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  • 1. Antoniou, Constantinos
    et al.
    Ben-Akiva, Moshe
    Koutsopoulos, Haris N.
    KTH, Skolan för arkitektur och samhällsbyggnad (ABE), Transporter och samhällsekonomi (stängd 20110301).
    Non–linear Kalman Filtering Algorithms for On–line Calibration of Dynamic Traffic Assignment Models2007Ingår i: IEEE transactions on intelligent transportation systems (Print), ISSN 1524-9050, E-ISSN 1558-0016, Vol. 8, nr 4, s. 661-670Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    An online calibration approach that jointly estimates demand and supply parameters of dynamic traffic assignment (DTA) systems is presented and empirically validated through an extensive application. The problem can be formulated as a nonlinear state-space model. Because of its nonlinear nature, the resulting model cannot be solved by the Kalman filter, and therefore, nonlinear extensions need to be considered. The following three extensions to the Kalman filtering algorithm are presented: 1) the extended Kalman filter (EKF); 2) the limiting EKF (LimEKF); and 3) the unscented Kalman filter. The solution algorithms are applied to the on-line calibration of the state-of-the-art DynaMIT DTA model, and their use is demonstrated in a freeway network in Southampton, U.K. The LimEKF shows accuracy that is comparable to that of the best algorithm but with vastly superior computational performance. The robustness of the approach to varying weather conditions is demonstrated, and practical aspects are discussed.

  • 2. Borkar, Amol
    et al.
    Hayes, Monson
    Smith, Mark T.
    KTH, Skolan för informations- och kommunikationsteknik (ICT), Kommunikationssystem, CoS.
    A Novel Lane Detection System With Efficient Ground Truth Generation2012Ingår i: IEEE transactions on intelligent transportation systems (Print), ISSN 1524-9050, E-ISSN 1558-0016, Vol. 13, nr 1, s. 365-374Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    A new night-time lane detection system and its accompanying framework are presented in this paper. The accompanying framework consists of an automated ground truth process and systematic storage of captured videos that will be used for training and testing. The proposed Advanced Lane Detector 2.0 (ALD 2.0) is an improvement over the ALD 1.0 or Layered Approach with integration of pixel remapping, outlier removal, and prediction with tracking. Additionally, a novel procedure to generate the ground truth data for lane marker locations is also proposed. The procedure consists of an original process called time slicing, which provides the user with unique visualization of the captured video and enables quick generation of ground truth information. Finally, the setup and implementation of a database hosting lane detection videos and standardized data sets for testing are also described. The ALD 2.0 is evaluated by means of the user-created annotations accompanying the videos. Finally, the planned improvements and remaining work are addressed.

  • 3.
    Deng, Qichen
    KTH, Skolan för arkitektur och samhällsbyggnad (ABE), Transportvetenskap, Transportplanering, ekonomi och teknik.
    A General Simulation Framework for Modeling and Analysis of Heavy-Duty Vehicle Platooning2016Ingår i: IEEE transactions on intelligent transportation systems (Print), ISSN 1524-9050, E-ISSN 1558-0016, Vol. 17, nr 11, s. 3252-3262Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    Platooning heavy-duty vehicles (HDVs) on a highway is a method for improving energy and transport efficiency. On one hand, HDV platoon driving in small intervehicle distances could increase highway capacity; on the other hand, HDVs traveling in small intervehicle distances experience significant air-drag reduction and, therefore, improve fuel efficiency. However, although the majority of research has been conducted on the development of platoon systems, very few studies have focused on quantification of the impacts of HDV platooning on traffic flow. This paper initializes a simulation framework to facilitate the study of HDV platooning and establishes the corresponding concept and operations. The longitudinal driving behaviors of HDV platoons are modeled in detail, considering the acceleration capability of an HDV. The proposed framework is applied on three experimental cases: the first case is to study the impacts of HDV platooning on traffic flow and the second and third cases are about the influence of traffic on HDV platoon formation. In the first case, simulation outcomes show that the increasing percentage of HDV platooning in traffic flow generally results in more dramatic improvements on traffic efficiency, while preserving traffic safety for passenger vehicles. In the second and third cases, for the HDV platoon formation, deceleration of the first HDV to a low speed during platoon formation will increase the formation time to a large extent in medium and heavy traffic.

  • 4.
    Farokhi, Farhad
    et al.
    KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
    Johansson, Karl Henrik
    KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
    A Study of Truck Platooning Incentives Using a Congestion Game2015Ingår i: IEEE transactions on intelligent transportation systems (Print), ISSN 1524-9050, E-ISSN 1558-0016, Vol. 16, nr 2, s. 581-595, artikel-id 6847185Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    We introduce an atomic congestion game with two types of agents, namely, cars and trucks, to model the traffic flow on a road over various time intervals of the day. Cars maximize their utility by finding a tradeoff between the time they choose to use the road, the average velocity of the flow at that time, and the dynamic congestion tax that they pay for using the road. In addition to these terms, the trucks have an incentive for using the road at the same time as their peers because they have platooning capabilities, which allow them to save fuel. The dynamics and equilibria of this game-theoretic model for the interaction between car traffic and truck platooning incentives are investigated. We use traffic data from Stockholm, Sweden, to validate parts of the modeling assumptions and extract reasonable parameters for the simulations. We use joint strategy fictitious play and average strategy fictitious play to learn a pure strategy Nash equilibrium of this game. We perform a comprehensive simulation study to understand the influence of various factors, such as the drivers' value of time and the percentage of the trucks that are equipped with platooning devices, on the properties of the Nash equilibrium.

  • 5.
    Genikomsakis, Konstantinos N.
    et al.
    Univ Mons, European Res Area Chair, Net Zero Energy Efficiency City Dist Unit, Inst Energy, Rue Epargne, B-7000 Mons, Belgium..
    Gutierrez, Ignacio Angulo
    KTH. Cortus Energy AB, S-16440 Stockholm, Sweden..
    Thomas, Dimitrios
    Univ Mons, European Res Area Chair, Net Zero Energy Efficiency City Dist Unit, Inst Energy, Rue Epargne, B-7000 Mons, Belgium..
    Ioakimidis, Christos S.
    Univ Mons, European Res Area Chair, Net Zero Energy Efficiency City Dist Unit, Inst Energy, Rue Epargne, B-7000 Mons, Belgium..
    Simulation and Design of Fast Charging Infrastructure for a University-Based e-Carsharing System2018Ingår i: IEEE transactions on intelligent transportation systems (Print), ISSN 1524-9050, E-ISSN 1558-0016, Vol. 19, nr 9, s. 2923-2932Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    Carsharing is a mode of transportation that provides access to a set of vehicles in the form of organized short-term car rental, serving as a substitute for private car ownership with a number of transportation, environmental, and social benefits. Combining the mobility concept of carsharing with electric vehicles (EVs), referred to as e-carsharing, can contribute not only to more efficient use of the shared vehicles, but also to more sustainable urban mobility in smart cities. In this context, this paper advances the concept of university-based e-carsharing, to serve the mobility needs of an academic community in Bilbao, Spain, focusing on the technical design aspects to cover the energy requirements of the EV fleet of the proposed system through the installation of fast charging posts based on a battery-to-battery approach. In this regard, a MATLAB/Simulink model is implemented to simulate the fast charging infrastructure using the real-world data collected from the university parking lot in order to represent the potential utilization of the EVs. The simulation results confirm the effectiveness of the proposed system design, ensuring that the energy demand of the EVs is successfully covered and concurrently the charging station batteries operate out of the low charge zone.

  • 6.
    Gisdakis, Stylianos
    et al.
    KTH, Skolan för elektro- och systemteknik (EES), Kommunikationsnät.
    Manolopoulos, Vasileios
    KTH.
    Tao, Sha
    KTH, Skolan för informations- och kommunikationsteknik (ICT), Integrerade komponenter och kretsar.
    Rusu, Ana
    KTH, Skolan för informations- och kommunikationsteknik (ICT), Integrerade komponenter och kretsar.
    Papadimitratos, Panagiotis
    KTH, Skolan för elektro- och systemteknik (EES), Kommunikationsnät.
    Secure and Privacy-Preserving Smartphone based Traffic Information Systems2015Ingår i: IEEE transactions on intelligent transportation systems (Print), ISSN 1524-9050, E-ISSN 1558-0016, Vol. 16, nr 3Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    Increasing smartphone penetration, combined with the wide coverage of cellular infrastructures, renders smartphone-based traffic information systems (TISs) an attractive option. The main purpose of such systems is to alleviate traffic congestion that exists in every major city. Nevertheless, to reap the benefits of smartphone-based TISs, we need to ensure their security and privacy and their effectiveness (e.g., accuracy). This is the motivation of this paper: We leverage state-of-the-art cryptographic schemes and readily available telecommunication infrastructure. We present a comprehensive solution for smartphone-based traffic estimation that is proven to be secure and privacy preserving. We provide a full-blown implementation on actual smartphones, along with an extensive assessment of its accuracy and efficiency. Our results confirm that smartphone-based TISs can offer accurate traffic state estimation while being secure and privacy preserving.

  • 7.
    Held, Manne
    et al.
    KTH, Skolan för elektroteknik och datavetenskap (EECS), Reglerteknik.
    Flardh, Oscar
    Scania AB, S-15187 Sodertalje, Sweden..
    Mårtensson, Jonas
    KTH, Skolan för elektroteknik och datavetenskap (EECS), Reglerteknik.
    Optimal Speed Control of a Heavy-Duty Vehicle in Urban Driving2019Ingår i: IEEE transactions on intelligent transportation systems (Print), ISSN 1524-9050, E-ISSN 1558-0016, Vol. 20, nr 4, s. 1562-1573Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    Fuel efficient driving patterns are well investigated for highway driving, but less so for applications with varying speed requirements, such as urban driving. In this paper, the driving mission of a heavy-duty vehicle in urban driving is formulated as an optimal control problem. The velocity of the vehicle is restricted to be within upper and lower constraints referred to as the driving corridor. The driving corridor is constructed from a test cycle with large variations in the speed profile, together with statistics from vehicles in real operation. The optimal control problem is first solved off-line using Pontryagin's maximum principle. A sensitivity analysis is performed in order to investigate how variations in the driving corridor influence the energy consumption of the optimal solution. The same problem is also solved using a model predictive controller with a receding horizon approach. Simulations are performed in order to investigate how the length of the control horizon influences the potential energy savings. Simulations on a test cycle with varying speed profile show that 7% energy can be saved without increasing the trip time or deviating from a normal driving pattern. A horizon length of 1000 m is sufficient to realize these savings by the model predictive controller. The vehicle model used in these simulations is extended to include regenerative braking in order to investigate its influence on the optimal control policy and the results.

  • 8.
    Händel, Peter
    et al.
    KTH, Skolan för elektro- och systemteknik (EES), Signalbehandling. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
    Skog, Isaac
    KTH, Skolan för elektro- och systemteknik (EES), Signalbehandling. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
    Wahlström, Johan
    KTH, Skolan för elektro- och systemteknik (EES), Signalbehandling. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
    Bonawiede, Farid
    KTH, Skolan för elektro- och systemteknik (EES), Signalbehandling. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
    Welch, R.
    Ohlsson, J.
    Ohlsson, Martin
    KTH, Skolan för elektro- och systemteknik (EES), Signalbehandling. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
    Insurance telematics: Opportunities and challenges with the smartphone solution2014Ingår i: IEEE transactions on intelligent transportation systems (Print), ISSN 1524-9050, E-ISSN 1558-0016, Vol. 6, nr 4, s. 57-70, artikel-id 6936433Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    Smartphone-based insurance telematics or usage based insurance is a disruptive technology which relies on insurance premiums that reflect the risk profile of the driver; measured via smartphones with appropriate installed software. A survey of smartphone-based insurance telematics is presented, including definitions; Figure-of-Merits (FoMs), describing the behavior of the driver and the characteristics of the trip; and risk profiling of the driver based on different sets of FoMs. The data quality provided by the smartphone is characterized in terms of Accuracy, Integrity, Availability, and Continuity of Service. The quality of the smartphone data is further compared with the quality of data from traditional in-car mounted devices for insurance telematics, revealing the obstacles that have to be combated for a successful smartphone-based installation, which are the poor integrity and low availability. Simply speaking, the reliability is lacking considering the smartphone measurements. Integrity enhancement of smartphone data is illustrated by both second-by-second lowlevel signal processing to combat outliers and perform integrity monitoring, and by trip-based map-matching for robustification of the recorded trip data. A plurality of FoMs are described, analyzed and categorized, including events and properties like harsh braking, speeding, and location. The categorization of the FoMs in terms of Observability, Stationarity, Driver influence, and Actuarial relevance are tools for robust risk profiling of the driver and the trip. Proper driver feedback is briefly discussed, and rule-of-thumbs for feedback design are included. The work is supported by experimental validation, statistical analysis, and experiences from a recent insurance telematics pilot run in Sweden.

  • 9. Illenberger, Johannes
    et al.
    Flötteröd, Gunnar
    Ecole Polytech Fed Lausanne, Transport & Mobil Lab, CH-1015 Lausanne, Switzerland .
    Nagel, Kai
    A model of risk-sensitive route-choice behavior and the potential benefit of route guidance2011Ingår i: IEEE transactions on intelligent transportation systems (Print), ISSN 1524-9050, E-ISSN 1558-0016, Vol. 12, nr 2, s. 384-389Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    In this paper, we present a simulation-based investigation of the potential benefit of route-guidance information in the context of risk-sensitive travelers. We set up a simple two-route scenario where travelers are repeatedly faced with risky route-choice decisions. The risk averseness of the travelers is implicitly controlled through a generic utility function. We vary both the travelers' sensitivity toward risk and the equipment fraction with route-guidance devices and show that the benefits of guided travelers increase with their sensitivity toward risk.

  • 10.
    Jenelius, Erik
    KTH, Skolan för arkitektur och samhällsbyggnad (ABE), Byggvetenskap, Transportplanering.
    Data-driven metro train crowding prediction based on real-time load data2019Ingår i: IEEE transactions on intelligent transportation systems (Print), ISSN 1524-9050, E-ISSN 1558-0016Artikel i tidskrift (Refereegranskat)
  • 11.
    Jenelius, Erik
    et al.
    KTH, Skolan för arkitektur och samhällsbyggnad (ABE), Transportvetenskap.
    Koutsopoulos, Haris
    KTH, Skolan för arkitektur och samhällsbyggnad (ABE), Transportvetenskap. Department of Civil and Environmental Engineering, Northeastern University, Boston, MA 02115 USA.
    Urban network travel time prediction based on a probabilistic principal component analysis model of probe data2018Ingår i: IEEE transactions on intelligent transportation systems (Print), ISSN 1524-9050, E-ISSN 1558-0016, Vol. 19, nr 2, s. 436-445Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    This paper proposes a network travel time prediction methodology based on probe data. The model is intended as a tool for traffic management, trip planning, and online vehicle routing, and is designed to be efficient and scalable in calibration and real-time prediction; flexible to changes in network, data, and model extensions; and robust against noisy and missing data. A multivariate probabilistic principal component analysis (PPCA) model is proposed. Spatio-temporal correlations are inferred from historical data based on MLE and an efficient EM algorithm for handling missing data. Prediction is performed in real time by computing the expected distribution of link travel times in future time intervals, conditional on recent current-day observations. A generalization of the methodology partitions the network and applies a distinct PPCA model to each subnetwork. The methodology is applied to the network of downtown Shenzhen, China, using taxi probe data. The model captures variability over months and weekdays as well as other factors. Prediction with PPCA outperforms k-nearest neighbors prediction for horizons from 15 to 45 min, and a hybrid method of PPCA and local smoothing provides the highest accuracy.

  • 12.
    Khodaei, Mohammad
    et al.
    KTH, Skolan för elektroteknik och datavetenskap (EECS), Kommunikationssystem, CoS, Network Systems Laboratory (NS Lab).
    Jin, Hongyu
    KTH, Skolan för elektroteknik och datavetenskap (EECS), Kommunikationssystem, CoS, Network Systems Laboratory (NS Lab).
    Papadimitratos, Panagiotis
    KTH, Skolan för elektroteknik och datavetenskap (EECS), Kommunikationssystem, CoS, Network Systems Laboratory (NS Lab).
    SECMACE: Scalable and Robust Identity and Credential Management Infrastructure in Vehicular Communication Systems2018Ingår i: IEEE transactions on intelligent transportation systems (Print), ISSN 1524-9050, E-ISSN 1558-0016, Vol. 19, nr 5, s. 1430-1444Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    Several years of academic and industrial research efforts have converged to a common understanding on fundamental security building blocks for the upcoming vehicular communication (VC) systems. There is a growing consensus toward deploying a special-purpose identity and credential management infrastructure, i.e., a vehicular public-key infrastructure (VPKI), enabling pseudonymous authentication, with standardization efforts toward that direction. In spite of the progress made by standardization bodies (IEEE 1609.2 and ETSI) and harmonization efforts [Car2Car Communication Consortium (C2C-CC)], significant questions remain unanswered toward deploying a VPKI. Deep understanding of the VPKI, a central building block of secure and privacy-preserving VC systems, is still lacking. This paper contributes to the closing of this gap. We present SECMACE, a VPKI system, which is compatible with the IEEE 1609.2 and ETSI standards specifications. We provide a detailed description of our state-of-the-art VPKI that improves upon existing proposals in terms of security and privacy protection, and efficiency. SECMACE facilitates multi-domain operations in the VC systems and enhances user privacy, notably preventing linking pseudonyms based on timing information and offering increased protection even against honest-but-curious VPKI entities. We propose multiple policies for the vehicle-VPKI interactions and two large-scale mobility trace data sets, based on which we evaluate the full-blown implementation of SECMACE. With very little attention on the VPKI performance thus far, our results reveal that modest computing resources can support a large area of vehicles with very few delays and the most promising policy in terms of privacy protection can be supported with moderate overhead.

  • 13.
    Kokogias, Stefanos
    et al.
    KTH, Skolan för industriell teknik och management (ITM), Centra, Integrated Transport Research Lab, ITRL.
    Svensson, Lars
    KTH, Skolan för industriell teknik och management (ITM), Maskinkonstruktion (Inst.).
    Pereira, Goncalo Collares
    KTH, Skolan för elektroteknik och datavetenskap (EECS), Reglerteknik.
    Oliveira, Rui
    KTH, Skolan för elektroteknik och datavetenskap (EECS), Reglerteknik.
    Zhang, Xinhai
    KTH, Skolan för industriell teknik och management (ITM), Maskinkonstruktion (Inst.).
    Song, Xinwu
    KTH, Skolan för industriell teknik och management (ITM), Maskinkonstruktion (Inst.).
    Mårtensson, Jonas
    KTH, Skolan för elektroteknik och datavetenskap (EECS), Reglerteknik.
    Development of Platform-Independent System for Cooperative Automated Driving Evaluated in GCDC 20162018Ingår i: IEEE transactions on intelligent transportation systems (Print), ISSN 1524-9050, E-ISSN 1558-0016, Vol. 19, nr 4, s. 1277-1289Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    Cooperative automated driving is a promising development in reducing energy consumption and emissions, increasing road safety, and improving traffic flow. The Grand Cooperative Driving Challenge (GCDC) 2016 was an implementation oriented project with the aim to accelerate research and development in the field. This paper describes the development of the two vehicle systems with which KTH participated in GCDC 2016. It presents a reference system architecture for collaborative automated driving as well as its instantiation on two conceptually different vehicles: a Scania truck and the research concept vehicle, built at KTH. We describe the common system architecture, as well as the implementation of a selection of shared and individual system functionalities, such as V2X communication, localization, state estimation, and longitudinal and lateral control. We also present a novel approach to trajectory tracking control for a four-wheel steering vehicle using model predictive control and a novel method for achieving fair data age distribution in vehicular communications.

  • 14. Larson, Jeffrey
    et al.
    Liang, Kuo-Yun
    KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre. Scania CV AB, Sweden .
    Johanson, Karl H.
    KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
    A Distributed Framework for Coordinated Heavy-Duty Vehicle Platooning2015Ingår i: IEEE transactions on intelligent transportation systems (Print), ISSN 1524-9050, E-ISSN 1558-0016, Vol. 16, nr 1, s. 419-429Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    Heavy-duty vehicles (HDVs) traveling in single file with small intervehicle distances experience reduced aerodynamic drag and, therefore, have improved fuel economy. In this paper, we attempt to maximize the amount of fuel saved by coordinating platoon formation using a distributed network of controllers. These virtual controllers, placed at major intersections in a road network, help coordinate the velocity of approaching vehicles so they arrive at the junction simultaneously and can therefore platoon. This control is initiated only if the cost of forming the platoon is smaller than the savings incurred from platooning. In a largescale simulation of the German Autobahn network, we observe that savings surpassing 5% when only a few thousand vehicles participate in the system. These results are corroborated by an analysis of real-world HDV data that show significant platooning opportunities currently exist, suggesting that a slightly invasive network of distributed controllers, such as the one proposed in this paper, can yield considerable savings.

  • 15.
    Liang, Kuo-Yun
    et al.
    KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
    Mårtensson, Jonas
    KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
    Johansson, Karl H.
    KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
    Heavy-Duty Vehicle Platoon Formation for Fuel Efficiency2016Ingår i: IEEE transactions on intelligent transportation systems (Print), ISSN 1524-9050, E-ISSN 1558-0016, Vol. 17, nr 4, s. 1051-1061Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    Heavy-duty vehicles driving close behind each other, also known as platooning, experience a reduced aerodynamic drag, which reduces the overall fuel consumption up to 20% for the trailing vehicle. However, due to each vehicle being assigned with different transport missions (with different origins, destinations, and delivery times), platoons should be formed, split, and merged along the highways, and vehicles have to drive solo sometimes. In this paper, we study how two or more scattered vehicles can cooperate to form platoons in a fuel-efficient manner. We show that when forming platoons on the fly on the same route and not considering rerouting, the road topography has a negligible effect on the coordination decision. With this, we then formulate an optimization problem when coordinating two vehicles to form a platoon. We propose a coordination algorithm to form platoons of several vehicles that coordinates neighboring vehicles pairwise. Through a simulation study with detailed vehicle models and real road topography, it is shown that our approach yields significant fuel savings.

  • 16.
    Ma, Xiaoliang
    et al.
    KTH, Skolan för arkitektur och samhällsbyggnad (ABE), Centra, Centrum för trafikforskning, CTR.
    Andreasson, Ingmar
    KTH, Skolan för arkitektur och samhällsbyggnad (ABE), Centra, Centrum för trafikforskning, CTR.
    Behavior measurement, analysis and regime classification in car following2007Ingår i: IEEE transactions on intelligent transportation systems (Print), ISSN 1524-9050, E-ISSN 1558-0016, Vol. 8, nr 1, s. 144-156Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    This paper first reports a data acquisition method that the authors used in a project on modeling driver behavior for microscopic traffic simulations. An advanced instrumented vehicle was employed to collect driver-behavior data, mainly car-following and lane-changing patterns, on Swedish roads. To eliminate the measurement noise in acquired car-following patterns, the Kalman smoothing algorithm was applied to the state-space model of the physical states (acceleration, speed, and position) of both instrumented and tracked vehicles. The denoised driving patterns were used in the analysis of driver properties in the car-following stage. For further modeling of car-following behavior, we developed and implemented a consolidated fuzzy clustering algorithm to classify different car-following regimes from the preprocessed data. The algorithm considers time continuity of collected driver-behavior patterns and can be more reliably applied in the classification of continuous car-following regimes when the classical fuzzy C-means algorithm gives unclear results.

  • 17.
    Mårtensson, Jonas
    et al.
    KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
    Alam, Assad
    KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
    Behere, Sagar
    KTH, Skolan för industriell teknik och management (ITM), Maskinkonstruktion (Inst.), Mekatronik.
    Khan, Altamash
    KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
    Kjellberg, Joakim
    Liang, Kuo-Yun
    KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
    Pettersson, Henrik
    Sundman, Dennis
    KTH, Skolan för elektro- och systemteknik (EES), Kommunikationsteori. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
    The development of a cooperative heavy-duty vehicle for the GCDC 2011: Team Scoop2012Ingår i: IEEE transactions on intelligent transportation systems (Print), ISSN 1524-9050, E-ISSN 1558-0016, Vol. 13, nr 3, s. 1033-1049Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    The first edition of the Grand Cooperative Driving Challenge (GCDC) was held in the Netherlands in May 2011. Nine international teams competed in urban and highway platooning scenarios with prototype vehicles using cooperative adaptive cruise control. Team Scoop, a collaboration between KTH Royal Institute of Technology, Stockholm, Sweden, and Scania CV AB, Sodertalje, Sweden, participated at the GCDC with a Scania R-series tractor unit. This paper describes the development and design of Team Scoop's prototype system for the GCDC. In particular, we present considerations with regard to the system architecture, state estimation and sensor fusion, and the design and implementation of control algorithms, as well as implementation issues with regard to the wireless communication. The purpose of the paper is to give a broad overview of the different components that are needed to develop a cooperative driving system: from architectural design, workflow, and functional requirement descriptions to the specific implementation of algorithms for state estimation and control. The approach is more pragmatic than scientific; it collects a number of existing technologies and gives an implementation-oriented view of a cooperative vehicle. The main conclusion is that it is possible, with a modest effort, to design and implement a system that can function well in cooperation with other vehicles in realistic traffic scenarios.

  • 18.
    Skog, Isaac
    et al.
    KTH, Skolan för elektro- och systemteknik (EES), Signalbehandling. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
    Händel, Peter
    KTH, Skolan för elektro- och systemteknik (EES), Signalbehandling. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
    In-Car Positioning and Navigation Technologies: a survey2009Ingår i: IEEE transactions on intelligent transportation systems (Print), ISSN 1524-9050, E-ISSN 1558-0016, Vol. 10, nr 1, s. 4-21Artikel, forskningsöversikt (Refereegranskat)
    Abstract [en]

    In-car positioning and navigation has been a killer application for Global Positioning System (GPS) receivers, and a variety of electronics for consumers and professionals have been launched on a large scale. Positioning technologies based on stand-alone GPS receivers are vulnerable and, thus, have to be supported by additional information sources to obtain the desired accuracy, integrity, availability, and continuity of service. A survey of the information sources and information fusion technologies used in current in-car navigation systems is presented. The pros and cons of the four commonly used information sources, namely, 1) receivers for radio-based positioning using satellites, 2) vehicle motion sensors, 3) vehicle models, and 4) digital map information, are described. Common filters to combine the information from the various sources are discussed. The expansion of the number of satellites and the number of satellite systems, with their usage of available radio spectrum, is an enabler for further development, in combination with the rapid development of microelectromechanical inertial sensors and refined digital maps.

  • 19.
    Skog, Isaac
    et al.
    KTH, Skolan för elektro- och systemteknik (EES), Signalbehandling. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
    Händel, Peter
    KTH, Skolan för elektro- och systemteknik (EES), Signalbehandling. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
    Time Synchronization Errors in Loosely Coupled GPS-Aided Inertial Navigation Systems2011Ingår i: IEEE transactions on intelligent transportation systems (Print), ISSN 1524-9050, E-ISSN 1558-0016, Vol. 12, nr 4, s. 1014-1023Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    The effects of data time synchronization errors in a loosely coupled Global-Positioning-System (GPS)-aided inertial navigation system (INS) are studied and quantified in terms of the increased mean square error (MSE) of the navigation solution. An expression for evaluating the MSE of the navigation solution, given the vehicle trajectory and the model of the INS error dynamics, is derived. Thereafter, a software-based time synchronization method, where the time synchronization error is included as a state to be estimated by the data integration filter, is proposed. A practical approach to the implementation of the proposed time synchronization method is also briefly described. Moreover, an expression for the MSE of the navigation solution in the system that employs the proposed synchronization method is derived. Finally, through simulations and tests with real-world data, the correctness of the derived MSE expressions is validated, and the application of the proposed synchronization method is shown. The test results show that, with the proposed synchronization approach, a data time synchronization, which is accurate to the order of a few milliseconds, can be achieved.

  • 20.
    van de Hoef, Sebastian
    et al.
    KTH, Skolan för elektroteknik och datavetenskap (EECS), Reglerteknik. KTH, Skolan för elektroteknik och datavetenskap (EECS), Centra, ACCESS Linnaeus Centre.
    Johansson, Karl Henrik
    KTH, Skolan för elektroteknik och datavetenskap (EECS), Reglerteknik. KTH, Skolan för elektroteknik och datavetenskap (EECS), Centra, ACCESS Linnaeus Centre.
    Dimarogonas, Dimos V.
    KTH, Skolan för elektroteknik och datavetenskap (EECS), Reglerteknik. KTH, Skolan för elektroteknik och datavetenskap (EECS), Centra, ACCESS Linnaeus Centre.
    Fuel-Efficient En Route Formation of Truck Platoons2018Ingår i: IEEE transactions on intelligent transportation systems (Print), ISSN 1524-9050, E-ISSN 1558-0016, Vol. 19, nr 1, s. 102-112Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    The problem of how to coordinate a large fleet of trucks with a given itinerary to enable fuel-efficient platooning is considered. Platooning is a promising technology that enables trucks to save significant amounts of fuel by driving close together and thus reducing air drag. A setting is considered in which each truck in a fleet is provided with a start location, a destination, a departure time, and an arrival deadline from a higher planning level. Fuel-efficient plans should be computed. The plans consist of routes and speed profiles that allow trucks to arrive by their arrival deadlines. Hereby, trucks can meet on common parts of their routes and form platoons, resulting in decreased fuel consumption. We formulate a combinatorial optimization problem that combines plans involving only two vehicles. We show that this problem is difficult to solve for large problem instances. Hence, a heuristic algorithm is proposed. The resulting plans are further optimized using convex optimization techniques. The method is evaluated with Monte Carlo simulations in a realistic setting. We demonstrate that the proposed algorithm can compute plans for thousands of trucks and that significant fuel savings can be achieved.

  • 21.
    Wahlström, Johan
    et al.
    KTH, Skolan för elektro- och systemteknik (EES), Signalbehandling. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
    Skog, Isaac
    KTH, Skolan för elektro- och systemteknik (EES), Signalbehandling. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
    Händel, Peter
    KTH, Skolan för elektro- och systemteknik (EES), Signalbehandling. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
    Detection of Dangerous Cornering in GNSS-Data-Driven Insurance Telematics2015Ingår i: IEEE transactions on intelligent transportation systems (Print), ISSN 1524-9050, E-ISSN 1558-0016, Vol. 16, nr 6Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    We propose a framework for the detection of dangerous vehicle cornering events, based on statistics related to the no-sliding and no-rollover conditions. The input variables are estimated using an unscented Kalman filter applied to global navigation satellite system (GNSS) measurements of position, speed, and bearing. The resulting test statistic is evaluated in a field study where three smartphones are used as measurement probes. A general framework for performance evaluation and estimator calibration is presented as depending on a generic loss function. Furthermore, we introduce loss functions designed for applications aiming to either minimize the number of missed detections and false alarms, or to estimate the risk level in each cornering event. Finally, the performance characteristics of the estimator are presented as depending on the detection threshold, as well as on design parameters describing the driving behavior. Since the estimation only uses GNSS measurements, the framework is particularly well suited for smartphone-based insurance telematics applications, aiming to avoid the logistic and monetary costs associated with, e.g., on-board-diagnostics or black-box dependent solutions. The design of the estimation algorithm allows for instant feedback to be given to the driver and, hence, supports the inclusion of real-time value-added services in usage-based insurance programs.

  • 22.
    Wahlström, Johan
    et al.
    KTH, Skolan för elektro- och systemteknik (EES), Teknisk informationsvetenskap. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
    Skog, Isaac
    KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre. KTH, Skolan för elektro- och systemteknik (EES), Teknisk informationsvetenskap.
    Händel, Peter
    KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre. KTH, Skolan för elektro- och systemteknik (EES), Teknisk informationsvetenskap.
    Smartphone-Based Vehicle Telematics: A Ten-Year Anniversary2017Ingår i: IEEE transactions on intelligent transportation systems (Print), ISSN 1524-9050, E-ISSN 1558-0016, Vol. 18, nr 10, s. 2802-2825Artikel i tidskrift (Refereegranskat)
1 - 22 av 22
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