]]></pubDate>
			<guid><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6097058]]></guid>
			<volume>13</volume>
			<issue>1</issue>
			<startPage>365</startPage>
			<endPage>374</endPage>
			<fileSize>1181</fileSize>
			<authors><![CDATA[Borkar, A.;Hayes, M.;Smith, M.T.;]]></authors>
		</item>
		<item>
			<title><![CDATA[Experimental Development of a New Target and Control Driver Steering Model Based on DLC Test Data]]></title>
			<link><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6094217]]></link>
			<description><![CDATA[This paper describes the development of a driver steering model that captures driver key steering mechanisms based on the analyses of vehicle test data on the standard double lane change (DLC) course. These analyses indicate that, instead of planning and following a desired path according to the traditional trajectory-planning concept, drivers simply use the next lane center as the target points for control during lane changes. The data also suggest that drivers engage steering rate control instead of the conventional steering angle control to steer the vehicle. Accordingly, this paper proposes a relatively straightforward driver steering model based on this target and control scheme. Both the open-loop identification and closed-loop simulations verify that this relatively simple driver steering model is capable of capturing individual driver steering behavior and that the simulated steering rate matches well with the actual steering rate for all 80 vehicle test runs conducted by 20 different drivers.]]></description>
			<pubDate><![CDATA[March  2012]]></pubDate>
			<guid><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6094217]]></guid>
			<volume>13</volume>
			<issue>1</issue>
			<startPage>375</startPage>
			<endPage>384</endPage>
			<fileSize>1388</fileSize>
			<authors><![CDATA[Han-Shue Tan;Jihua Huang;]]></authors>
		</item>
		<item>
			<title><![CDATA[Localized Extended Kalman Filter for Scalable Real-Time Traffic State Estimation]]></title>
			<link><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6105572]]></link>
			<description><![CDATA[Current or historic traffic states are essential input to advanced traveler information, dynamic traffic management, and model predictive control systems. As traffic states are usually not perfectly measured and are everywhere, they need to be estimated from local and noisy sensor data. One of the most widely applied estimation methods is the Lighthill-Whitham and Richards (LWR) model with an extended Kalman filter (EKF). A large disadvantage of the EKF is that it is too slow to perform in real time on large networks. To overcome this problem, the novel localized EKF (L-EKF) is proposed in this paper. The logic of the traffic network is used to correct only the state in the vicinity of a detector. The L-EKF does not use all information available to correct the state of the network; the resulting accuracy is equal, however, if the radius of the local filters is sufficiently large. In two experiments, it is shown that the L-EKF is much faster than the traditional Global EKF (G-EKF), that it scales much better with the network size, and that it leads to estimates with nearly the same accuracy as the G-EKF and when the spacing between detectors is varied somewhere between 0.7 and 5.1 km. Compared with the G-EKF, the L-EKF is a highly scalable solution to the state estimation problem.]]></description>
			<pubDate><![CDATA[March  2012]]></pubDate>
			<guid><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6105572]]></guid>
			<volume>13</volume>
			<issue>1</issue>
			<startPage>385</startPage>
			<endPage>394</endPage>
			<fileSize>698</fileSize>
			<authors><![CDATA[van Hinsbergen, C.P.I.J.;Schreiter, T.;Zuurbier, F.S.;van Lint, J.W.C.;van Zuylen, H.J.;]]></authors>
		</item>
		<item>
			<title><![CDATA[Cognitive Cars: A New Frontier for ADAS Research]]></title>
			<link><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=5941006]]></link>
			<description><![CDATA[This paper provides a survey of recent works on cognitive cars with a focus on driver-oriented intelligent vehicle motion control. The main objective here is to clarify the goals and guidelines for future development in the area of advanced driver-assistance systems (ADASs). Two major research directions are investigated and discussed in detail: (1) stimuli-decisions-actions, which focuses on the driver side, and (2) perception enhancement-action-suggestion-function-delegation, which emphasizes the ADAS side. This paper addresses the important achievements and major difficulties of each direction and discusses how to combine the two directions into a single integrated system to obtain safety and comfort while driving. Other related topics, including driver training and infrastructure design, are also studied.]]></description>
			<pubDate><![CDATA[March  2012]]></pubDate>
			<guid><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=5941006]]></guid>
			<volume>13</volume>
			<issue>1</issue>
			<startPage>395</startPage>
			<endPage>407</endPage>
			<fileSize>515</fileSize>
			<authors><![CDATA[Li Li;Ding Wen;Nan-Ning Zheng;Lin-Cheng Shen;]]></authors>
		</item>
		<item>
			<title><![CDATA[Amplitude-Modulated Laser Radar for Range and Speed Measurement in Car Applications]]></title>
			<link><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=5986714]]></link>
			<description><![CDATA[Doppler laser radar can improve the precision of speed measurement by about two orders of magnitude compared with time-of-flight range finders, which obtain target speeds by range differentiation. However, in a car environment, the usage of traditional Doppler laser radar schemes is limited, because they do not satisfy the requirement of simultaneously measuring the target range together with speed with high precision. First, in this paper, we describe a new in-car laser radar system and show a new modulation scheme that enables the in-car laser radar to simultaneously measure the target range and speed with high precision. Then, we perform simulations and experiments to verify the accuracy of the proposed method. In the Appendix, a brief review of current widely used laser radar schemes is given. The limitations of these schemes to their employment in car applications are also discussed.]]></description>
			<pubDate><![CDATA[March  2012]]></pubDate>
			<guid><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=5986714]]></guid>
			<volume>13</volume>
			<issue>1</issue>
			<startPage>408</startPage>
			<endPage>413</endPage>
			<fileSize>926</fileSize>
			<authors><![CDATA[Xuesong Mao;Inoue, D.;Kato, S.;Kagami, M.;]]></authors>
		</item>
		<item>
			<title><![CDATA[A Note on the ITS Topic Evolution in the Period 2000&#x2013;2009 at T-ITS]]></title>
			<link><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6032751]]></link>
			<description><![CDATA[In this paper, we extend the study of the intelligent transportation system (ITS) topic evolution presented by Li et al. To do so, we apply an approach that combines both H-index-based performance analysis and science mapping to detect, visualize, and evaluate conceptual ITS themes and ITS thematic areas published by the journal IEEE Transactions on Intelligent Transport Systems during the decade (2000-2009). The primary consequence of this is the detection of three important thematic areas: COMPUTER-VISION and TRAFFIC-FLOW, which are related to research in ITS applied to vehicles, and AIRCRAFT-TRAFFIC, which is related to research in ITS applied to aircraft/airport.]]></description>
			<pubDate><![CDATA[March  2012]]></pubDate>
			<guid><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6032751]]></guid>
			<volume>13</volume>
			<issue>1</issue>
			<startPage>413</startPage>
			<endPage>420</endPage>
			<fileSize>607</fileSize>
			<authors><![CDATA[Cobo, M.J.;Lopez-Herrera, A.G.;Herrera, F.;Herrera-Viedma, E.;]]></authors>
		</item>
		<item>
			<title><![CDATA[IEEE Intelligent Transportation Systems Society Information]]></title>
			<link><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6157686]]></link>
			<description><![CDATA[Provides a listing of current society officers.]]></description>
			<pubDate><![CDATA[March  2012]]></pubDate>
			<guid><![CDATA[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6157686]]></guid>
			<volume>13</volume>
			<issue>1</issue>
			<startPage>C3</startPage>
			<endPage>C3</endPage>
			<fileSize>34</fileSize>
			<authors><![CDATA[]]></authors>
		</item>
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