Development and experimental evaluation of a steel tube vehicle impact attenuation system. Final report.

Connecticut Department of Transportation, Bureau of Planning and Research, Wethersfield

Highway-vehicle-object simulation model - 1976. Volume 2: programmers manual. Final report.

Federal Highway Administration, Washington, D.C.

Highway-vehicle-object simulation model - 1976. Volume 3: engineering manual - analysis. Final report.

Federal Highway Administration, Washington, D.C.

Highway-vehicle-object simulation model - 1976. Volume 4: engineering manual - validation. Final report.

Federal Highway Administration, Washington, D.C.

Highway-vehicle-object simulation model - 1976. Volume 1: users manual. Final report.

Federal Highway Administration, Washington, D.C.

Sistema de mapeamento e localização simultânea para inspecção subaquática

A sequente dissertação resulta do desenvolvimento de um sistema de navegação subaquático para um Remotely Operated Vehicle (ROV). A abordagem proposta consiste de um algoritmo em tempo real baseado no método de Mapeamento e Localização Simultâneo (SLAM) a partir de marcadores em ambientes marinhos não estruturados. SLAM introduz dois principais desafios: (i) reconhecimento dos marcadores provenientes dos dados raw do sensor, (ii) associação de dados. Na detecção dos marcadores foram aplicadas técnicas de visão artificial baseadas na extracção de pontos e linhas. Para testar o uso de features no visual SLAM em tempo real nas operações de inspecção subaquáticas foi desenvolvida uma plataforma modicada do RT-SLAM que integra a abordagem EKF SLAM. A plataforma é integrada em ROS framework e permite estimar a trajetória 3D em tempo real do ROV VideoRay Pro 3E até 30 fps. O sistema de navegação subaquático foi caracterizado num tanque instalado no Laboratório de Sistemas Autónomos através de um sistema stereo visual de ground truth. Os resultados obtidos permitem validar o sistema de navegação proposto para veículos subaquáticos. A trajetória adquirida pelo VideoRay em ambiente controlado é validada pelo sistema de ground truth. Dados para ambientes não estruturados, como um gasoduto, foram adquiridos e obtida respectiva trajetória realizada pelo robô. Os dados apresentados comprovam uma boa precisão e exatidão para a estimativa da posição.

Visual SLAM for 3D large-scale seabed acquisition employing underwater vehicles

This paper presents a novel technique to align partial 3D reconstructions of the seabed acquired by a stereo camera mounted on an autonomous underwater vehicle. Vehicle localization and seabed mapping is performed simultaneously by means of an Extended Kalman Filter. Passive landmarks are detected on the images and characterized considering 2D and 3D features. Landmarks are re-observed while the robot is navigating and data association becomes easier but robust. Once the survey is completed, vehicle trajectory is smoothed by a Rauch-Tung-Striebel filter obtaining an even better alignment of the 3D views and yet a large-scale acquisition of the seabed

Visual SLAM for 3D large-scale seabed acquisition employing underwater vehicles

This paper presents a novel technique to align partial 3D reconstructions of the seabed acquired by a stereo camera mounted on an autonomous underwater vehicle. Vehicle localization and seabed mapping is performed simultaneously by means of an Extended Kalman Filter. Passive landmarks are detected on the images and characterized considering 2D and 3D features. Landmarks are re-observed while the robot is navigating and data association becomes easier but robust. Once the survey is completed, vehicle trajectory is smoothed by a Rauch-Tung-Striebel filter obtaining an even better alignment of the 3D views and yet a large-scale acquisition of the seabed

Secondary collisions revisited: real-world crash data and relationship to crash test criteria

Objectives: Previous research conducted in the late 1980s suggested that vehicle impacts following an initial barrier collision increase severe occupant injury risk. Now over 25years old, the data are no longer representative of the currently installed barriers or the present US vehicle fleet. The purpose of this study is to provide a present-day assessment of secondary collisions and to determine if current full-scale barrier crash testing criteria provide an indication of secondary collision risk for real-world barrier crashes. Methods: To characterize secondary collisions, 1,363 (596,331 weighted) real-world barrier midsection impacts selected from 13years (1997-2009) of in-depth crash data available through the National Automotive Sampling System (NASS) / Crashworthiness Data System (CDS) were analyzed. Scene diagram and available scene photographs were used to determine roadside and barrier specific variables unavailable in NASS/CDS. Binary logistic regression models were developed for second event occurrence and resulting driver injury. To investigate current secondary collision crash test criteria, 24 full-scale crash test reports were obtained for common non-proprietary US barriers, and the risk of secondary collisions was determined using recommended evaluation criteria from National Cooperative Highway Research Program (NCHRP) Report 350. Results: Secondary collisions were found to occur in approximately two thirds of crashes where a barrier is the first object struck. Barrier lateral stiffness, post-impact vehicle trajectory, vehicle type, and pre-impact tracking conditions were found to be statistically significant contributors to secondary event occurrence. The presence of a second event was found to increase the likelihood of a serious driver injury by a factor of 7 compared to cases with no second event present. The NCHRP Report 350 exit angle criterion was found to underestimate the risk of secondary collisions in real-world barrier crashes. Conclusions: Consistent with previous research, collisions following a barrier impact are not an infrequent event and substantially increase driver injury risk. The results suggest that using exit-angle based crash test criteria alone to assess secondary collision risk is not sufficient to predict second collision occurrence for real-world barrier crashes.

Secondary Collisions Revisited: Real-World Crash Characteristics and Relationship to Crash Test Criteria

Previous research conducted in the late 1980’s suggested that vehicle impacts following an initial barrier collision increase severe occupant injury risk. Now over twenty-five years old, the data used in the previous research is no longer representative of the currently installed barriers or US vehicle fleet. The purpose of this study is to provide a present-day assessment of secondary collisions and to determine if full-scale barrier crash testing criteria provide an indication of secondary collision risk for real-world barrier crashes. The analysis included 1,383 (596,331 weighted) real-world barrier midsection impacts selected from thirteen years (1997-2009) of in-depth crash data available through the National Automotive Sampling System (NASS) / Crashworthiness Data System (CDS). For each suitable case, the scene diagram and available scene photographs were used to determine roadside and barrier specific variables not available in NASS/CDS. Binary logistic regression models were developed for second event occurrence and resulting driver injury. Barrier lateral stiffness, post-impact vehicle trajectory, vehicle type, and pre-impact tracking conditions were found to be statistically significant contributors toward secondary event occurrence. The presence of a second event was found to increase the likelihood of a serious driver injury by a factor of seven compared to cases with no second event present. Twenty-four full-scale crash test reports were obtained for common non-proprietary US barriers, and the risk of secondary collisions was determined using recommended evaluation criteria from NCHRP Report 350. It was found that the NCHRP Report 350 exit angle criterion alone was not sufficient to predict second collision occurrence for real-world barrier crashes.

Towards a ground navigation system based in visual feedback provided by a mini UAV

This paper addresses initial efforts to develop a navigation system for ground vehicles supported by visual feedback from a mini aerial vehicle. A visual-based algorithm computes the ground vehicle pose in the world frame, as well as possible obstacles within the ground vehicle pathway. Relying on that information, a navigation and obstacle avoidance system is used to re-plan the ground vehicle trajectory, ensuring an optimal detour. Finally, some experiments are presented employing a unmanned ground vehicle (UGV) and a low cost mini unmanned aerial vehicle (UAV).

Sight distance for traffic safety analysis using GIS

Sight distance is of major importance for road safety either when designing new roads or analysing the alignment of existing roads. It is essential that available sight distance in roads is long enough for emergency stops or overtaking manoeuvres. Also, it is vital for engineers/researchers that the tools used for that analysis are both powerful and intuitive. Based on ArcGIS, the application to be presented not only performs an exhaustive sight distance calculation, but allows an accurate analysis of 3D alignment, using all new tools, from a Digital Elevation Model and vehicle trajectory. The software has been successfully utilised to analyse several two-lane rural roads in Spain. In addition, the software produces thematic maps representing sight distance in which supplementary information about crashes, traffic flow, speed or design consistency could be included, allowing traffic safety studies.

Safety aspects of roadside cross-section design. Final report.

Federal Highway Administration, Office of Research and Development, Washington, D.C.

Bridge rail to restrain and redirect buses.

Texas State Department of Highways and Public Transportation, Transportation Planning Division, Austin

National Crash Severity Study - quality control. Task V: analysis to refine spinout aspects of CRASH. Final report.

National Highway Traffic Safety Administration, Washington, D.C.