The effect of the information delay, which was caused by thc naturc of the distance sensors and wireless communication systems, on the string stability of platoon of automated vehicles was studied. The longitudinal ve...The effect of the information delay, which was caused by thc naturc of the distance sensors and wireless communication systems, on the string stability of platoon of automated vehicles was studied. The longitudinal vehicle dynamics model was built by taking the information delay into consideration, and three typical information frameworks, i.e., leader-predecessor framework （LPF）, multiple-predecessors framework （MPF） and predecessor-successor framework （PSF）, were defined and their related spacing error dynamics models in frequency domain were proposed. The string stability of platoon of automated vehicles was analyzed for the LPF, MPF and PSF, respectively. Meanwhile, the related sufficient string stable conditions were also obtained. The results demonstrate that the string stability can be guaranteed tbr the LPF and PSF with considering the information delay, but the ranges of the control gains of the control laws are smaller than those without considering the information delay. For the MPF, the ＂weak＂ string stability, which can be guaranteed without considering the information delay, cannot be obtained with considering the information delay. The comparative simulations further demonstrate that the LPF shows better string stability, but the PSF shows better string scalable performance.展开更多
Video based surveillance systems have been widely used on freeway for traffic monitoring, as the cameras can provide the most intuitionistic information. In order to manage all the traffic videos automatically, in thi...Video based surveillance systems have been widely used on freeway for traffic monitoring, as the cameras can provide the most intuitionistic information. In order to manage all the traffic videos automatically, in this paper, a distributed real-time auto- surveillance system is presented. The freeway traffic videos are taken as input video from Pan Tilt Zoom （PTZ） camera, and then produces an analysis of the states and activity of the vehicles in the region of interested （ROI）, if there is any abnormal instance, an alarm and corresponding traffic video are sent to awake surveillants by Ethernet. To achieve this functionality, our system relies on three main procedures. The first one initializes the system. It detects the ROI of the scene, and performs the camera calibration to remove the perspective effect of the incoming image. The second one segments moving vehicles from the images, eliminate shadow and tracks them real-time. It uses a set of methods to obtain the background of the image, extracts the moving regions and tracks these moving regions by matching them between frames of the video sequence to obtain high-level information such as color, size, velocity, and trajectories of moving vehicles. In the third procedure, activities of vehicles are analyzed based on a series of preset situations which would happen on freeway. The detail information of each vehicle and the global statistical information are checked to find out any abnormal instance, and then triggered an alarm. We present details of the system, together with experiment results which demonstrate the accuracy and time responses.展开更多
基金Project(20070006011) supported by the Doctoral Foundation of Ministry of Education of China
文摘The effect of the information delay, which was caused by thc naturc of the distance sensors and wireless communication systems, on the string stability of platoon of automated vehicles was studied. The longitudinal vehicle dynamics model was built by taking the information delay into consideration, and three typical information frameworks, i.e., leader-predecessor framework （LPF）, multiple-predecessors framework （MPF） and predecessor-successor framework （PSF）, were defined and their related spacing error dynamics models in frequency domain were proposed. The string stability of platoon of automated vehicles was analyzed for the LPF, MPF and PSF, respectively. Meanwhile, the related sufficient string stable conditions were also obtained. The results demonstrate that the string stability can be guaranteed tbr the LPF and PSF with considering the information delay, but the ranges of the control gains of the control laws are smaller than those without considering the information delay. For the MPF, the ＂weak＂ string stability, which can be guaranteed without considering the information delay, cannot be obtained with considering the information delay. The comparative simulations further demonstrate that the LPF shows better string stability, but the PSF shows better string scalable performance.
文摘Video based surveillance systems have been widely used on freeway for traffic monitoring, as the cameras can provide the most intuitionistic information. In order to manage all the traffic videos automatically, in this paper, a distributed real-time auto- surveillance system is presented. The freeway traffic videos are taken as input video from Pan Tilt Zoom （PTZ） camera, and then produces an analysis of the states and activity of the vehicles in the region of interested （ROI）, if there is any abnormal instance, an alarm and corresponding traffic video are sent to awake surveillants by Ethernet. To achieve this functionality, our system relies on three main procedures. The first one initializes the system. It detects the ROI of the scene, and performs the camera calibration to remove the perspective effect of the incoming image. The second one segments moving vehicles from the images, eliminate shadow and tracks them real-time. It uses a set of methods to obtain the background of the image, extracts the moving regions and tracks these moving regions by matching them between frames of the video sequence to obtain high-level information such as color, size, velocity, and trajectories of moving vehicles. In the third procedure, activities of vehicles are analyzed based on a series of preset situations which would happen on freeway. The detail information of each vehicle and the global statistical information are checked to find out any abnormal instance, and then triggered an alarm. We present details of the system, together with experiment results which demonstrate the accuracy and time responses.
