Two-dimensional active sensing system for bicyclist-motorist crash prediction

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This paper develops an active sensing system for a bicycle to accurately track rear vehicles that can have two-dimensional motion. The active sensing system consists of a single-beam laser sensor mounted on a rotationally controlled platform. The sensing system is inexpensive, small, lightweight, consumes low power, and is thus ideally suited for the bicycle application. The rotational orientation of the laser sensor needs to be actively controlled in real-time in order to continue to focus on a rear vehicle, as the vehicle's lateral and longitudinal distances change. This tracking problem requires controlling the real-time angular position of the laser sensor without knowing the future trajectory of the vehicle. The challenge is addressed using a novel receding horizon framework for active control and an interacting multiple model framework for estimation. The features and benefits of this active sensing system are illustrated first using simulation results. Then, preliminary experimental results are presented using an instrumented bicycle to show the feasibility of the system in tracking rear vehicles during both straight and turning maneuvers.

Original languageEnglish (US)
Title of host publication2017 American Control Conference, ACC 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2315-2320
Number of pages6
ISBN (Electronic)9781509059928
DOIs
StatePublished - Jun 29 2017
Event2017 American Control Conference, ACC 2017 - Seattle, United States
Duration: May 24 2017May 26 2017

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Other

Other2017 American Control Conference, ACC 2017
CountryUnited States
CitySeattle
Period5/24/175/26/17

Fingerprint

Bicycles
Sensors
Lasers
Laser beams
Trajectories

Cite this

Jeon, W., & Rajamani, R. (2017). Two-dimensional active sensing system for bicyclist-motorist crash prediction. In 2017 American Control Conference, ACC 2017 (pp. 2315-2320). [7963298] (Proceedings of the American Control Conference). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/ACC.2017.7963298

Two-dimensional active sensing system for bicyclist-motorist crash prediction. / Jeon, Woongsun; Rajamani, Rajesh.

2017 American Control Conference, ACC 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 2315-2320 7963298 (Proceedings of the American Control Conference).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Jeon, W & Rajamani, R 2017, Two-dimensional active sensing system for bicyclist-motorist crash prediction. in 2017 American Control Conference, ACC 2017., 7963298, Proceedings of the American Control Conference, Institute of Electrical and Electronics Engineers Inc., pp. 2315-2320, 2017 American Control Conference, ACC 2017, Seattle, United States, 5/24/17. https://doi.org/10.23919/ACC.2017.7963298
Jeon W, Rajamani R. Two-dimensional active sensing system for bicyclist-motorist crash prediction. In 2017 American Control Conference, ACC 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 2315-2320. 7963298. (Proceedings of the American Control Conference). https://doi.org/10.23919/ACC.2017.7963298
Jeon, Woongsun ; Rajamani, Rajesh. / Two-dimensional active sensing system for bicyclist-motorist crash prediction. 2017 American Control Conference, ACC 2017. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 2315-2320 (Proceedings of the American Control Conference).
@inproceedings{2ed5f2f6a99f4e10a7f6e25b39172cda,
title = "Two-dimensional active sensing system for bicyclist-motorist crash prediction",
abstract = "This paper develops an active sensing system for a bicycle to accurately track rear vehicles that can have two-dimensional motion. The active sensing system consists of a single-beam laser sensor mounted on a rotationally controlled platform. The sensing system is inexpensive, small, lightweight, consumes low power, and is thus ideally suited for the bicycle application. The rotational orientation of the laser sensor needs to be actively controlled in real-time in order to continue to focus on a rear vehicle, as the vehicle's lateral and longitudinal distances change. This tracking problem requires controlling the real-time angular position of the laser sensor without knowing the future trajectory of the vehicle. The challenge is addressed using a novel receding horizon framework for active control and an interacting multiple model framework for estimation. The features and benefits of this active sensing system are illustrated first using simulation results. Then, preliminary experimental results are presented using an instrumented bicycle to show the feasibility of the system in tracking rear vehicles during both straight and turning maneuvers.",
author = "Woongsun Jeon and Rajesh Rajamani",
year = "2017",
month = "6",
day = "29",
doi = "10.23919/ACC.2017.7963298",
language = "English (US)",
series = "Proceedings of the American Control Conference",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "2315--2320",
booktitle = "2017 American Control Conference, ACC 2017",

}

TY - GEN

T1 - Two-dimensional active sensing system for bicyclist-motorist crash prediction

AU - Jeon, Woongsun

AU - Rajamani, Rajesh

PY - 2017/6/29

Y1 - 2017/6/29

N2 - This paper develops an active sensing system for a bicycle to accurately track rear vehicles that can have two-dimensional motion. The active sensing system consists of a single-beam laser sensor mounted on a rotationally controlled platform. The sensing system is inexpensive, small, lightweight, consumes low power, and is thus ideally suited for the bicycle application. The rotational orientation of the laser sensor needs to be actively controlled in real-time in order to continue to focus on a rear vehicle, as the vehicle's lateral and longitudinal distances change. This tracking problem requires controlling the real-time angular position of the laser sensor without knowing the future trajectory of the vehicle. The challenge is addressed using a novel receding horizon framework for active control and an interacting multiple model framework for estimation. The features and benefits of this active sensing system are illustrated first using simulation results. Then, preliminary experimental results are presented using an instrumented bicycle to show the feasibility of the system in tracking rear vehicles during both straight and turning maneuvers.

AB - This paper develops an active sensing system for a bicycle to accurately track rear vehicles that can have two-dimensional motion. The active sensing system consists of a single-beam laser sensor mounted on a rotationally controlled platform. The sensing system is inexpensive, small, lightweight, consumes low power, and is thus ideally suited for the bicycle application. The rotational orientation of the laser sensor needs to be actively controlled in real-time in order to continue to focus on a rear vehicle, as the vehicle's lateral and longitudinal distances change. This tracking problem requires controlling the real-time angular position of the laser sensor without knowing the future trajectory of the vehicle. The challenge is addressed using a novel receding horizon framework for active control and an interacting multiple model framework for estimation. The features and benefits of this active sensing system are illustrated first using simulation results. Then, preliminary experimental results are presented using an instrumented bicycle to show the feasibility of the system in tracking rear vehicles during both straight and turning maneuvers.

UR - http://www.scopus.com/inward/record.url?scp=85026997583&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85026997583&partnerID=8YFLogxK

U2 - 10.23919/ACC.2017.7963298

DO - 10.23919/ACC.2017.7963298

M3 - Conference contribution

AN - SCOPUS:85026997583

T3 - Proceedings of the American Control Conference

SP - 2315

EP - 2320

BT - 2017 American Control Conference, ACC 2017

PB - Institute of Electrical and Electronics Engineers Inc.

ER -