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Decentralized Fusion of 3D Extended Object Tracking based on a B-Spline Shape Model
Get PDFExtended Object Tracking (EOT) exploits the high resolution of modern sensors for detailed environmental perception. Combined with decentralized fusion, it contributes to a more scalable and robust perception system. This paper investigates the decentralized fusion of 3D EOT using a B-spline curve based model. The spline curve is used to represent the side-view profile, which is then extruded with a width to form a 3D shape. We use covariance intersection (CI) for the decentralized fusion and discuss the challenge of applying it to EOT. We further evaluate the tracking result of the decentralized fusion with simulated and real datasets of traffic scenarios. We show that the CI-based fusion can significantly improve the tracking performance for sensors with unfavorable perspective
Adaptive Message Prioritization: How to Prioritize VRU Awareness Messages in a Congested V2X Network
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The important role of lithiation-induced pressure change on apparent aging of lithium-ion batteries during accelerated cyclic aging tests
No full textIn assessing the lifespan of lithium-ion batteries in laboratory conditions, the measured capacity declines during accelerated cyclic aging tests but increases when the cells are left idle. This recoverable capacity loss, known in literature as apparent aging, results from an inhomogeneous lithium distribution in the anode appearing in dV/dQ and capacity difference analysis. This study explores the origin of the apparent aging by correlating lithium distribution in the anode and recoverable capacity loss, with the lithiation induced pressure change and generated electrolyte motion during cycling. To this end, we compressed five commercial pouch lithium-ion cells (NMC/Gr) with holder stiffnesses ranging from 0.9 to 15.4 MPa/mm and offset pressure from 289 to 681 kPa and subjected them to continuous cyclic aging tests. While offset pressure had no significant impact, we observed, that holder stiffnesses over 3.3 MPa/mm induces an apparent capacity loss, which is recoverable by 35 % during a resting phase. The root cause is the so-called electrolyte motion induced salt inhomogeneity (EMSI), driven by continuous high current cycling and electrolyte motion, which is intensified by higher holder stiffness but not by offset pressure. These insights are crucial for improving the accuracy of accelerated aging tests and enhancing battery lifespan predictions
YoFlow Method for Scenario Based Automatic Accident Detection
No full textRecent advances in sensor and computing technologies have enabled roadside units (RSUs) to not only monitor traffic flow but also process data in real time to improve road safety. However, leveraging RSUs for proactive accident detection remains a challenging and underexplored task, partly due to the lack of diverse accident data. To address this, this study proposes two key contributions: (i) a scenario based synthetic data generation framework, and (ii) YoFlow, a novel system for vehicle-to-vehicle accident detection from a simulated RSU camera perspective. The proposed framework leverages the PEGASUS methodology and the BeamNG.tech simulation platform to create the SB-SIF dataset, which includes five representative intersection crash scenarios derived from German accident data. SB-SIF dataset contains 914 crash videos, 123 near-miss events, and 924 normal traffic instances and is publicly available at: https://doi.org/10.5281/zenodo.15267252. The proposed YoFlow system identifies accidents by analyzing temporal variations in vehicle speed vectors, using YOLO for vehicle classification and CUDA-accelerated dense optical flow to capture abrupt motion changes. Extracted features are processed and classified using an XGBoost model, achieving 94% recall and 90% precision in accident detection
The “Oncosimulator”: a multilevel, clinically oriented simulation system of tumor growth and organism response to therapeutic schemes. Towards the clinical evaluation of in silico oncology
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