Abstract:
This paper focuses on the development of a system to detect if a nearby car poses a collision danger to a bicycle, and to sound a loud horn to alert the car driver if a c...Show MoreMetadata
Abstract:
This paper focuses on the development of a system to detect if a nearby car poses a collision danger to a bicycle, and to sound a loud horn to alert the car driver if a collision danger is detected. A sensing and estimation system suitable for use on a bicycle is therefore developed in order to track the trajectories of vehicles in a traffic intersection. An inexpensive solid-state low-density Lidar mounted at the front of an instrumented bicycle is used. The low angular resolution of the sensor creates many challenges. These challenges are addressed in this research by clustering based approaches for assigning measurement points to individual vehicles, by introducing a correction term with its own dynamic model for position measurement refinement, and by incorporating multi-target tracking using global nearest neighbor data association and interacting multiple model extended Kalman filtering. The tracking performance of the developed system is evaluated by both simulation and experimental results. Scenarios that involve straight driving (in all four directions) and left turning (opposing) vehicles at a traffic intersection are considered. Experimental results show that the developed system can successfully track cars accurately in these scenarios in spite of the low measurement resolution of the sensor.
Published in: IEEE Transactions on Intelligent Vehicles ( Volume: 6, Issue: 1, March 2021)
Funding Agency:
Department of Mechanical Engineering, University of Minnesota, Twin Cities, Minneapolis, MN, USA
Zhenming Xie received his B.Eng. degree in mechanical engineering from the University of Science and Technology of China in 2016. Currently he is a Ph.D. Student at the University of Minnesota, Twin Cities. His research interests are in state estimation and control, including applications in intelligent transportation.
Zhenming Xie received his B.Eng. degree in mechanical engineering from the University of Science and Technology of China in 2016. Currently he is a Ph.D. Student at the University of Minnesota, Twin Cities. His research interests are in state estimation and control, including applications in intelligent transportation.View more
Department of Mechanical Engineering, University of Minnesota, Twin Cities, Minneapolis, MN, USA
Woongsun Jeon received the B.S. and M.S. degrees in mechanical engineering from Yonsei University, Seoul, Korea in 2010 and 2012, respectively, and the Ph.D. degree from the University of Minnesota in 2019. Currently he is a Postdoctoral Fellow at the University of Minnesota, Twin Cities, MN, USA. His research interests are in estimation and control systems, including applications in intelligent transportation.
Woongsun Jeon received the B.S. and M.S. degrees in mechanical engineering from Yonsei University, Seoul, Korea in 2010 and 2012, respectively, and the Ph.D. degree from the University of Minnesota in 2019. Currently he is a Postdoctoral Fellow at the University of Minnesota, Twin Cities, MN, USA. His research interests are in estimation and control systems, including applications in intelligent transportation.View more
Department of Mechanical Engineering, University of Minnesota, Twin Cities, Minneapolis, MN, USA
Rajesh Rajamani received the B.Tech degree from the Indian Institute of Technology at Madras in 1989 and the M.S. and Ph.D. degrees from the University of California at Berkeley in 1991 and 1993 respectively. Dr. Rajamani is currently the Benjamin Y. H. Liu-TSI Endowed Professor of Mechanical Engineering at the University of Minnesota. His active research interests include sensing and estimation for smart mechanical syste...Show More
Rajesh Rajamani received the B.Tech degree from the Indian Institute of Technology at Madras in 1989 and the M.S. and Ph.D. degrees from the University of California at Berkeley in 1991 and 1993 respectively. Dr. Rajamani is currently the Benjamin Y. H. Liu-TSI Endowed Professor of Mechanical Engineering at the University of Minnesota. His active research interests include sensing and estimation for smart mechanical syste...View more
Contents Department of Mechanical Engineering, University of Minnesota, Twin Cities, Minneapolis, MN, USA
Zhenming Xie received his B.Eng. degree in mechanical engineering from the University of Science and Technology of China in 2016. Currently he is a Ph.D. Student at the University of Minnesota, Twin Cities. His research interests are in state estimation and control, including applications in intelligent transportation.
Zhenming Xie received his B.Eng. degree in mechanical engineering from the University of Science and Technology of China in 2016. Currently he is a Ph.D. Student at the University of Minnesota, Twin Cities. His research interests are in state estimation and control, including applications in intelligent transportation.View more
Department of Mechanical Engineering, University of Minnesota, Twin Cities, Minneapolis, MN, USA
Woongsun Jeon received the B.S. and M.S. degrees in mechanical engineering from Yonsei University, Seoul, Korea in 2010 and 2012, respectively, and the Ph.D. degree from the University of Minnesota in 2019. Currently he is a Postdoctoral Fellow at the University of Minnesota, Twin Cities, MN, USA. His research interests are in estimation and control systems, including applications in intelligent transportation.
Woongsun Jeon received the B.S. and M.S. degrees in mechanical engineering from Yonsei University, Seoul, Korea in 2010 and 2012, respectively, and the Ph.D. degree from the University of Minnesota in 2019. Currently he is a Postdoctoral Fellow at the University of Minnesota, Twin Cities, MN, USA. His research interests are in estimation and control systems, including applications in intelligent transportation.View more
Department of Mechanical Engineering, University of Minnesota, Twin Cities, Minneapolis, MN, USA
Rajesh Rajamani received the B.Tech degree from the Indian Institute of Technology at Madras in 1989 and the M.S. and Ph.D. degrees from the University of California at Berkeley in 1991 and 1993 respectively. Dr. Rajamani is currently the Benjamin Y. H. Liu-TSI Endowed Professor of Mechanical Engineering at the University of Minnesota. His active research interests include sensing and estimation for smart mechanical systems. Dr. Rajamani has co-authored over 150 journal papers and is a co-inventor on 16 patent applications. He is the author of the popular book “Vehicle Dynamics and Control” published by Springer Verlag. Dr. Rajamani has served as Chair of the IEEE Technical Committee on Automotive Control and on the editorial boards of the IEEE Transactions on Control Systems Technology, the IEEE/ASME Transactions on Mechatronics, and the IEEE Control Systems Magazine. Dr. Rajamani is a Fellow of ASME and has been a recipient of the CAREER award from the National Science Foundation, the Ralph Teetor Award from SAE, the O. Hugo Schuck Award from the American Automatic Control Council, and a number of best paper awards from conferences and journals. Several inventions from his laboratory have been commercialized through start-up ventures co-founded by industry executives. One of these companies, Innotronics, was recently recognized among the 35 Best University Start-Ups of 2016 in a competition conducted by the US National Council of Entrepreneurial Tech Transfer.
Rajesh Rajamani received the B.Tech degree from the Indian Institute of Technology at Madras in 1989 and the M.S. and Ph.D. degrees from the University of California at Berkeley in 1991 and 1993 respectively. Dr. Rajamani is currently the Benjamin Y. H. Liu-TSI Endowed Professor of Mechanical Engineering at the University of Minnesota. His active research interests include sensing and estimation for smart mechanical systems. Dr. Rajamani has co-authored over 150 journal papers and is a co-inventor on 16 patent applications. He is the author of the popular book “Vehicle Dynamics and Control” published by Springer Verlag. Dr. Rajamani has served as Chair of the IEEE Technical Committee on Automotive Control and on the editorial boards of the IEEE Transactions on Control Systems Technology, the IEEE/ASME Transactions on Mechatronics, and the IEEE Control Systems Magazine. Dr. Rajamani is a Fellow of ASME and has been a recipient of the CAREER award from the National Science Foundation, the Ralph Teetor Award from SAE, the O. Hugo Schuck Award from the American Automatic Control Council, and a number of best paper awards from conferences and journals. Several inventions from his laboratory have been commercialized through start-up ventures co-founded by industry executives. One of these companies, Innotronics, was recently recognized among the 35 Best University Start-Ups of 2016 in a competition conducted by the US National Council of Entrepreneurial Tech Transfer.View more
