Powered Two-Wheeled Vehicles Steering Behavior Study: Vision-Based Approach
| Autor: | Kamal Youcef-Toumi, Pierre-Marie Damon, Hichem Arioui, Hicham Hadj-Abdelkader |
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| Přispěvatelé: | Informatique, Biologie Intégrative et Systèmes Complexes (IBISC), Université d'Évry-Val-d'Essonne (UEVE), Mechatronics Research Laboratory, Massachusetts Institute of Technology (MIT) |
| Rok vydání: | 2018 |
| Předmět: |
0301 basic medicine
050210 logistics & transportation Vision based Steering ratio Computer science 05 social sciences ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION Perception systems Curvature [SPI.AUTO]Engineering Sciences [physics]/Automatic Image (mathematics) Euler angles Image/video analysis 03 medical and health sciences symbols.namesake 030104 developmental biology Inverse perspective mapping Inertial measurement unit Position (vector) Control theory 0502 economics and business symbols Electric vehicles and intelligent transportation |
| Zdroj: | ICARCV 15 th International Conference on Control, Automation, Robotics and Vision (ICARCV 2018) 15 th International Conference on Control, Automation, Robotics and Vision (ICARCV 2018), Nov 2018, Singapore, Singapore. pp.355--360, ⟨10.1109/ICARCV.2018.8581298⟩ Other repository |
| DOI: | 10.1109/icarcv.2018.8581298 |
| Popis: | International audience; This paper presents a vision-based approach to prevent dangerous steering situations when riding a motorcycle in turn. In other words, the proposed algorithm is capable of detecting under, neutral or over-steering behavior using only a conventional camera and an inertial measurement unit. The inverse perspective mapping technique is used to reconstruct a bird-eye-view of the road image. Then, filters are applied to keep only the road markers which are, afterwards, approximated with the well-known clothoid model. That allows to predict the road geometry such that the curvature ahead of the motorcycle. Finally, from the predicted road curvature, the measures of the Euler angles and the vehicle speed, the proposed algorithm is able to characterize the steering behavior. To that end, we propose to estimate the steering ratio and we introduce new pertinent indicators such that the vehicle relative position dynamics to the road. The method is validated on the advanced simulator BikeSim during a steady turn. |
| Databáze: | OpenAIRE |
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