The document presents a model for classifying driver behavior during car following into different regimes using Markov regime switching models. The model is able to capture switching between regimes like stable following, braking, and acceleration. It is shown to better fit real driving data compared to traditional car following models. The model provides regime transition probabilities and durations that can help predict crashes and inform advanced driver assistance systems.
This document contains Aditya Barik's resume. It lists his contact information, educational qualifications including a B.Tech in Electrical and Electronics Engineering, projects undertaken including traffic light automation using PLC, and skills like AutoCAD and C programming. It also provides personal details and hobbies.
This document discusses the potential for autonomous long-haul trucking and outlines several key points:
1) Autonomous trucking could help address issues like driver fatigue, shortages of drivers, and safety issues that cause over 100,000 injuries annually from truck crashes.
2) The technology for autonomous trucks is advancing, with systems reaching Level 3 automation where drivers are not required for extended periods but must be ready to intervene.
3) Fully autonomous Level 4 trucks are the ultimate goal, allowing trucks to drive themselves without any human intervention needed.
4) Remote monitoring and control centers could help manage fleets of autonomous trucks and ensure safety. Standards from other industries will help develop reliable autonomous software.
The document provides findings from a study of India's national highway network conducted under the Indian Bridge Management System (IBMS). Key points include:
- IBMS was started in 2015 by the Ministry of Roads, Transport and Highways to inventory and inspect bridges. Field work was divided among 12 consultants.
- As of the study, over 300,000 bridges had been inventoried and over 200,000 inspected. Data analysis found most bridges were minor bridges, constructed over 50 years ago of concrete.
- Around 6,000 bridges were found to be structurally distressed or functionally inadequate. The findings recommend improving training for inspectors to ensure consistent, high-quality data collection and analysis.
The Automotive Maintenance Technician Career Course consolidates four formal training programs into a single course to substantially increase the number of technicians trained annually. The course provides essential maintenance training in advanced diagnostics, repair of advanced automotive systems, and maintenance of low density vehicles. By combining multiple programs, the course is able to train up to 336 technicians per year, an increase of 21-76% compared to the individual programs. The consolidated course formalizes career progression for automotive maintenance technicians.
This invitation is for an upscale dinner event hosted by the Women's Philanthropy Society and Lion of Judah Society to honor their members who have made substantial personal gifts to support the global Jewish community. The dinner will bring together women from ages 30 to 90 who are part of the elite Pomegranate and Lion of Judah societies, with the latter recognizing those who donate $5,400 or more annually in their own name to share in Jewish values, culture, leadership, and influence internationally.
This document contains Aditya Barik's resume. It lists his contact information, educational qualifications including a B.Tech in Electrical and Electronics Engineering, projects undertaken including traffic light automation using PLC, and skills like AutoCAD and C programming. It also provides personal details and hobbies.
This document discusses the potential for autonomous long-haul trucking and outlines several key points:
1) Autonomous trucking could help address issues like driver fatigue, shortages of drivers, and safety issues that cause over 100,000 injuries annually from truck crashes.
2) The technology for autonomous trucks is advancing, with systems reaching Level 3 automation where drivers are not required for extended periods but must be ready to intervene.
3) Fully autonomous Level 4 trucks are the ultimate goal, allowing trucks to drive themselves without any human intervention needed.
4) Remote monitoring and control centers could help manage fleets of autonomous trucks and ensure safety. Standards from other industries will help develop reliable autonomous software.
The document provides findings from a study of India's national highway network conducted under the Indian Bridge Management System (IBMS). Key points include:
- IBMS was started in 2015 by the Ministry of Roads, Transport and Highways to inventory and inspect bridges. Field work was divided among 12 consultants.
- As of the study, over 300,000 bridges had been inventoried and over 200,000 inspected. Data analysis found most bridges were minor bridges, constructed over 50 years ago of concrete.
- Around 6,000 bridges were found to be structurally distressed or functionally inadequate. The findings recommend improving training for inspectors to ensure consistent, high-quality data collection and analysis.
The Automotive Maintenance Technician Career Course consolidates four formal training programs into a single course to substantially increase the number of technicians trained annually. The course provides essential maintenance training in advanced diagnostics, repair of advanced automotive systems, and maintenance of low density vehicles. By combining multiple programs, the course is able to train up to 336 technicians per year, an increase of 21-76% compared to the individual programs. The consolidated course formalizes career progression for automotive maintenance technicians.
This invitation is for an upscale dinner event hosted by the Women's Philanthropy Society and Lion of Judah Society to honor their members who have made substantial personal gifts to support the global Jewish community. The dinner will bring together women from ages 30 to 90 who are part of the elite Pomegranate and Lion of Judah societies, with the latter recognizing those who donate $5,400 or more annually in their own name to share in Jewish values, culture, leadership, and influence internationally.
The document discusses the benefits of exercise for mental health. Regular physical activity can help reduce anxiety and depression and improve mood and cognitive function. Exercise causes chemical changes in the brain that may help protect against mental illness and improve symptoms.
Analysis of accidents at the quayside operations in the turkish portseSAT Journals
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Ports have an important role in the economics of countries. Ports are a dynamic system where many operations carried out. Port
operations pose various risks depending on type of operation and type of handling cargo. Most of accidents occurring in the port
take place during quayside operations. In this context, this study aims to analysis ofaccidents occurring during quayside
operations with respect to terminal types in the Turkish ports. For this purpose, quayside operation characteristics and the risks
that may occur during quayside operations depending on handling cargo types are examined generally and types of accidents and
their effects are analyzed between 2009 and 2015 in the Turkish ports, according to terminal types.
Keywords: Quayside Operation, Operational Risk, Safety, Accident, Sea Port
Este documento habla sobre la enseñanza de cantidades físicas y no físicas a niños de primaria. Explica conceptos como área, perímetro, longitud, altitud, volumen, capacidad, peso, masa, tiempo, temperatura y dinero. También menciona que los niños aprenden medidas a través del juego de forma informal y formal, física y no física.
The document discusses new approaches needed for social media marketing. It notes that the traditional marketing "funnel" model of interrupting and pouring people in the top is not as effective today. A new approach is needed that focuses on permission, trust and caring by turning strangers into friends and customers. The document outlines moving people from a crowd to a congregation to committed supporters through discrete steps of adding value and building trust over time using the appropriate social media tools.
This document outlines a project to develop an autonomous bicycle that can travel in a straight line at a constant speed without human intervention. It will use sensors to measure the bicycle's steering angle and tilt, along with motors to control the steering and drive the bicycle forward. The project aims to provide a hands-on learning tool for students in a controls class. It describes the bicycle's components, control system design process using modeling and simulation, qualifications of the team members, budget, and schedule. References on bicycle dynamics and control systems are also included.
The study evaluated the effectiveness of simulator-based training for novice drivers by comparing drivers who received simulator training to those who did not. In part A, questionnaires found that drivers with simulator training reported higher intentions for unsafe driving like speeding. In part B, 40 drivers were directly observed and had their driving objectively measured. Results found that drivers with simulator training performed better on measures of driving safety and had fewer dangerous driving events. The study provides support for including simulator training in driver education programs to promote safe driving among novices.
The document discusses various technologies that can improve trucking operations and driver performance. Paul Menig leads technology development efforts at Tech-I-M, LLC and various industry councils. Ellen Voie discusses how technologies like simulators, cameras, devices and systems can transform trucking. Gerard DeVito leads Eaton's development of automated transmissions. Brent Nussbaum discusses how Nussbaum Transportation Services uses people and technologies like on-board computers and fuel-saving devices to enhance performance. Clay Merches and JR Schugel discuss J&R Schugel's safety programs and use of video to train drivers. The document outlines various fuel-saving technologies and strategies used in fleets.
The document summarizes the thesis work of Alireza Izadi on developing an active roll control system for articulated heavy vehicles using existing air suspension. The key points are:
1. Three control logics were designed - a proportional feedback controller, a full-state LQR controller, and an optimal minimum order controller combining state estimation and LQR.
2. Two actuator models were developed for the controllers - active anti-roll bars and active air springs using the vehicle's existing suspension.
3. Nonlinear and linear vehicle models were used to simulate and validate the controllers and actuators. Comparison results are presented to select the best compromise for rollover control.
4. The thesis work aims to
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AUTOMATIC SOLAR VERTICAL CAR PARKING SYSTEMMirza Baig
The project is mainly on embedded systems.
An Embedded system is an electronic/electromechanical system designed to perform a specific function and it is a combination of firmware and hardware.
We had used 8051 Microcontroller
REQUIRES LESS SPACE IN AUTOMATIC CAR PARKING
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The automatic parking aims to enhance the comfort and safety of driving in constrained environments where much attention and experience is required to steer the car.
Safe Driving Advisor and Evaluator.pptxHazem Fahmy
We developed a model predictive control -based simulator using differential equations and realizing a final simulation loop system mimicking vehicle dynamics, driver behavior, road geometry, and a decision-making system. The simulator is developed in Wolfram Mathematica and relies on a symbolic numerical approach to optimize a vehicles track (represented as a cost function) for autonomous driving enabling lane-keeping, collision-avoidance, path-planning, and decision-making features while assessing and reducing the risk associated to the vehicle by providing warnings and interventions when a crash is imminent.
The document discusses Paul Menig's career leading technology development teams in various industries including medical equipment, aerospace, industrial automation, and trucking. It notes that he currently leads Future Truck efforts at Tech-I-M and is involved in activities regarding future fuel economy regulations and truck partnerships.
The next section discusses various technologies being used or considered for use in trucking, including driving simulators, onboard cameras, handheld devices, fleet management systems, collision mitigation radar, and automated transmissions.
The final section introduces Gerard DeVito, who assumed responsibility for Eaton's global heavy duty automated transmission development. It notes his 28 years of experience at Eaton in various engineering, planning, strategy, and
The document discusses the benefits of exercise for mental health. Regular physical activity can help reduce anxiety and depression and improve mood and cognitive function. Exercise causes chemical changes in the brain that may help protect against mental illness and improve symptoms.
Analysis of accidents at the quayside operations in the turkish portseSAT Journals
Abstract
Ports have an important role in the economics of countries. Ports are a dynamic system where many operations carried out. Port
operations pose various risks depending on type of operation and type of handling cargo. Most of accidents occurring in the port
take place during quayside operations. In this context, this study aims to analysis ofaccidents occurring during quayside
operations with respect to terminal types in the Turkish ports. For this purpose, quayside operation characteristics and the risks
that may occur during quayside operations depending on handling cargo types are examined generally and types of accidents and
their effects are analyzed between 2009 and 2015 in the Turkish ports, according to terminal types.
Keywords: Quayside Operation, Operational Risk, Safety, Accident, Sea Port
Este documento habla sobre la enseñanza de cantidades físicas y no físicas a niños de primaria. Explica conceptos como área, perímetro, longitud, altitud, volumen, capacidad, peso, masa, tiempo, temperatura y dinero. También menciona que los niños aprenden medidas a través del juego de forma informal y formal, física y no física.
The document discusses new approaches needed for social media marketing. It notes that the traditional marketing "funnel" model of interrupting and pouring people in the top is not as effective today. A new approach is needed that focuses on permission, trust and caring by turning strangers into friends and customers. The document outlines moving people from a crowd to a congregation to committed supporters through discrete steps of adding value and building trust over time using the appropriate social media tools.
This document outlines a project to develop an autonomous bicycle that can travel in a straight line at a constant speed without human intervention. It will use sensors to measure the bicycle's steering angle and tilt, along with motors to control the steering and drive the bicycle forward. The project aims to provide a hands-on learning tool for students in a controls class. It describes the bicycle's components, control system design process using modeling and simulation, qualifications of the team members, budget, and schedule. References on bicycle dynamics and control systems are also included.
The study evaluated the effectiveness of simulator-based training for novice drivers by comparing drivers who received simulator training to those who did not. In part A, questionnaires found that drivers with simulator training reported higher intentions for unsafe driving like speeding. In part B, 40 drivers were directly observed and had their driving objectively measured. Results found that drivers with simulator training performed better on measures of driving safety and had fewer dangerous driving events. The study provides support for including simulator training in driver education programs to promote safe driving among novices.
The document discusses various technologies that can improve trucking operations and driver performance. Paul Menig leads technology development efforts at Tech-I-M, LLC and various industry councils. Ellen Voie discusses how technologies like simulators, cameras, devices and systems can transform trucking. Gerard DeVito leads Eaton's development of automated transmissions. Brent Nussbaum discusses how Nussbaum Transportation Services uses people and technologies like on-board computers and fuel-saving devices to enhance performance. Clay Merches and JR Schugel discuss J&R Schugel's safety programs and use of video to train drivers. The document outlines various fuel-saving technologies and strategies used in fleets.
The document summarizes the thesis work of Alireza Izadi on developing an active roll control system for articulated heavy vehicles using existing air suspension. The key points are:
1. Three control logics were designed - a proportional feedback controller, a full-state LQR controller, and an optimal minimum order controller combining state estimation and LQR.
2. Two actuator models were developed for the controllers - active anti-roll bars and active air springs using the vehicle's existing suspension.
3. Nonlinear and linear vehicle models were used to simulate and validate the controllers and actuators. Comparison results are presented to select the best compromise for rollover control.
4. The thesis work aims to
Dr. Eric E. Stannard, CEO of HDMGlobal, gave a presentation on the use and features of HDM-4, a decision support tool for road investment choices. HDM-4 has been sold to over 110 countries and is used by various government and private organizations. It predicts road network performance based on factors like traffic, road type, and maintenance. HDM-4 allows users to analyze strategies, maintenance programs, and project costs to optimize total transport costs. The software requires local calibration of models to provide accurate outputs for strategic planning, project evaluation, and research studies.
AUTOMATIC SOLAR VERTICAL CAR PARKING SYSTEMMirza Baig
The project is mainly on embedded systems.
An Embedded system is an electronic/electromechanical system designed to perform a specific function and it is a combination of firmware and hardware.
We had used 8051 Microcontroller
REQUIRES LESS SPACE IN AUTOMATIC CAR PARKING
REDUCES POLLUTION
TRADTIONAL CAR PARKING IS COSTLY PROCESSS
The automatic parking aims to enhance the comfort and safety of driving in constrained environments where much attention and experience is required to steer the car.
Safe Driving Advisor and Evaluator.pptxHazem Fahmy
We developed a model predictive control -based simulator using differential equations and realizing a final simulation loop system mimicking vehicle dynamics, driver behavior, road geometry, and a decision-making system. The simulator is developed in Wolfram Mathematica and relies on a symbolic numerical approach to optimize a vehicles track (represented as a cost function) for autonomous driving enabling lane-keeping, collision-avoidance, path-planning, and decision-making features while assessing and reducing the risk associated to the vehicle by providing warnings and interventions when a crash is imminent.
The document discusses Paul Menig's career leading technology development teams in various industries including medical equipment, aerospace, industrial automation, and trucking. It notes that he currently leads Future Truck efforts at Tech-I-M and is involved in activities regarding future fuel economy regulations and truck partnerships.
The next section discusses various technologies being used or considered for use in trucking, including driving simulators, onboard cameras, handheld devices, fleet management systems, collision mitigation radar, and automated transmissions.
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Similar to ICMLA 2015 - Car Following Markov Regime Classification and Calibration (20)
ICMLA 2015 - Car Following Markov Regime Classification and Calibration
1. Car Following Markov Regime
Classification and Calibration
Eng.Ahmed Bayoumy Zaky Prof.Waild Gomaa Dr. Mohamed A. Khamis
Department of Computer Science and Engineering
Cyber-Physical Systems Lab
12/15/2015
2. Agenda
• Introduction
• Problem Statement
• Previous Approaches
• Proposed System
• Experiment and Results
• Conclusion
12/15/2015
3. Motivation
– 5.4 million - automobile crashes in 2012.
– 1.1 million - crashes due to a driver talking on a cell phone.
– 1.24 million - Estimated deaths worldwide caused by road traffic accidents.
– 12000 – Egypt total fatalities due to traffic road accident per year.
– Study human behavior in a complex environment.
12/15/2015
Source: World Health Organization (http://apps.who.int/gho/data/node.main.A997)
4. Problem Statement
12/15/2015
• How we can model driver behavior during
different driving tasks and situations ?
• Are regime switching models suitable for this
task ?
• What is the important features we will have
by using such models ?
5. Multitasking is a myth
• The stochastic nature of the driving
environment.
• National safety council states that
– Multitasking is a myth.
– The brain handles tasks sequentially.
By switching between one task and
another.
• The driver usually switches
between different driving behaviors
as car following, lane changing,
mobile communication, sign
reading…….
12/15/2015
6. Car Following Behavior
12/15/2015
• Describes the longitudinal relation between a following vehicle with a
leader and how follower behavior is constrained by the leader.
• Models such as
– Intelligent Driver Model (IDM), velocity difference , Gipps
• Car following parameters
– Observed parameters such as acceleration, velocity and position.
– Non-observed parameters, which are calibrated by driving data sets or assumed while
simulating the behavior.
• Classified into five regimes:
– Acceleration
– Stable Following
– Free Flow
– Approaching
– Braking
• Model parameters can be used in classifying the driving situation and
driver characteristics
7. Classification Approaches
• Car Following Models
– driver behavior is simulated by an equation (IDM)
or multiple equation (Gipps)
– Models face the problems of
• Calibration the parameters
• Sensitivity to the parameters
– Machine learning approaches Such as:
• Supervised Fuzzy inference approach
• Fuzzy clustering algorithm with time continuity
• Neural networks as back-propagation, fuzzy ARTMAP and
Radial Basis Function Networks (RBFNs)
12/15/2015
8. Proposed Model
Previous approaches
disregard the
switching process
dynamics between
different driving
regimes.
Proposed model able to:
• Classify car following regimes.
• Classify normal car following driving behavior, rare
events, and short time events.
• Extract different driving regimes’ characteristics such
as:
• Expected duration
• Probability of moving from the regime to another
• Generate the regime switching process dynamics.
12/15/2015
9. Regime Switching Models I
• Regime switching models:
– Innovative time series analysis tools.
– Used to classify and predict behaviors based on
statistical relations between different time series
variables.
– Used in different fields and models such as economics,
traffic modeling and speech recognition.
– Main frameworks are used for regime switching:
• Threshold models
• Smooth transition models
• Markov switching models
12/15/2015
10. Regime Switching Models II
• Markov switching models
– The most general and the most used models.
– Generalization of Hidden Markov Model (HMM)
– Modeling the stochastic behavior of a time series
into two or more states or regimes.
– Use stochastic models to represent each regime
and a Markov process for switching between
regimes.
12/15/2015
14. Experiment
• The Robert Bosch GmbH Research
Group data set is used.
• Three used data sets are sampled at
100 ms with duration 250,400 and
300 seconds of driving under stop-
and-go traffic conditions.
12/15/2015
15. Results I (Model Parameters)
12/15/2015
Regimes Transition Probabilities
16. Results II (Estimated Values)
12/15/2015
Fitted mean and standard deviation for velocity
observation estimated proposed model
Regimes filtered probabilities
17. Results III (Driving Situations)
12/15/2015
a) Driver behavior switching between
different regimes
b) b) Filtered probabilities of regimes
2 and 4
Stable followingRegime 1
• No abrupt change in velocity or acceleration and gap
• Occurs once for 7 seconds
• speed around 42 km/h reserving gap of 13 m
braking , standing and normal followingRegime 2
•Stable rate of change
•Follower takes the control to start the action
•Start the braking behavior while the distance gap is minimized
•Start the movement action after standing situation
approaching, accelerationRegime 4
• such as
• acceleration if the follower, leader velocities and the distance between
them are increased
• approaching if the follower, leader velocity and distance between them
are decreased
18. Results IV (Driving Situations)
12/15/2015
• Driver behavior affected by abrupt changes in
acceleration (regime 3,green points)
• and in time to collision (regime 5, yellow points)
Sudden Acceleration Change
Regime 3
•Capture situations of changing in behaviors like
•standing to acceleration
•acceleration to following
Sudden velocity difference
Change
Regime 5
•Ten times with expected time 1.02 s
•Gap about 7 meters
•Affects the safety factor time to collision (TTC)
•Driver takes strict decisions to accelerate and decelerate in
a short period
21. Driving Regime based Model Calibration
12/15/2015
The main objective of the calibration process is to minimize the gap between the
observed driving behavior and the car following model simulated driving behavior.
Velocity and gap distance are being used and the root mean squared error
percentage objective function used:
Two calibration scenarios.
• The first calibration is performed for each driver using all the data samples a.
• The second calibration is performed for each driving regime, and the
calibration parameters are used according to each regime probability.
• Results comparing the calibration between the real observed data and the
trajectories simulated by the IDM model.
23. The Calibration Results
12/15/2015
Regime switching has
introducing better fitting for the
data than the standard IDM
calibration.
The mean absolute error of the
IDM calibration is 1.78 m, and
the regime-based error reduced
to 1.11 m with a 38.2% of fitting
enhancements
24. Conclusion
12/15/2015
•The model assumed an automated procedure to distinguish car following regimes
based on trajectory data using Markov regime switching.
•Model able to capture and classify driver behavior patterns in real naturalistic
driving situations.
•Results presented show that the model is able to
•Moving from continuous lower-level modeling of driver behavior (i.e.
microscopic modeling) towards discrete event upper level modeling
•Classify normal car following behavior, rare events, short events
•Able to determine the switching dynamics between different regimes.
•Enhance Models calibration process
•The model can help in
•crash predication.
•Driver assisted.
•Assessment systems.
25. Your Questions & Comments Are Always Welcome
Contact :
Ahmed Bayoumy zaky
ahmed.zaky@feng.bu.edu.eg
12/15/2015