Abstract

Traffic sign recognition is important for the development of driver assistance systems and fully autonomous vehicles. Even though GPS navigator systems works well for most of the time, there will always be situations when they fail. In these cases, robust vision based systems are required. Traffic signs are designed to have distinct colored fields separated by sharp boundaries. We propose to use locally segmented contours combined with an implicit star-shaped object model as prototypes for the different sign classes. The contours are described by Fourier descriptors. Matching of a query image to the sign prototype database is done by exhaustive search. This is done efficiently by using the correlation based matching scheme for Fourier descriptors and a fast cascaded matching scheme for enforcing the spatial requirements. We demonstrated on a publicly available database state of the art performance. "p"Original Publication: Fredrik Larsson and Michael Felsberg, Using Fourier Descriptors and Spatial Models for Traffic Sign Recognition, SCIA konferens, 23-27 May 2011, Ystad Sweden, 2011, Lecture Notes in Computer Science, Image Analysis, 238-249. http://dx.doi.org/10.1007/978-3-642-21227-7_23 Copyright: Springer Document type: Part of book or chapter of book

Abstract

Biogas production is synonymous with Linköping, as an increasing number of internationalvisitors are coming to the region to learn of the biogas system in place. Moreover, Linköpingis a world leader in the production, distribution and research on biogas. Since the 1990s,Linköping, Sweden has been developing a biogas system which is benchmarked worldwide.This system has grown rapidly, and has the potential to expand even further in Sweden andabroad. Many of the leading biogas development industrial actors originate and call Linköpingtheir home. Technologies from this region have thus begun to spread worldwide, as many ofthe benchmarking practices have concluded that the system could provide parallel benefits tocommunities abroad.The biogas system thus provides many examples of a budding large technical system.However, just as other large technical systems, there are obstacles to overcome and the biogassystem, which is relatively recent, has a long way to go before it is able to dominate themarket. Moreover, large technical systems as such owe a great deal to both the technical aswell as the social systems enabling their success. Nonetheless, the biogas system is thusanalyzed an up-and-coming large technical system with force to prevail and expand nationallyand globally. Perspectives on Energy System

Abstract

This thesis is focused on individual wheel actuators in road vehicles intended for vehicle motion control. Particular attention is paid to electro-mechanical actuators and how they can contribute to improving vehicle dynamics and safety. The employment of individual wheel actuators at the vehicle's four corner results in a large degree of over-actuation. Over-actuation has a potential of exploiting the vehicle's force constraints at a high level and of controlling the vehicle more freely. One important reason for using over-actuated vehicles is their capability to assist the driver to experience the vehicle as desired. This thesis demonstrates that critical situations close to the limits can be handled more efficiently by over-actuation. To maximise the vehicle performance, all the available actuators are systematically exploited within their force constraints.  Therefore, force constraints for the individually controlled wheel are formulated, along with important restrictions that follow as soon as a reduction in the degrees of freedom of the wheel occurs. Particular focus is directed at non-convex force constraints arising from combined tyre slip characteristics. To evaluate the differently actuated vehicles, constrained control allocation is employed to control the vehicle. The allocation problem is formulated as an optimisation problem, which is solved by non-linear programming. To emulate realistic safety critical scenarios, highly over-actuated vehicles are controlled and evaluated by the use of a driver model and a validated complex strongly non-linear vehicle model. it is shown that, owing to the actuator redundancy, over-actuated vehicles possess an inherent capacity to handle actuator faults, with less need for extra hardware or case-specific fault-handling strategies. QC 20100722

Abstract

one of the highest fatalities causes, traffic accidents and collisions always requires a large amounteffort to be reduced or prevented from occur. Traffic safety management routines therefore always needefficient and effective implementation due to the variations of traffic, especially from trafficengineering point of view apart from driver education.Traffic Accident Prediction Model, considered as one of the handy tool of traffic safety management,has become of well followed with interested. Although it is believed that traffic accidents are mostlycaused by human factors, these accident prediction models would help from traffic engineering point ofview to enlarge the traffic safety level of road segments. This thesis is aiming for providing a guidelineof the accident prediction model implementation in traffic safety management, regarding to trafficengineering field. Discussion about how this prediction models should merge into the existing routinesand how well these models would perform would be given. As well, cost benefit analysis of theimplementation would be at the end of this thesis. Meanwhile, a practical field study would bepresented in order to show the procedures of the implementation of traffic accident prediction model.The field study is about this commercial model set SafeNET, from TRL Limited UK, implemented inRoad Safety Audit procedures combined with microscopic simulation tool. Detailed processing andinput and output data will be given accompany with the countermeasures for accident frequencyreduction finalization.

Abstract

In recent years, IP based end-to-end services have grown in popularity. Efficiently meeting the user demand for such services, different techniques for traffic engineering transport networks have been developed. One such technique, currently being developed for multilayered networks, is Generalized Multi-Protocol Label Switching (GMPLS). GMPLS is a necessary networking technique because provisioning end-to-end services will today, and in the foreseeable future, very likely require the co-operation of multiple network layers. Here, the readiness of GMPLS for optical networks is investigated by reviewing the current support for optical networking components in the GMPLS standard documents. Based on this investigation, a candidate solution for routing and constraint-based path computation in optical network segments has been derived. This candidate solution is shown to efficiently handle the additional attributes and constraints inherent in optical networking components. De senaste åren har IP-baserade tjänster ökat i popularitet. För att effektivt möta de användarkrav som ställs på sådana tjänster har olika tekniker för att styra transportnätverk utvecklats. En sådan teknik, nu under utveckling för multi-lagrade nätverk, är GMPLS. GMPLS är en nödvändig nätverksteknik eftersom tillhandahållandet av sluttjänster mellan olika användare idag, och inom en överskådlig framtid, mycket sannolikt kommer att kräva samarbete mellan flera nätverkslager. Här undersöks GMPLS färdighet i optiska nätverk genom att se över det nuvarande stödet för optiska nätverkskomponenter i GMPLS standarddokument. Baserat på denna undersökning har en kandidatlösning för routing och begränsad vägberäkning i optiska nätverkssegment tagits fram. Denna kandidatlösning visas effektivt hantera de ytterligare attribut och restriktioner som existerar i optiska nätverkskomponenter.

Abstract

The principle of load balancing is to distribute the data load more evenly over the network in order to increase the network performance and efficiency. With dynamic load balancing the routing is undated at certain intervals. This thesis was developed to evaluate load balancing methods in the IP-network of TeliaSonera.Load balancing using short path routing, bottleneck load balancing and load balancing using MPLS have been evaluated. Short path routing is a flow sharing technique that allows routing on paths other than the shortest one. Load balancing using short path routing is achieved by dynamic updates of the link weights. Bottleneck is in its nature a dynamic load balancing algorithm. Unlike load balancing using short path routing it updates the flow sharing, not the metrics. The algorithm uses information about current flow sharing and link loads to detect bottlenecks within the network. The information is used to calculate new flow sharing parameters. When using MPLS, one or more complete routing paths (LSPs) are defined at each edge LSR before sending any traffic. MPLS brings the ability to perform flow sharing by defining the paths to be used and how the outgoing data load is to be shared among these. The model has been built from data about the network supplied by TeliaSonera. The model consists of a topology part, a traffic part, a routing part and cost part. The traffic model consists of a OD demand matrix. The OD demand matrix has been estimated from collected link loads. This was done with estimation models; the gravity model and an optimisation model. The algorithms have been analysed at several scenarios; normal network, core node failure, core link failure and DWDM system failure. A cost function, where the cost increases as the link load increases has been used to evaluate the algorithms. The signalling requirements for implementation of the load balancing algorithm have also been investigated.

Abstract

GMPLS is a still developing protocol family which is indented to assume the role of a control plane in transport networks. GMPLS is designed to provide traffic engineering in transport networks composed of different network technologies such as wavelength switched optical networks, Ethernet networks, point-to-point microwave links, etc. Integrating the different network technologies while using label switched paths to provide traffic engineering poses a challenge. The purpose of integrating multiple technologies under a single GMPLS control plane is to enable rapid service provisioning and efficient traffic engineering. Traffic engineering in networks provides two primary advantages, network resource utilization optimization and the ability to provide Quality of Service. Utilizing network resources more efficiently translates to lower expenditures for the network provider. Quality of Service can be used to provide the customer with for example guaranteed minimum bandwidth packet services. Specifically this thesis focused on the problems of signaling and establishing Forward Adjacency Label Switched Paths (FA-LSPs), and on a experimental method of connecting different network technologies. A testbed integrating an Ethernet network and a wave length division multiplexing network was used to show that the proposed solutions can work in practice. GMPLS består av en samling protokoll under utveckling, de är tänkta att anta rollen som kontrollplan i transportnätverk. GMPLS är designat för att tillhandahålla trafikplanering i transportnätverk bestående av flera olika nätverksteknologier såsom Ethernet, våglängds switchande nätverk m.fl. Integration av dessa olika nätverksteknologier under ett gemensamt kontrollplan och uppsättning av ”label switched paths” i dataplanet är en utmaning. Syftet med att integrera multipla teknologier under ett ensamt GMPLS kontroll plan är att snabbt kunna tillhandahålla tjänster över nätverket samt möjliggöra advancerad trafikplanering. Trafikplanering i nätverk ger två stora fördelar, optimering av utnyttjandet av nätverksresurser samt ökade möjligheter att erbjuda ”Quality of Service” till kunder. Bättre utnyttjande av nätverksresurser innebär lägre kostnader för nätverksleverantören medans ”Quality of Service” kan ge kunden t.ex. en garanterad bandbredd. Specifikt fokuserar denna avhandling på problemen med att signalera och etablera ”Forwarding Adjaceny Label Switched Paths” samt en experimentell metod som båda sammankopplar olika typer av nätverk. En testbed bestående av ett Ethernet nätverk samt ett optiskt våglängdsswitchande nätverk användes för att visa att lösningarna kan fungera i praktiken.

Abstract

dvanced driver assistance systems are designed to make driving easier that is, to alleviate the driver's workload, and to increase traffic safety. However, traffic safety is affected by negative behavioral adaptation, meaning that drivers tend to increase speed and pay less attention to driving when supported by an advanced assistance system. We relate behavioral adaptation to reinforcement learning at a subconscious level, and propose that driver assistance is dynamically varied within predetermined safety limits. The aim of employing a dynamic assistance policy is to prevent the driver from noticing a constant improvement in vehicle handling. We conclude by describing ongoing work for empirically evaluating an improved lane departure warning system that uses a dynamic assistance policy. "p"LITH-IKP-CR--05/1267--SE