An Experimental Study on Pitch Compensation in Pedestrian-Protection Systems for Collision Avoidance and Mitigation

Llorca, David Fernández; Sotelo, Miguel Ángel; Parra, I.; Naranjo, José Eugenio; Gavilán, Miguel Urrestarazu; Álvarez, S.

doi:10.1109/tits.2009.2018958

Cited by 32 publications

(25 citation statements)

References 14 publications

(13 reference statements)

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“…Pedestrian detection is carried out using the system described in Parra et al (2007) and Llorca et al (2009) (Fig. 4 gives an overview of the pedestrian detection architecture).…”

Section: Pedestrian Detection Systemmentioning

confidence: 99%

“…Non-dense 3D maps are computed using a robust correlation process that reduces the number of matching errors (Poppe, 2007). The camera pitch angle is dynamically estimated using the so-called virtual disparity map (Llorca et al, 2009). Two main advantages result from pitch compensation.…”

Section: Pedestrian Detection Systemmentioning

confidence: 99%

“…First, the accuracy of the time-to-collision estimate in car-to-pedestrian accidents is increased. Second, the separation between road points and obstacle points is improved, resulting in lower false-positive and false-negative detection rates (Llorca et al, 2009).…”

Section: Pedestrian Detection Systemmentioning

confidence: 99%

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Vision-based active safety system for automatic stopping

Milanés

Llorca

Villagrá

et al. 2012

Expert Systems with Applications

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Intelligent systems designed to reduce highway fatalities have been widely applied in the automotive sector in the last decade. Of all users of transport systems, pedestrians are the most vulnerable in crashes as they are unprotected. This paper deals with an autonomous intelligent emergency system designed to avoid collisions with pedestrians. The system consists of a fuzzy controller based on the time-to-collision estimate -obtained via a vision-based system -and the wheel-locking probability -obtained via the vehicle's CAN bus -that generates a safe braking action. The system has been tested in a real car -a convertible Citroen C3 Pluriel -equipped with an automated electro-hydraulic braking system capable of working in parallel with the vehicle's original braking circuit. The system is used as a last resort in the case that an unexpected pedestrian is in the lane and all the warnings have failed to produce a response from the driver.

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“…Pedestrian detection is carried out using the system described in Parra et al (2007) and Llorca et al (2009) (Fig. 4 gives an overview of the pedestrian detection architecture).…”

Section: Pedestrian Detection Systemmentioning

confidence: 99%

Section: Pedestrian Detection Systemmentioning

confidence: 99%

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Vision-based active safety system for automatic stopping

Milanés

Llorca

Villagrá

et al. 2012

Expert Systems with Applications

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“…Pedestrian detection is carried out using a stereo-vision-based approach [6], [7], which provides pedestrians position and relative motion. Decision making is based on the computation of the time to collision (TTC) between the host vehicle and the pedestrian ahead.…”

mentioning

confidence: 99%

“…Decision making is based on the computation of the time to collision (TTC) between the host vehicle and the pedestrian ahead. On the one hand, if the system considers the collision unavoidable, pedestrian protection systems (PPSs), e.g., active breaking, active hood, or pedestrian protection airbags, will be triggered [7]. On the other hand, if the collision is still avoidable, the collision avoidance maneuver is performed using fuzzy steering controllers for path tracking and lane change, which are defined as a function of the vehicle speed.…”

mentioning

confidence: 99%

Autonomous Pedestrian Collision Avoidance Using a Fuzzy Steering Controller

Llorca

Milanés

Alonso

et al. 2011

IEEE Trans. Intell. Transport. Syst.

157

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Abstract-Collision avoidance is one of the most difficult and challenging automatic driving operations in the domain of intelligent vehicles. In emergency situations, human drivers are more likely to brake than to steer, although the optimal maneuver would, more frequently, be steering alone. This statement suggests the use of automatic steering as a promising solution to avoid accidents in the future. The objective of this paper is to provide a collision avoidance system (CAS) for autonomous vehicles, focusing on pedestrian collision avoidance. The detection component involves a stereo-vision-based pedestrian detection system that provides suitable measurements of the time to collision. The collision avoidance maneuver is performed using fuzzy controllers for the actuators that mimic human behavior and reactions, along with a high-precision Global Positioning System (GPS), which provides the information needed for the autonomous navigation. The proposed system is evaluated in two steps. First, drivers' behavior and sensor accuracy are studied in experiments carried out by manual driving. This study will be used to define the parameters of the second step, in which automatic pedestrian collision avoidance is carried out at speeds of up to 30 km/h. The performed field tests provided encouraging results and proved the viability of the proposed approach.

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Vanet‐TSMA: A traffic safety management approach for smart road transportation in vehicular ad hoc networks

Kaul

Altaf

2022

Int J Communication

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Summary Over the past two decades, vehicular collisions have been a significant concern for governments, researchers, and automobile manufacturers. However, collisions are unexpected and occur regularly on roads, resulting in deaths, infrastructure destruction, and health injuries. As a result, it is essential to avoid, prevent, and detect traffic collisions at the highest degree possible for minimizing human loss. In this article, the trend of road traffic accidents in India has been analyzed graphically. Towards the end, a VANET‐based traffic safety management approach (VANET‐TSMA) has been proposed to reduce road accidents in India. This approach uses message distribution, traffic management, and congestion control efficiently for reducing the overall rate of road accidents. This method is based on multiple information and communication technology (ICT)‐based safety mechanisms which include collision avoidance, collision detection, and traffic congestion avoidance for the protection of future connected automobiles on roads.

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An Experimental Study on Pitch Compensation in Pedestrian-Protection Systems for Collision Avoidance and Mitigation

Cited by 32 publications

References 14 publications

Vision-based active safety system for automatic stopping

Vision-based active safety system for automatic stopping

Autonomous Pedestrian Collision Avoidance Using a Fuzzy Steering Controller

Vanet‐TSMA: A traffic safety management approach for smart road transportation in vehicular ad hoc networks

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