Active Sensing on a Bicycle for Simultaneous Search and Tracking of Multiple Rear Vehicles

Woongsun Jeon, Rajesh Rajamani

Research output: Contribution to journalArticle

Abstract

This paper uses an inexpensive single-beam laser sensor mounted on a rotationally controlled platform to simultaneously search for and track multiple vehicles that are behind a bicycle. Vehicles in the bicycle's lane and in the adjacent left lane are both considered. The tasks involved are searching both lanes to detect the presence of vehicles, tracking a vehicle's trajectory once it has been detected, and switching between searching and tracking as needed. A rigorous search algorithm that minimizes the number of sensor rotational angles needed to search the entire region of interest is developed. An error covariance matrix approach is utilized to switch between tracking vehicles and searching the region of interest. Detailed simulation results are presented to show how the developed system handles the absence and presence of vehicles in the two lanes and handles different types of lane change maneuvers while tracking multiple vehicles. Since the developed system uses an inexpensive lightweight sensor that is suitable for on-bicycle implementation, it can be used to detect the danger of a collision and provide a corresponding horn-like audio alert to the motorist.

Original languageEnglish (US)
Article number8692650
Pages (from-to)5295-5308
Number of pages14
JournalIEEE Transactions on Vehicular Technology
Volume68
Issue number6
DOIs
StatePublished - Jun 1 2019

Fingerprint

Bicycles
Vehicle Tracking
Sensing
Region of Interest
Sensor
Sensors
Laser Beam
Covariance matrix
Search Algorithm
Switch
Collision
Adjacent
Entire
Trajectory
Minimise
Angle
Laser beams
Switches
Trajectories
Simulation

Keywords

  • Smart bicycle
  • collision prevention
  • collision warning
  • estimation
  • vehicle tracking

Cite this

Active Sensing on a Bicycle for Simultaneous Search and Tracking of Multiple Rear Vehicles. / Jeon, Woongsun; Rajamani, Rajesh.

In: IEEE Transactions on Vehicular Technology, Vol. 68, No. 6, 8692650, 01.06.2019, p. 5295-5308.

Research output: Contribution to journalArticle

@article{80f7d2ac24094fa985991ea8be798a11,
title = "Active Sensing on a Bicycle for Simultaneous Search and Tracking of Multiple Rear Vehicles",
abstract = "This paper uses an inexpensive single-beam laser sensor mounted on a rotationally controlled platform to simultaneously search for and track multiple vehicles that are behind a bicycle. Vehicles in the bicycle's lane and in the adjacent left lane are both considered. The tasks involved are searching both lanes to detect the presence of vehicles, tracking a vehicle's trajectory once it has been detected, and switching between searching and tracking as needed. A rigorous search algorithm that minimizes the number of sensor rotational angles needed to search the entire region of interest is developed. An error covariance matrix approach is utilized to switch between tracking vehicles and searching the region of interest. Detailed simulation results are presented to show how the developed system handles the absence and presence of vehicles in the two lanes and handles different types of lane change maneuvers while tracking multiple vehicles. Since the developed system uses an inexpensive lightweight sensor that is suitable for on-bicycle implementation, it can be used to detect the danger of a collision and provide a corresponding horn-like audio alert to the motorist.",
keywords = "Smart bicycle, collision prevention, collision warning, estimation, vehicle tracking",
author = "Woongsun Jeon and Rajesh Rajamani",
year = "2019",
month = "6",
day = "1",
doi = "10.1109/TVT.2019.2911572",
language = "English (US)",
volume = "68",
pages = "5295--5308",
journal = "IEEE Transactions on Vehicular Technology",
issn = "0018-9545",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "6",

}

TY - JOUR

T1 - Active Sensing on a Bicycle for Simultaneous Search and Tracking of Multiple Rear Vehicles

AU - Jeon, Woongsun

AU - Rajamani, Rajesh

PY - 2019/6/1

Y1 - 2019/6/1

N2 - This paper uses an inexpensive single-beam laser sensor mounted on a rotationally controlled platform to simultaneously search for and track multiple vehicles that are behind a bicycle. Vehicles in the bicycle's lane and in the adjacent left lane are both considered. The tasks involved are searching both lanes to detect the presence of vehicles, tracking a vehicle's trajectory once it has been detected, and switching between searching and tracking as needed. A rigorous search algorithm that minimizes the number of sensor rotational angles needed to search the entire region of interest is developed. An error covariance matrix approach is utilized to switch between tracking vehicles and searching the region of interest. Detailed simulation results are presented to show how the developed system handles the absence and presence of vehicles in the two lanes and handles different types of lane change maneuvers while tracking multiple vehicles. Since the developed system uses an inexpensive lightweight sensor that is suitable for on-bicycle implementation, it can be used to detect the danger of a collision and provide a corresponding horn-like audio alert to the motorist.

AB - This paper uses an inexpensive single-beam laser sensor mounted on a rotationally controlled platform to simultaneously search for and track multiple vehicles that are behind a bicycle. Vehicles in the bicycle's lane and in the adjacent left lane are both considered. The tasks involved are searching both lanes to detect the presence of vehicles, tracking a vehicle's trajectory once it has been detected, and switching between searching and tracking as needed. A rigorous search algorithm that minimizes the number of sensor rotational angles needed to search the entire region of interest is developed. An error covariance matrix approach is utilized to switch between tracking vehicles and searching the region of interest. Detailed simulation results are presented to show how the developed system handles the absence and presence of vehicles in the two lanes and handles different types of lane change maneuvers while tracking multiple vehicles. Since the developed system uses an inexpensive lightweight sensor that is suitable for on-bicycle implementation, it can be used to detect the danger of a collision and provide a corresponding horn-like audio alert to the motorist.

KW - Smart bicycle

KW - collision prevention

KW - collision warning

KW - estimation

KW - vehicle tracking

UR - http://www.scopus.com/inward/record.url?scp=85067828781&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85067828781&partnerID=8YFLogxK

U2 - 10.1109/TVT.2019.2911572

DO - 10.1109/TVT.2019.2911572

M3 - Article

AN - SCOPUS:85067828781

VL - 68

SP - 5295

EP - 5308

JO - IEEE Transactions on Vehicular Technology

JF - IEEE Transactions on Vehicular Technology

SN - 0018-9545

IS - 6

M1 - 8692650

ER -