Powered Two-Wheeled Vehicles Steering Behavior Study: Vision-Based Approach
© 2018 IEEE. This paper presents a vision-based approach to prevent dangerous steering situations when riding a motorcycle in turns. The proposed algorithm is capable of detecting under, neutral or over-steering behavior using only a conventional camera and an inertial measurement unit. The inverse...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2021
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| Online Access: | https://hdl.handle.net/1721.1/138045 |
| _version_ | 1811088318822088704 |
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| author | Damon, Pierre-Marie Hadj-Abdelkader, Hicham Arioui, Hichem Youcef-Toumi, Kamal |
| author_facet | Damon, Pierre-Marie Hadj-Abdelkader, Hicham Arioui, Hichem Youcef-Toumi, Kamal |
| author_sort | Damon, Pierre-Marie |
| collection | MIT |
| description | © 2018 IEEE. This paper presents a vision-based approach to prevent dangerous steering situations when riding a motorcycle in turns. The proposed algorithm is capable of detecting under, neutral or over-steering behavior using only a conventional camera and an inertial measurement unit. The inverse perspective mapping technique is used to reconstruct a bird-eye-view of the road image. Then, filters are applied to keep only the road markers which are, afterwards, approximated with the well-known clothoid model. This allows the prediction of the road geometry such as the curvature ahead of the motorcycle. Finally, from the predicted road curvature, the measurements of the Euler angles and the vehicle speed, the proposed algorithm is able to characterize the steering behavior. To that end, we propose to estimate the steering ratio and we introduce new pertinent indicators such as the vehicle relative position dynamics to the road. The method is validated using the advanced simulator BikeSim during a steady turn. |
| first_indexed | 2024-09-23T14:00:20Z |
| format | Article |
| id | mit-1721.1/138045 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T14:00:20Z |
| publishDate | 2021 |
| publisher | IEEE |
| record_format | dspace |
| spelling | mit-1721.1/1380452021-11-10T03:20:03Z Powered Two-Wheeled Vehicles Steering Behavior Study: Vision-Based Approach Damon, Pierre-Marie Hadj-Abdelkader, Hicham Arioui, Hichem Youcef-Toumi, Kamal © 2018 IEEE. This paper presents a vision-based approach to prevent dangerous steering situations when riding a motorcycle in turns. The proposed algorithm is capable of detecting under, neutral or over-steering behavior using only a conventional camera and an inertial measurement unit. The inverse perspective mapping technique is used to reconstruct a bird-eye-view of the road image. Then, filters are applied to keep only the road markers which are, afterwards, approximated with the well-known clothoid model. This allows the prediction of the road geometry such as the curvature ahead of the motorcycle. Finally, from the predicted road curvature, the measurements of the Euler angles and the vehicle speed, the proposed algorithm is able to characterize the steering behavior. To that end, we propose to estimate the steering ratio and we introduce new pertinent indicators such as the vehicle relative position dynamics to the road. The method is validated using the advanced simulator BikeSim during a steady turn. 2021-11-09T19:09:05Z 2021-11-09T19:09:05Z 2018-11 2020-08-13T18:06:59Z Article http://purl.org/eprint/type/ConferencePaper https://hdl.handle.net/1721.1/138045 Damon, Pierre-Marie, Hadj-Abdelkader, Hicham, Arioui, Hichem and Youcef-Toumi, Kamal. 2018. "Powered Two-Wheeled Vehicles Steering Behavior Study: Vision-Based Approach." 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018. en 10.1109/icarcv.2018.8581298 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018 Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf IEEE Other repository |
| spellingShingle | Damon, Pierre-Marie Hadj-Abdelkader, Hicham Arioui, Hichem Youcef-Toumi, Kamal Powered Two-Wheeled Vehicles Steering Behavior Study: Vision-Based Approach |
| title | Powered Two-Wheeled Vehicles Steering Behavior Study: Vision-Based Approach |
| title_full | Powered Two-Wheeled Vehicles Steering Behavior Study: Vision-Based Approach |
| title_fullStr | Powered Two-Wheeled Vehicles Steering Behavior Study: Vision-Based Approach |
| title_full_unstemmed | Powered Two-Wheeled Vehicles Steering Behavior Study: Vision-Based Approach |
| title_short | Powered Two-Wheeled Vehicles Steering Behavior Study: Vision-Based Approach |
| title_sort | powered two wheeled vehicles steering behavior study vision based approach |
| url | https://hdl.handle.net/1721.1/138045 |
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