Browsing by Author "Chiang, Hsin-Han"

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A Vision-Based Driver Nighttime Assistance and Surveillance System Based on Intelligent Image Sensing Techniques and a Heterogamous Dual-Core Embedded System Architecture
(2012-03-01)
Chen, Yen-Lin
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Chiang, Hsin-Han
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Chiang, Chuan-Yen
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Liu, Chuan-Ming
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Yuan, Shyan-Ming
This study proposes a vision-based intelligent nighttime driver assistance and surveillance system (VIDASS system) implemented by a set of embedded software components and modules, and integrates these modules to accomplish a component-based system framework on an embedded heterogamous dual-core platform. Therefore, this study develops and implements computer vision and sensing techniques of nighttime vehicle detection, collision warning determination, and traffic event recording. The proposed system processes the road-scene frames in front of the host car captured from CCD sensors mounted on the host vehicle. These vision-based sensing and processing technologies are integrated and implemented on an ARM-DSP heterogamous dual-core embedded platform. Peripheral devices, including image grabbing devices, communication modules, and other in-vehicle control devices, are also integrated to form an in-vehicle-embedded vision-based nighttime driver assistance and surveillance system.
An Intelligent Knowledge-Based and Customizable Home Care System Framework with Ubiquitous Patient Monitoring and Alerting Techniques
(2012-08-01)
Chen, Yen-Lin
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Chiang, Hsin-Han
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Yu, Chao-Wei
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Chiang, Chuan-Yen
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Liu, Chuan-Ming
This study develops and integrates an efficient knowledge-based system and a component-based framework to design an intelligent and flexible home health care system. The proposed knowledge-based system integrates an efficient rule-based reasoning model and flexible knowledge rules for determining efficiently and rapidly the necessary physiological and medication treatment procedures based on software modules, video camera sensors, communication devices, and physiological sensor information. This knowledge-based system offers high flexibility for improving and extending the system further to meet the monitoring demands of new patient and caregiver health care by updating the knowledge rules in the inference mechanism. All of the proposed functional components in this study are reusable, configurable, and extensible for system developers. Based on the experimental results, the proposed intelligent homecare system demonstrates that it can accomplish the extensible, customizable, and configurable demands of the ubiquitous healthcare systems to meet the different demands of patients and caregivers under various rehabilitation and nursing conditions.
Development of Smart Shopping Carts with Customer-Oriented Service
(2016)
Chiang, Hsin-Han
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You, Wan-Ting
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Lin, Shu-Hsuan
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Shih, Wei-Chih
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Liao, Yu-Te
This paper presents a preliminary development of the smart shopping cart (SSC) that can be integrated into the smart mall system. The SSC can provide customers with the efficient user interface so that the shopping service can be effectively promoted. In the current design, with the function of face recognition on the user interface, the SSC can recognize the customer and further provide the associated assistive shopping information based on the purchase history. With the use of radio-frequency identification (RFID) tags, the SSC can automatically detect the various products which are being added in the cart and show the related information on the user interface. Through the searching function of SSC, the purchasing efficiency and navigation aid in the mall can be effectively supplied. Finally, the automatic billing service can be done by the SSC and the stored shopping data will be transmitted to the cloud server of shopping mall. The experimental demonstration shows the effectiveness of the proposed SSC which interacts with the customer and provides efficient shopping service.
Elucidating vehicle lateral dynamics using a bifurcation analysis
(2007-06-01)
Liaw, Der-Cherng
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Chiang, Hsin-Han
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Lee, Tsu-Tian
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電控工程研究所
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Institute of Electrical and Control Engineering
Issues of stability and bifurcation phenomena in vehicle lateral dynamics are presented. Based on the assumption of constant driving speed, a second-order nonlinear lateral dynamics model is obtained. Local stability and existence conditions for saddle-node bifurcation appearing in vehicle dynamics with respect to the variations in front wheel steering angle are then derived via system linearization and local bifurcation analysis. Bifurcation phenomena occurring in vehicle lateral dynamics might result in spin and/or system instability. A perturbation method is employed to solve for an approximation of system equilibrium near the zero value of the front wheel steering angle, which reveals the relationship between sideslip angle and the applied front wheel angle. Numerical simulations from an example model demonstrate the theoretical results.
Embedded Driver-Assistance System Using Multiple Sensors for Safe Overtaking Maneuver
(2014-09-01)
Chiang, Hsin-Han
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Chen, Yen-Lin
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Wu, Bing-Fei
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Lee, Tsu-Tian
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交大名義發表
Advanced driver-assistance systems have recently become one of the most active topics related to intelligent vehicles. Such assistance facilitates vehicular operation by allowing drivers increased control and an enhanced driving experience, and it even comes in the form of automated assistance for autonomous vehicle operation. This paper presents a driver-assistance system that uses a low-cost embedded digital signal processor, with the overall system installed in a commercial vehicle. Based on driving information supplied by multiple sensors, such as a real-time vision system, a vehicle-to-vehicle communication system, and in-vehicle sensors, the proposed system can facilitate decision making and the performing of driving tasks while executing overtaking maneuvers. This paper developed a data fusion stage based on a collision warning algorithm in which the overtaken vehicle and other vehicles in the neighboring lane are accounted for to avoid collisions. The system employs fuzzy control in the steering and speed automation to emulate the driving tasks performed by humans. The applicability of the proposed system was examined in a real-road environment, and a set of experimental results demonstrate the feasibility of using the involved coordination strategies while conducting various driving maneuvers.
Integrated headway adaptation with collision avoidance system for intelligent vehicles
(2007)
Chiang, Hsin-Han
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Wu, Bing-Fei
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Lee, Tsu-Tian
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Perng, Jau-Woei
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電控工程研究所
In this paper, an integrated headway adaptation (HA) with collision avoidance (CA) system is proposed to be associated with a human factor aspect for driving assistance. The maneuver in the CA strategy is developed based on the idea that warning or potential crash information generally can be graded such that the driver need not react to a discrete on/off warning. The control law for the HA strategy is designed by using a modified sliding surface to achieve driving comfort requirement and also stability in car-following. To simulate the speed controlling of human drivers, the throttle and brake actuation is directed by the regulation control which is designed based on a human reasoning approach. A description of an experimental vehicle and real traffic testing in highways and urban-like tracks shows the potential and validness of the integrated system.
Multi-sensor Information Integration on DSP Platform for Vehicle Navigation Safety and Driving Aid
(2009)
Lee, Tsu-Tian
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Chiang, Hsin-Han
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Perng, Jau-Woei
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Jiang, Jhong-Jie
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Wu, Bing-Fei
Intelligent transportation systems (ITS) are the mainstream of the development of next-generation technologies. The project of Human-centered technology (HT)-ITS in Taiwan has launched R&D researches in driver assistance and safety warning systems. This paper demonstrates a part result that a multi-sensors integrated system to achieve the purpose of the vehicle navigation and safety warning assistance. Multi-sensors including a global position system (GPS), a laser range finder, and an inertia measurement unit (IMU), are equipped on the vehicle to realize the manipulation of collision warning (CW), dead-reckoning (DR), and the operation of comfort-meter. The maneuver of CW is developed based on the idea that warning or potential crash information generally can be graded such that the driver need not react to a discrete on/off alarm. DR is responsible to estimate the vehicle location and trajectory when GPS floats. The purpose of the comfort-meter is to examine whether the vehicle driving does conform to the comfortable standard or not. The current states of the vehicle will also be transmitted to the far-end monitoring center, and shown in the graphical user interface through wireless transmission in order to monitor the vehicle driving status. The processing unit is realized on an embedded platform, as well as these functions are verified on real-road testing.
Real-time Eye Detection and Event Identification for Human-computer Interactive Control for Driver Assistance
(2014)
Chen, Yen-Lin
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Yu, Chao-Wei
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Chiang, Chuan-Yen
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Liu, Chin-Hsuan
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Sun, Wei-Chen
Eye movements can provide important information for human-computer interactive applications. Due to the progress of computer technology, the detecting accuracy and speed of pattern recognition are promoted. Additionally, according to research advances in embedded systems, the applications of digital cameras, such as internet cameras, smart phones and smart TV, and smart cars, are widely used in nowadays. Therefore, we propose a set of real-time human-eye detection and tracking systems with human-computer interaction applications. This technique can obtain eye movements and can be adopted as interactive control commands on driver assistance systems. The proposed system is implemented on an OMAP4430 for embedded applications, and experimental results show that the proposed architecture is capable of effective and real-time eye position detection and event identification for human-computer interactive applications on driver assistance systems.
The design of an intelligent real-time autonomous vehicle, Taiwan iTS-1
(2007-07-01)
Wu, Bing-Fei
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Chen, Chao-Jung
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Chiang, Hsin-Han
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Peng, Hsin-Yuan
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Perng, Jau-Woei
Developed at National Chiao Tung University, TAIWAN iTS-1 is the first smart car with active safety systems and comfortable autonomous driving in Taiwan. An adaptive vision-based lane detection algorithm was proposed to help the lateral control unit to keep the car in its lane safely. It also carries a DSP system to generate warning, signals for unintentional roadway departures. A laser radar measures the distance between the preceding car and TAIWAN iTS-1. With this information, the longitudinal control unit performs intelligent cruise control and stop-and-go functions. The remote control function is realized on TAIWAN iTS-1 for safety testing and military applications. Unlike most smart car studies, this paper considers not only driving safety demands but also non-driving security. An active mobile surveillance system will inform the car owner when the car is illegally broken into, anytime and anywhere. For drivers and passengers, the perception of comfort is achieved by intelligent vehicle dynamic control. All functions integrated into TAIWAN iTS-1 have been tested repeatedly on National Highway 3 and Expressway 68 in the Hsinchu area and the system's robustness has been successfully demonstrated in these real-road experiments.
The Embedded Driving-assistance System on Taiwan iTS-1
(2008)
Wu, Bing-Fei
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Chiang, Hsin-Han
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Lee, Tsu-Tian
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Perng, Jau-Woei
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電控工程研究所
Vehicle automation is an important research topic of advanced vehicle systems (AVS). Taiwan iTS-1 is the first smart car with autonomous driving in Taiwan. In this paper, an embedded driving-assistance system is presented. The definition of hierarchical-control structure is necessary in the system to deal with sensorial inputs and environmental and procedural knowledge to manage vehicle actuators in order to accomplish various driving tasks. Upper-level control perceives road environment and determines the proper and safe operation modes including lane-keeping, lane-change, cruise control, adaptive cruise control, and stop-and-go. Wench mode, the desired-velocity and reference-trajectory are primarily determined, and then are forwarded to vehicle-body control. To incorporate well driver behavior into our system, vehicle-body control utilizes the fuzzy control technique to manage the fundamental actuators of vehicle, steering wheel, throttle, and brake, to adapt to the desired command (velocity and trajectory). The core controller is built-in on a DSP-based embedded computing platform. The aim of our system is to provide the driving-assistance in the same way human drivers do.
The heterogeneous systems integration design and implementation for lane keeping on a vehicle
(2008-06-01)
Wu, Shinq-Jen
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Chiang, Hsin-Han
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Perng, Jau-Woei
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Chen, Chao-Jung
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Wu, Bing-Fei
In this paper, an intelligent automated lane-keeping system is proposed and implemented on our vehicle platform, i.e., TAIWAN iTS-1. This system challenges the online integrating heterogeneous systems such as a real-time vision system, a lateral controller, in-vehicle sensors, and a steering wheel actuating motor. The implemented vision system detects the lane markings ahead of the vehicle, regardless of the varieties in road appearance, and determines the desired trajectory based on the relative positions of the vehicle with respect to the center of the road. To achieve more humanlike driving behavior such as smooth turning, particularly at high levels of speed, a fuzzy gain scheduling (FGS) strategy is introduced to compensate for the feedback controller for appropriately adapting to the SW command. Instead of manual tuning by trial and error, the methodology of FGS is designed to ensure that the closed-loop system can satisfy the crossover model principle. The proposed integrated system is examined on the standard testing road at the Automotive Research and Testing Center (ARTC)(1) and extraurban highways.
The Human-in-the-Loop Design Approach to the Longitudinal Automation System for an Intelligent Vehicle
(2010-07-01)
Chiang, Hsin-Han
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Wu, Shinq-Jen
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Perng, Jau-Woei
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Wu, Bing-Fei
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Lee, Tsu-Tian
This paper presents a safe and comfortable longitudinal automation system which incorporates human-in-the-loop technology. The proposed system has a hierarchical structure that consists of an adaptive detection area, a supervisory control, and a regulation control. The adaptive detection area routes the information from on-board sensors to ensure the detection of vehicles ahead, particularly when driving on curves. Based on the recognized target distance from the adaptive detection area, the supervisory control determines the desired velocity for the vehicle to maintain safety and smooth operation in different modes. The regulation control utilizes a soft-computing technique and drives the throttle to execute the commanded velocity from the supervisory control. The feasible detection range is within 45 m, and the high velocity for the system operation is up to 100 km/h. The throttle automation under low velocity at 10-30 km/h can also be well managed by the regulation control. Numerous experimental tests in a real traffic environment exhibit the system's validity and achievement in the desired level of comfort through the evaluation of international standard ISO 2631-1.
The human-in-the-loop design approach to the longitudinal automation system for the intelligent vehicle, TAIWAN iTS-1
(2006)
Chiang, Hsin-Han
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Perng, Jau-Woei
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Wu, Bing-Fei
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Wu, Shinq-Jen
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Lee, Tsu-Tian
This paper presents the integration design and implementation of a longitudinal automation system with the interaction of human-in-the-loop (HITL). The proposed system has a hierarchical structure composed and consists of an adaptive sensory processor, a supervisory control and a regulation control. The adaptive sensory processor routes the information from on-board sensors to avoid missing detection of the vehicle ahead. Based on the recognized measurement from the adaptive sensory processor, the supervisory control determines the desired velocity for the vehicle so as to maintain safety and smooth operation in different modes. The regulation control utilizes soft-computing technique and drives the throttle action to execute the desired velocity commanded from the supervisory control. The feasible sensory distance is within 40 m, and the according driving velocity can achieve 100 km/h upward. The challenge in low velocity operation can also be handled by the regulation control against gear changes and torque converter. Among experimental tests under various kinds of traffic flows, the system validness is exhibited and also the preferable comfort is achieved through the examination of international standard ISO 2631.