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Advanced driver assistance systems, ADAS, have shown the possibility to anticipate crash accidents and effectively assist road users in critical traffic situations. This is not the case for motorcyclists, in fact ADAS for motorcycles are still barely developed. Our aim was to study a camera-based sensor for the application of preventive safety in t...
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Context 1
... the baselines for the two pair of cameras that allow having a common Depth of Field (DoF) enclosing the desired frustum, as shown in Figure 2b. Additionally, to ensure sharp images to be captured in the range of the sensor (e.g., short-or long-range) with the aim of performing the stereo triangulation, a trade-off between the FoV and the focal length was chosen (Table 1). After that, the 3D space measured is confined in a frustum, which is defined by the common FoV and the disparity range determining the Range Field of the stereo sensor ( Figure 1). ...
Context 2
... the baselines for the two pair of cameras that allow having a common Depth of Field (DoF) enclosing the desired frustum, as shown in Figure 2b. Additionally, to ensure sharp images to be captured in the range of the sensor (e.g., short-or long-range) with the aim of performing the stereo triangulation, a trade-off between the FoV and the focal length was chosen ( Table 1). ...
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... Whenever the other vehicle is approaching from the other way and crossing in front, these capabilities seem to be practical. Gustavo et al. [82] examined the unique case of automobile tilting, exhibiting identification effectiveness under specified lean angle ranges. Silla et al. [77] used real-world information to assess the possible effect of ITS, which incorporated a cooperative intersecting approach for better safety, on intelligent transportation systems (ITS). ...
The increasing number of fatalities in nations across the world because of a deficiency of protective technology in automobiles has created a chaotic scene in recent years. However, the car driver’s Perception-Reaction Time (PRT) plays an important variable during such accidents and emergencies. The Anti-Lock Braking System (ABS) seems a viable technology, which today is used to prevent tires from sliding during quick brakes, whereas EBS is designed for braking assistance during tuning or emergency braking. Physical weight, rotational rigidity, diameter, and tire material strength of the vehicle are all used to simulate them. Advance Driver Assistance Systems (ADAS), which include Anti-lock brakes (ABS) and Emergency Braking Systems (EBS), are the foremost viable technique for minimizing the environmental impact and uncertainties of driving road transportation. The presented systematic review aims to deliver a ground-level analysis that can be used to enhance the safety of motor vehicle driving, reduce wheel slip to achieve the best possible stopping distance in commercial and specialized vehicles, and influence future transportation. In this study, the most widely utilized technologies for ADAS have been reviewed and discussed. Various sensors used to improve braking and vehicle performance have been systematically studied in the context of low power-consuming techniques like pulse width modulation. An analysis of emergency braking procedures performed by riders with varying degrees of braking expertise was conducted using previously collected experimental data, and the results were used to conclude potential loss of control situations.
... Collision avoidance technologies for PTWs are systems designed to scan the environment and surroundings of the vehicle, issuing a warning to the rider when a risk of a collision has been computed. A similar system was recently implemented in production bikes (e.g., 2020 Ducati Multistrada) [34][35][36]. Curve warning is a prototype system that monitors the real-time state of the PTW and issues a warning to the rider when it identifies curve hazards [37,38]. Lastly, the prototype curve assistance system checks the vehicle dynamics in real time and makes some adjustments (i.e., engine torque/brake) when a loss of control is detected [17,39]. ...
... These results are aligned with studies that performed detailed crash reconstruction [20]. Typical scenarios where MAEB obtained a rating of 2 or 3 were crashes where the PTW was initially partially adjacent to the car (e.g., sideswipe crashes): at present, instruments to detect obstacles located laterally/frontally are reaching a high technology readiness level (TRL) and approaching a market release [36,42,43]. Such systems, once validated in field operational tests with motorcycles, could shift many of these crashes into category 4 of the MAEB. ...
The role of powered two-wheeler (PTW) transport from the perspective of a more sustainable mobility system is undermined by the associated high injury risk due to crashes. Motorcycle-based active safety systems promise to avoid or mitigate many of these crashes suffered by PTW riders. Despite this, most systems are still only in the prototype phase, and understanding which systems have the greatest chance of reducing crashes is an important step in prioritizing their development. Earlier studies have examined the applicability of these systems to individual crash configurations, e.g., rear-end vs. intersection crashes. However, there may be large regional differences in the distribution of PTW crash configurations, motorcycle types, and road systems, and hence in the priority for the development of systems. The study objective is to compare the applicability of five active safety systems for PTWs in Australia, Italy, and the US using real-world crash data from each region. The analysis found stark differences in the expected applicability of the systems across the three regions. ABS generally resulted in the most applicable system, with estimated applicability in 45–60% of all crashes. In contrast, in 20–30% of the crashes in each country, none of the safety systems analyzed were found to be applicable. This has important implications for manufacturers and researchers, but also for regulators, which may demand country-specific minimum performance requirements for PTW active safety countermeasures.
... As is the case with four-wheeled vehicles, advanced rider assistance systems (ARAS) are required for motorcycles, but only a few studies have covered DATMO using sensors mounted on motorcycles. In [4][5][6][7][8], only forward and/or rear vehicles were detected with radar [4,5], single-beam LiDAR [6], and stereo camera [7,8]; the rear vehicle detection at a blind spot assisted in safe lane changes for motorcycles, and forward vehicle detection helped avoid rear-end collisions. In [9], opposing traffic with vehicles that travel straight or turn left at a traffic intersection was detected and tracked with a motorcycle-mounted 2D LiDAR with a narrow field of view (FOV) to avoid collisions between the motorcycle and left-turning vehicles. ...
... As is the case with four-wheeled vehicles, advanced rider assistance systems (ARAS) are required for motorcycles, but only a few studies have covered DATMO using sensors mounted on motorcycles. In [4][5][6][7][8], only forward and/or rear vehicles were detected with radar [4,5], single-beam LiDAR [6], and stereo camera [7,8]; the rear vehicle detection at a blind spot assisted in safe lane changes for motorcycles, and forward vehicle detection helped avoid rear-end collisions. In [9], opposing traffic with vehicles that travel straight or turn left at a traffic intersection was detected and tracked with a motorcycle-mounted 2D LiDAR with a narrow field of view (FOV) to avoid collisions between the motorcycle and left-turning vehicles. ...
This paper presents a method for moving-object detection and tracking (DATMO) in global navigation satellite systems (GNSS)-denied environments using a light detection and ranging (LiDAR) mounted on a motorcycle. Distortion in the scanning LiDAR data is corrected by estimating the pose (3D positions and attitude angles) of the motorcycle in a period shorter than the LiDAR scan period using normal distributions transform-based simultaneous localization and mapping (NDT-based SLAM) and the information from an inertial measurement unit (IMU) via the extended Kalman filter (EKF). The scan data of interest are extracted by subtracting the local environment map generated by NDT-based SLAM from the LiDAR scan data. Moving objects are detected from the scan data of interest using an occupancy grid method and are tracked with a Bayesian filter. Experimental results obtained from public road and university campus environments demonstrate the effectiveness of the proposed method.
... According to Gil et al., (2018), The quality of the remote sensing approaches that allow the car traffic scene (e.g. Machine Vision, LIDARs, and RADARs) to be artificially perceived is the cornerstone of the current ADAS. ...
Due to road traffic accidents, 6941 Filipinos died in 2010, and thousands more were wounded or disabled. Head and neck injuries are the main cause of death, severe injury, and motorcycle users disabilities. Motorcycle users make up a large proportion of those on the road who were killed. The main purpose of the study is to develop an MCU Based Motorcycle System for Optimum Road Safety with Anti-theft Capability that will help motorcycle riders to be safe while travelling in national roads. The researchers will be using the prototyping methodology where in a prototype is built according to the initial requirements gathered from the motorists themselves. The expected result of the proposed methodology is the system will be utilizing the different function of each modules to ensure that the riders will be able to detect and avoid possible danger while on the road. As a result of different literature in relation to each module, the system is expected to provide a new leap to ensure the safety of all riders here in the Philippines. Future studies will ensure the development of the system, provide testing and improve the functionality of the system depending on the test result. Due to the high increase in the number of cars and motorcycle travelling on national road, the percentage of accidents also is getting higher. In line with that, the proposed system is expected to lessen the percentage of accident by avoiding the possible cause of it.
... This makes extraordinary traction. The rocker-bogie suspension instrument which was at present NASA's affirmed structure for wheeled versatile robots, mostly in light of the fact that it had sturdy or flexible abilities to manage snags [7]- [9]and on the grounds that it consistently disperses the payload over its 6 wheels. It likewise can be utilized for different purposes to work in unpleasant streets and to climb the means. ...
Today in Malaysia, there is almost no available, affordable and portable liberating unmanned ground vehicle used in rescuing mission. Thus, this study focuses on enhancing a smart unmanned ground vehicle known as a robotic rover, to assist the human authorities during the hazardous condition. The present smart robotic rover has three main functions which are proposed to move robotic rover through obstacles surface, detect the leakage of dangerous gases and monitoring for collect information in a hazardous condition. The laboratory tests on this rover were successfully conducted and the results proved the ability of the rover. The rover will secure and safe the rescuer life rather than putting at the hazardous condition. Also, the rover gives a benefit to the endangered location to be secured faster and better. The advantage of this prototype rover is affordable and portable. This rover is simple and easy to handle. Hence, adequate to improve the rescuer skills in handling robotic rover in Malaysia.
... The application of Autonomous Emergency Braking on Motorcycles (MAEB) relies on the solution of a number of open research questions that include the feasibility of an accurate detection of the triggering conditions [5], the feasibility of the automatic decelerations in realistic riding conditions [6], the threshold deceleration and jerk that can be safely applied [7], the quantitative assessment of the potential injury reduction that slowing down the PTW may have prior to crash [8], just to name a few. ...
Research question / Starting point for investigation: The application of Autonomous Emergency Braking on Motorcycles (MAEB) relies on the solution of a number of open research questions. The collision represents a dangerous and safety critical event to be avoided with high priority. However, focusing on the triggering methods, the recommendation from literature is to deploy automated braking only when the collision becomes inevitable, the priority in this initial phase of development being the avoidance of false positive activation. The identification of Inevitable Collision States (ICS) adopting existing car technologies is particularly challenging though, due to the tilting and nimble nature of powered two wheelers. Due to injury and even fatality risks in case of wrong activation when no collision takes place and in case of missing activation when collision takes place, according to transportation and standardization community MAEB has to be considered a "safety of life" application. Safety requirements therefore imply the use of accurate but above all reliable positioning system-a characteristics called "integrity". Satellite navigation systems are an interesting mean to provide accurate, reliable and safe positioning service to transportation systems. Satellite navigation faults need to be accurately monitored and mitigated since they can cause both wrong activation in case of no collision and missed activation in case of collision. A safety analysis identify the risk to be associated to each safety critical events in terms of maximum probability of occurrence. Given these conditions, the MAEB, the satellite navigation receiver and each part of the system need to be designed to satisfy the associated risk. In this paper we analysed the possible application of satellite technologies as resource for the identification of accurate and safe relative position of vehicles in emergency situations to support the MAEB system. Methods: We combined the knowledge on MAEB with recent updates on global positioning and performed a review of state of the art and future methodologies for reliable and safe geo-localization in transportation. The problem of safety was addressed considering that the positioning is obtained with a certain accuracy and a given uncertainty: the user is located within a given region and with a given probability. There is then a risk for the user to be outside the high-likelihood region. This risk needs to be properly quantified, controlled and mitigated in a safety application such that of MAEB. Results: The outcome of the review was a set of technologies and methods suitable for MAEB application, including localisation based on satellite navigation systems augmented with high accuracy and integrity services. Last frontier of GNSS pushing the boundaries of this technology is the use and integration with 5G communications to exploit the mutual positioning, in which each entity assesses its position relative to the others. Impacts / Effects / Consequences: Our results showed that a proper combination of current technologies may be used to build a cooperative transportation system suitable for MAEB applications.
... According to Gil et al., (2018), The quality of the remote sensing approaches that allow the car traffic scene (e.g. Machine Vision, LIDARs, and RADARs) to be artificially perceived is the cornerstone of the current ADAS. ...
Due to road traffic accidents, 6941 Filipinos died in 2010, and thousands more were wounded or disabled. Head and neck injuries are the main cause of death, severe injury, and motorcycle users ' disabilities. Motorcycle users make up a large proportion of those on the road who were killed. The study’s main purpose is to develop an MCU Based Motorcycle System for Optimum Road Safety with Anti-theft Capability that will help motorcycle riders to be safe while travelling in national roads. The researchers will be using the prototyping methodology where in a prototype is built according to the initial requirements gathered from the motorists themselves. The expected result of the proposed methodology is the system will be utilizing the different function of each modules to ensure that the riders will be able to detect and avoid possible danger while on the road. As a result of different literature in relation to each module, the system is expected to provide a new leap to ensure the safety of all riders here in the Philippines. Future studies will ensure the development of the system, provide testing and improve the system’s functionality depending on the test result. Due to the high increase in the number of cars and motorcycle travelling on national road, the percentage of accidents also is getting higher. In line with that, the proposed system is expected to lessen the percentage of accident by avoiding the possible cause of it.
... According to Gil et al., (2018), The quality of the remote sensing approaches that allow the car traffic scene (e.g. Machine Vision, LIDARs, and RADARs) to be artificially perceived is the cornerstone of the current ADAS. ...
Due to road traffic accidents, 6941 Filipinos died in 2010, and thousands more were wounded or disabled. Head and neck injuries are the main cause of death, severe injury, and motorcycle users ' disabilities. Motorcycle users make up a large proportion of those on the road who were killed. The study's main purpose is to develop an MCU Based Motorcycle System for Optimum Road Safety with Anti-theft Capability that will help motorcycle riders to be safe while travelling in national roads. The researchers will be using the prototyping methodology where in a prototype is built according to the initial requirements gathered from the motorists themselves. The expected result of the proposed methodology is the system will be utilizing the different function of each modules to ensure that the riders will be able to detect and avoid possible danger while on the road. As a result of different literature in relation to each module, the system is expected to provide a new leap to ensure the safety of all riders here in the Philippines. Future studies will ensure the development of the system, provide testing and improve the system's functionality depending on the test result. Due to the high increase in the number of cars and motorcycle travelling on national road, the percentage of accidents also is getting higher. In line with that, the proposed system is expected to lessen the percentage of accident by avoiding the possible cause of it.
... Mostly, the robotic rover is large, bulky and takes a lot of space to store. Space missions acquire gigantic presence of robots, where they can be allocated to perform essential activities under no human supervision [16]. Hence, our goal is to utilize a portable, small and light rover that can also perform rescue operations effectively with a vision system, robot arm, and gripper for safety purposes. ...
p> Rover is a robotic system that integrates a simple system implementing electrical and mechanical components together. In this study, we propose a rover using mechanical components which consist of a robotic arm, joint and mechanical gripper, backbone chassis and continues track, while the electrical components include servo motor, servo controller, transmitter and receiver for vision system and wireless controller via USB host as its control system. The purpose of this project is for monitoring and safety purposes. In addition, the main goal of this project is to develop a simple robotic rover that is easy to build and manufacture as well as cost-effective. To add more functionality on this rover, it is equipped with a robotic arm and real-time view camera integration. This rover is equipped with a first-person view (FPV) camera, an integrated camera on the rover that can give clear visibility and direction to the rover pilot. The live feed can be viewed on the monitor inside the command station box. It can be used to assist safety authorities to collect information & insights, work lift to collect and remove the load and to conduct search and rescue operation. As for the result, the mobility system of the robotic rover at terrain surfaces and analyses the capabilities of the chassis during lifting load had been tested. </p
... With the popular application of BSV rig in computer vision [4], many methods have been proposed to calibrate them. Most existing calibration methods are based on manual off-line calibration algorithms for specific reference targets or patterns, such as the traditional calibration methods, planar template methods [5], 3D-object-based calibration methods [6]. ...
... Pi is the 3D scene point in the world frame corresponding to the 2D feature point p r i . 4 4 r l T is the relative transformation matrix denoted by the Lie group of euclidean transformation [43], and its specific form is as follows: In the present study, three Euler angles [44] (represented rx, ry, and rz, respectively) about the Xaxis, Y-axis, and Z-axis are used to represent the rotation transformation matrix [26], as shown in Formula (9). r l z x y , R R R R (9) where R x = ...
The calibration problem of binocular stereo vision rig is critical for its practical application. However, most existing calibration methods are based on manual off-line algorithms for specific reference targets or patterns. In this paper, we propose a novel simultaneous localization and mapping (SLAM)-based self-calibration method designed to achieve real-time, automatic and accurate calibration of the binocular stereo vision (BSV) rig’s extrinsic parameters in a short period without auxiliary equipment and special calibration markers, assuming the intrinsic parameters of the left and right cameras are known in advance. The main contribution of this paper is to use the SLAM algorithm as our main tool for the calibration method. The method mainly consists of two parts: SLAM-based construction of 3D scene point map and extrinsic parameter calibration. In the first part, the SLAM mainly constructs a 3D feature point map of the natural environment, which is used as a calibration area map. To improve the efficiency of calibration, a lightweight, real-time visual SLAM is built. In the second part, extrinsic parameters are calibrated through the 3D scene point map created by the SLAM. Ultimately, field experiments are performed to evaluate the feasibility, repeatability, and efficiency of our self-calibration method. The experimental data shows that the average absolute error of the Euler angles and translation vectors obtained by our method relative to the reference values obtained by Zhang’s calibration method does not exceed 0.5˚ and 2 mm, respectively. The distribution range of the most widely spread parameter in Euler angles is less than 0.2˚ while that in translation vectors does not exceed 2.15 mm. Under the general texture scene and the normal driving speed of the mobile robot, the calibration time can be generally maintained within 10 s. The above results prove that our proposed method is reliable and has practical value.
