Nowadays, autonomous driving revolution is getting closer to reality. To achieve the Autonomous driving the first step is to develop the Advanced Driver Assistance System (ADAS). Driver-assistance systems are one of the fastest-growing segments in automotive electronics since already there are many forms of ADAS available. To investigate state of art of development of ADAS towards Autonomous Driving, we develop Systematic Mapping Study (SMS). SMS methodology is used to collect, classify, and analyze the relevant publications. A classification is introduced based on the developments carried out in ADAS towards Autonomous driving. According to SMS methodology, we identified 894 relevant publications about ADAS and its developmental journey toward Autonomous Driving completed from 2012 to 2016. We classify the area of our research under three classifications: technical classifications, research types and research contributions. The related publications are classified under thirty-three technical classifications. This thesis sheds light on a better understanding of the achievements and shortcomings in this area. By evaluating collected results, we answer our seven research questions. The result specifies that most of the publications belong to the Models and Solution Proposal from the research type and contribution. The least number of the publications belong to the Automated…Autonomous driving from the technical classification which indicated the lack of publications in this area.

Submitted by Silvana Teresinha Dornelles Studzinski (sstudzinski) on 2015-10-06T11:55:43Z No. of bitstreams: 1 Tiago Sommer_.pdf: 3876808 bytes, checksum: fe1d7120f07a0ab16d7f187824a760b6 (MD5) / Made available in DSpace on 2015-10-06T11:55:43Z (GMT). No. of bitstreams: 1 Tiago Sommer_.pdf: 3876808 bytes, checksum: fe1d7120f07a0ab16d7f187824a760b6 (MD5) Previous issue date: 2015-04-10 / CAPES - Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / Congestionamentos são um dos principais problemas nas cidades grandes. Eles geram poluição, stress emocional aos motoristas e desgaste das vias, o que demanda maior gasto para mantê-las em bom estado. Além disso, a ampliação dessas (para melhorar o fluxo) nem sempre é possível. Dessa forma, é preciso buscar outras alternativas. Uma possível solução é incentivar o uso do transporte público provendo informações de qualidade aos usuários e, para isso, existem os Sistemas de Informação ao Usuário (SIU). Estes sistemas computacionais visam prover melhores informações sobre o transporte coletivo para os usuários, atraindo-os para o uso do transporte público em detrimento aos veículos privados. Um dos grandes problemas de um SIU é manter seus dados atualizados, uma vez que as informações do transporte público se alteram periodicamente. Se o SIU não se atualiza constantemente, os usuários podem receber informações desatualizadas, podendo assim, abandonar o sistema. A gestão e atualização centralizada dos dados por órgãos gestores nem sempre se mostra suficiente e eficiente. Para resolver este problema, é proposto neste trabalho um sistema unificado de crowdsourcing e gamificação para SIU. O crowdsourcing visa permitir que os próprios usuários colaborem com informações para atualizar o sistema. Porém, o emprego exclusivo de crowdsourcing pode não ser suficiente, pois o sistema depende da participação ativa dos usuários para se manter atualizado. Se os usuários não estiverem motivados a compartilhar, o sistema se desatualizará e deixará de ser útil. Desse modo, a gamificação é utilizada neste trabalho para motivar os usuários a utilizarem mais o sistema e também a compartilharem com mais informações. Quanto maior o número de usuários interessados no sistema, maior as chances de se conseguir informações. Da mesma forma, quanto mais informações, mais confiável será o sistema e, consequentemente, mais usuários estarão interessados em utilizá-lo. O trabalho proposto traz uma contribuição significativa para a área de Sistemas Inteligentes de Transporte, pois não há conhecimento de trabalhos que integrem gamificação e crowdsourcing em um SIU para motivação da participação dos usuários com compartilhamento de informações. Para verificar se o trabalho atingiu os seus objetivos, foi realizada uma avaliação qualitativa com três usuários. Esses três usuários foram observados in loco durante a utilização do sistema em paradas na cidade de Porto Alegre. Foi igualmente realizada uma outra avaliação experimental quantitativa em que 23 usuários assistiram um vídeo sobre o sistema e responderam um questionário com questões fechadas. A análise das respostas dos usuários mostrou indícios que eles se sentem motivados em contribuir com o transporte público. Além disso, os usuários também reportaram estar interessados na gamificação do sistema. / Traffic jams are one of the main problems in the cities. The expansion of urban roads is not a sustainable solution, for this reason other alternatives are necessary. One possible solution are the User Information Systems (UIS). These computer systems aim to provide information about the public transport for users, attracting them to use public transport instead of private vehicles. The main problem of an UIS is to keep its data updated. To solve this problem, we propose an unified model of crowdsourcing and gamification for an UIS. The crowdsourcing aims to allow users to collaborate with updated data. However, only the crowdsourcing may not be enough, because the system will depend on the users participation to keep itself updated. If the users are not motivated to cooperate, the system will downgrade and will no longer be useful. Thus, gamification will be used to motivate users to use the system and also to collaborate with more data. The greater the number of users interested in the system, the better are the chances of getting useful data from users. Likewise, with more information, the system will be more reliable and therefore more users will be interested in using it. The proposed work contains a significative contribution to the Intelligent Transportation Systems area because we are not aware of other studies that integrate gamification and crowdsourcing in an UIS. To verify if the work achieved its objectives, a qualitative evaluation was performed with three users. The users were observed in situ while using the system at bus stops in the city of Porto Alegre. A quantitative experiment evaluation was also conducted in which 23 users watched a video about the system and answered questionnaires with closed questions. The analysis of the users responses showed evidence that they feel motivated to contribute to public transportation. In addition, users also reported to be interested in the gamification of the system.

Cette dissertation modélise et analyse les flux de trafic hétérogènes, avec une attention particulière portée à la circulation de voitures et de deux-roues. L'augmentation du nombre de congestions de trafic a forcé les personnes désirant se déplacer à se diriger vers les le deux-roues (appelé ici PTWs = powered two wheelers), comme les motos, les mopeds et les scooters, du fait de leur facilité de manoeuvre et leur efficacité dans l'espace. L'augmentation du nombre de PTWs combinée au caractère unique de certaines de leurs fonctionnalités a résulté en un trafic complexe, donc les particularités sont difficiles à recréer avec les approches de modélisation existantes. Nous développerons ici un modele analytique permettant de reproduire de manière pertinente les particularités d'un flux de véhicules mêlant à la fois les voitures et les deux-roues. Le trafic se décompose en deux classes de véhicules : les PTWs et les voitures. Les propriétés fondamentales sont déduites en employant une approche "porous flow". On suppose que la vitesse d'un véhicule d’une certaine classe est dictée par les propriétés physiques et motrices du véhicule, ainsi que la distribution d'espace vide sur la route. Nous proposons une méthode d'approximation pour dériver la distribution d'espace vide. Dans le but d'explorer plus largement les caractéristiques du flux de trafic notamment requis par les applications de système de transport intelligent (ITS), nous formulons le modèle dans les cadres lagrangien et eulérien. Puis, nous feront appel à une méthode numérique pour la discrétisation du modèle mathématique. Se basant sur le modèle développé nous analyserons les caractéristiques du flux de trafic pour en identifier les propriétés les plus importantes qui nous permettrons de prédire de futures ITS applications et d'organisations du trafic. La possibilité d'appliquer le modèle pour les différentes ITS applications est illustrée par des exemples. Finalement, le modèle développé est validé à l'aide de l'outil de microsimulation. / This dissertation models and analyzes heterogeneous traffic flow, with a particular focus on mixed traffic flow consisting of cars and two-wheelers. The increase in traffic congestion induces commuters to switch to powered two wheelers (PTWs), i.e. motorcycle, mopeds and scooters, because of their high maneuverability and space efficiency. The growth in number of PTWs, combined with their unique mobility features, results in complex traffic characteristics which are difficult to recreate with the existing modeling approaches. We develop an analytical model that can accurately reproduce the traffic features in a mixed flow of cars and PTWs. The traffic stream is decomposed into two vehicle classes, PTWs and cars. The fundamental properties are derived by employing a porous flow approach. It is assumed that the speed of a vehicle class is dictated by the physical and motion properties of the vehicle class, and the distribution of free spaces on the road. We propose an approximation method to derive the free-space distribution. In order to explore broader aspects of the traffic flow characteristics, notably required by intelligent transport system (ITS) applications, we formulate the model in the Lagrangian and the Eulerian frameworks. Further, we provide a numerical method for the discretization of the mathematical model. We analyze the flow characteristics of mixed PTWs and cars traffic and identify important properties, which give insights for future ITS solutions and traffic policy makers. The applicability of the model for different ITS applications is illustrated. Finally, the developed model is validated using a microsimulation tool.

Automation in the mining industry has the potential to increase safety and productivity while improving working conditions. Ore transportation within the mine is a repetitive task which is well suited to be replaced by an autonomous mining vehicle operating around the clock. Scania, a world leader in sustainable transport solutions is investigating this new concept of vehicle. The autonomous operation is enabled by several technologies installed on the vehicle, including a communication system object of this thesis. Connectivity among vehicles is required in order to coordinate paths and exchange mission critical information. In this thesis, after identifying the challenges of wireless propagations in mines, the communication technology is chosen and possible antenna configurations and communication ranges are found. Through numerical link-budget simulations and subsequent range measurements, the potential communication range of this vehicle has been quantified. The results show the effectiveness of height diversity in extending the communication range. Lastly, the performance degradation caused by dust accumulated on the antennas is discussed. / Automatiseringen i gruvindustrin har potentialen att öka säkerheten och produktiviteten samtidigt som den förbättrar arbetsvillkoren. Malmtransporten inne i gruvan är en repetitiv uppgift som passar bra att bli utbytt av en autonom gruvtransport som är i drift dygnet runt. Scania, en av de världsledande inom hållbara tranportlösningar, undersöker just nu denna typ av fordon. Den självstyrande driften aktiveras genom att ett flertal teknologier installeras på fordonet, inklusive ett kommunikationssystem som är ämne för denna avhandling. Anslutningen mellan fordonen är nödvändig för att kunna samordna banor och ge information i för uppdraget kritiska lägen. I denna avhandling, efter att ha identifierat svårigheterna med en trådlös utbredning i gruvor, är kommunikationsteknologin vald och möjliga antennkonfigurationer och kommunikationsräckvidder funna. Genom numeriska länkbudgetsimuleringar och efterföljande räckviddsmätningar, har det potentiella kommunikationsområdet för detta fordon kvantifierats. Resultaten visar effektiviteten av mångfald när det gäller höjd när man utvidgar kommunikationsområdet. Slutligen diskuteras prestandaförsämringen orsakad av damm som ackumulerats på antennerna.

The Parking Guidance and Information (PGI) system is an important application of Intelligent Transport System (ITS), which has been shown to be an effect service for traffic information and parking management. The roadside Variable Message Sign (VMS) board has been the usual media for the publication of parking information in early PGI systems, and its performance over the years has been studied via simulations and questionnaire surveys. However, survey results show significant discrepancies across various traffic networks in different areas. More recently, parking information services have become available on other media such as mobile and in-vehicle devices. In contrast to VMS-based systems, PGI systems based on new media, especially the in-vehicle class of devices, have not been studied separately. This thesis aims to conduct research into the performance of PGI systems based on invehicle devices, by simulating and comparing a VMS-based PGI system with a Vehicle On-Board Device (VOBD)-based PGI system. A specially designed simulator utilising a routing algorithm known as the Ad hoc On-Demand Distance Vector (AODV) routing protocol in computer networks, has been created in MATLAB. The simulation minimises the influence of specific structures of traffic networks that may be found in some networks, but not others. This is done by simulating a grid-based road network where the capacities of parking stations and their geographic distribution are randomly allocated within specific zones, and the parking demand in each run of simulations is variable load. The results of simulations, including the information reliability, reduction of travel time, demand on on-street parking and the utilisation rates of parking stations, are analysed for multiple scenarios where the compliance rate, the information update policy and the strategy of human behaviour are varied. The analyses reveal a significant advantage of VOBD-based PGI systems over VMS-based PGI systems in terms of the quality of information and the reduction of travel time. At the same time, the analyses highlight the limitations of a PGI system when the demand and supply of parking stations is not appropriately balanced.

The Parking Guidance and Information (PGI) system is an important application of Intelligent Transport System (ITS), which has been shown to be an effect service for traffic information and parking management. The roadside Variable Message Sign (VMS) board has been the usual media for the publication of parking information in early PGI systems, and its performance over the years has been studied via simulations and questionnaire surveys. However, survey results show significant discrepancies across various traffic networks in different areas. More recently, parking information services have become available on other media such as mobile and in-vehicle devices. In contrast to VMS-based systems, PGI systems based on new media, especially the in-vehicle class of devices, have not been studied separately. This thesis aims to conduct research into the performance of PGI systems based on invehicle devices, by simulating and comparing a VMS-based PGI system with a Vehicle On-Board Device (VOBD)-based PGI system. A specially designed simulator utilising a routing algorithm known as the Ad hoc On-Demand Distance Vector (AODV) routing protocol in computer networks, has been created in MATLAB. The simulation minimises the influence of specific structures of traffic networks that may be found in some networks, but not others. This is done by simulating a grid-based road network where the capacities of parking stations and their geographic distribution are randomly allocated within specific zones, and the parking demand in each run of simulations is variable load. The results of simulations, including the information reliability, reduction of travel time, demand on on-street parking and the utilisation rates of parking stations, are analysed for multiple scenarios where the compliance rate, the information update policy and the strategy of human behaviour are varied. The analyses reveal a significant advantage of VOBD-based PGI systems over VMS-based PGI systems in terms of the quality of information and the reduction of travel time. At the same time, the analyses highlight the limitations of a PGI system when the demand and supply of parking stations is not appropriately balanced.

La localisation précise des véhicules et la sécurité des échanges sont deux grands axes qui font la fiabilité des services fournis dans les systèmes de transport intelligent. Ces dernières années, elles font l’objet de nombreux projets de recherche pour des champs d’application divers. Dans cette thèse, le contexte d’application est la réalisation d’un service de télépéage utilisant la technologie ITS-G5. Cette technologie de communication sans-fil permet dans un premier temps le partage des informations de sécurité routière entre les véhicules (V2V), le véhicule et l’infrastructure (V2I). Dans cette thèse, on propose une architecture permettant d’échanger des transactions de télépéage utilisant les équipements communicants en ITS-G5 embarqués dans les véhicules connectés et les unités bord de route (UBR) de l’infrastructure. Les problématiques de nos travaux de recherche se concentrent sur la méthode de localisation des véhicules ayant effectué la transaction afin de pouvoir la valider et sur la sécurité de l’architecture proposée pour assurer l’échange de cette transaction. Afin de bien localiser les véhicules lors du passage au péage, notre approche propose la compréhension de la cinématique du véhicule par une modélisation adéquate à partir des données recueillies dans les messages coopératifs (CAM : Cooperative Awareness Message) en approche du péage. Cela améliorera les informations de géolocalisation déjà présentes. Notre objectif est d’arriver à une précision de moins d’un mètre pour distinguer 2 véhicules adjacents. D’autre part, le protocole de sécurité proposé permet d’assurer l’authentification des équipements participant à l’échange et à la validation de la transaction, l’intégrité des données échangées ainsi que la confidentialité des échanges compte tenu du contexte de communication sans-fil et de la sensibilité des données échangées. Une preuve de concept de la solution de télépéage utilisant la technologie ITS-G5 est développée et intègre nos deux contributions. / The precise localization of vehicles and the security of communication are requirements that make almost of the services provided in intelligent transport systems (ITS) more reliable. In recent years, they have been the subject of numerous research projects for various fields of application. In this thesis, the context is the development of an electronic toll service using the ITS-G5 technology. This wireless communication technology initially allows the sharing of traffic safety information between vehicles (V2V), vehicle and infrastructure (V2I). In our work, we propose a tolling application using equipment operating in ITS-G5 embedded in the connected vehicles and roadside units. For this, ensuring both precise geolocation of the vehicles and security of communication are required to validate the transaction.In order to properly locate the vehicles during the toll crossing, our approach is based on the understanding of the kinematics of the vehicle through a suitable modeling from the data collected in the cooperative messages (called CAM: Cooperative Awareness Message). This approach aims to improve the geolocation information already present in the message. Our goal is to achieve vehicle localization with an accuracy lower than one meter to distinguish two adjacent vehicles. On the other hand, the proposed tolling protocol ensures the authentication of the equipment or entities involved in the exchange and the validation of the transaction, the integrity of the transmitted data as well as the confidentiality of the communication. In this way, we take into account the context of the wireless communication and the sensitivity of the exchanged data. Our two contributions are integrated in the implemented Proof of Concept of the tolling application using the ITS-G5 technology.

Indian cities rely predominantly on buses for public transport. The issues of performance measurement and efficiency analyses for the bus company have been gaining significance due to severe operating conditions and financial constraints in which these bus companies provide the service. Performance is defined as the levels of success of the service with respect to different parameters such as quality of service, cost effectiveness and safety. Performance is measured in terms of operational efficiency and financial efficiency. Operational Efficiency of an organization is the ability to utilize its available resources to the maximum extent. Financial Efficiency is a measure of the organization’s ability to translate its financial resources into revenue. Public bus transportation plays a pivotal role in India in bringing about greater mobility both within and between urban and rural areas. Through increased mobility, road transport also contributes immensely to social and economic development of different regions of the country. Public transport is provided by surface road transport using buses by the State Road Transport Undertakings (SRTUs) and by private operators. In this thesis, scientific analysis of the performance of SRTUs is carried out at different levels considering physical and financial parameters through multivariate techniques, non-parametric techniques and qualitative techniques. A comprehensive study on all the SRTUs of Karnataka at depot, division level are done and determined which quantitative method is suited for depot level and division level studies. From quantitative and qualitative studies of SRTUs strategies are developed and recommendations are made to improve the performance of SRTUs. Further, in addition to Bangalore metropolitan transport corporation (BMTC) performance analyses, the routes are analyzed to reduce the dead kilometer. Major contributions from this work: 1. Both inter and intra city operations of the public transport corporation in the state of Karnataka have been exhaustively analysed using operational and financial parameters. 2. Large amount of data over a long period has been collated from State road transport units and a standard format has been developed for collecting both operational and financial parameters for SRTU’s. 3. A generic framework and plan for performance evaluation of SRTU’s has been developed using ratio and benchmarking analysis, and, non-parametric and multivariate techniques like DEA (constant return to scale (CRS) and variable return to scale (VRS)), DEA-principal component analysis (PCA), DEA- bootstrapping. These analyses have been carried out at different levels, like transport corporations level (KSRTC NEKRTC, NWKRTC, BMTC), division level (33 divisions), and Depot level (193 depots). 4. Non parametric and multivariate Models have been developed and validated using DEAP and GAMS software before embarking on the above detailed analyses. 5. Analytical hierarchy approach (AHP), which is multi criteria structured technique, has been adopted to evaluate and analyze performance of the SRTU’s, divisions and depots based on qualitative and quantitative data. 6. User and operator perception studies of different SRTU’s of Karnataka have been done to evaluate the performance of these corporations from qualitative techniques. 7. From these comprehensive non parametric techniques, the efficiency of the SRTU’s have been evaluated and found that KSRTC has been the best operating unit among the SRTU’s considered for the study. The same has been observed from the AHP as well as perception surveys carried out as part of this thesis. 8. Operation and financial performance including profitability studies of Mysore urban transportation (Mysore city transport division) has been carried out before and after implementation of intelligent transport system (ITS). 9. The dead kilometer minimization model was formulated, which is a mixed integer programming problem, to get the optimal solution considering the capacity of the depot and time period of operation for the chosen network. An optimization technique has been developed for solving the dead kilometer problem in the operations of BMTC buses for the Volvo division (division operates 794 schedules). The alternative depot locations have been identified to reduce the dead kilometer, leading to large amount of savings for the corporation. 10. From the detailed analyses using non parametric techniques, multivariate and multi-criteria techniques along with perception surveys, strategies and recommendations have been arrived at to improve performance of the public transport corporations. This thesis consists of nine chapters and they are as below; Chapter 1 provides a brief introduction of public bus transport systems in India, their problems and need for performance evaluation of SRTUs. The impacts study of Mysore ITS, dead kilometer minimization problem for BMTC along with evaluating the performance of SRTUs by quantitative and qualitative data. This chapter provides the objective of the work and scope of the work. The main objectives of this research are 1. To develop a generic framework and plan for evaluation by identifying the performance indicators and data sources for evaluation.