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IEEE ITS COUNCIL NEWSLETTEREditor: Prof. Alberto Broggi, [email protected]

Vol. 5, No. 4, October 2003

In This Issue

Council News 3From the Editor . . . . . . . . . . . . . . . . . . . . . . . 3Message from the IEEE ITS Council President . . . . . . 3Calendar of Next Events . . . . . . . . . . . . . . . . . . . 5Cooperative Autonomous Driving at the Intelligent Con-

trol Systems Laboratory . . . . . . . . . . . . . . . 6New Leadership at the Helm of ITSC Publications . . . . 10Project54: Standardizing Electronic Device Integration

in Police Cruisers Cooperative Autonomous . . . . . 11Report on ITS Council AdCom Meeting - Oct 12, 2003 . 15Report on IEEE Transactions on ITS . . . . . . . . . . . 16IEEE Transactions on ITS - Index . . . . . . . . . . . . . 16ITSC Standards Committee – Call to Action . . . . . . . 20CFP: IEEE IV Symposium 2004 . . . . . . . . . . . . . . 21CFP: IEEE ITS Conference 2004 . . . . . . . . . . . . . . 25

Non-Council ITS News 26A Glimpse on the Web . . . . . . . . . . . . . . . . . . . . 26Upcoming Conferences, Workshops and Symposia . . . . . 27

Call for Papers 28CFP: International Journal of Vehicle Information and

Communication Systems . . . . . . . . . . . . . . . . 28Intelligent Transportation Systems Safety and Security

Conference . . . . . . . . . . . . . . . . . . . . . . . 29

Web Archive

All past issues of this Newsletter can be reached through theCouncil’s Official Web Site at: http://www.ieee.org/its

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ITSC Executive Committee————–

President:Charles J. Herget, [email protected]

Immediate Past President:Daniel J. Dailey, . [email protected]

Vice President Conferences:Paul Kostek, . . . . [email protected]

Vice President Publications:H. Hashimoto, [email protected]

Vice President Finance:William Scherer, [email protected]

Vice President Technical Activities:Ichiro Masaki, . . . [email protected]

Secretary:Emily Sopensky, [email protected]

————–Transactions Editor:

Chelsea C. White, [email protected]

Newsletter Editor:Alberto Broggi, . . [email protected]

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Vol. 5, No. 4, October 2003 IEEE Intelligent Transportation Systems Council Newsletter

THEIEEE INTELLIGENT TRANSPORTATION SYSTEMS

COUNCIL——————————————

President: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Charles J. Herget, Livermore, CA 94550, USA

Immediate Past President: . . . . . . Daniel J. Dailey, University of Washington, Seattle, WA 98195, USA

Vice President Conferences: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Paul Kostek, Seattle, WA 98103, USA

Vice President Finance: . . . . . William Scherer, University of Virginia, Charlottesville, VA 22904. USA

Vice President Publications: . . . . . . . . Hideki Hashimoto, University of Tokyo, Tokyo 106-8558, Japan

Vice President Technical Activities: . . . . . . . . . . . . . Ichiro Masaki, MIT, Cambridge, MA 02139, USA

Secretary: . . . . . . . . . . . . . . . . . . . . . . . . . . . .Emily Sopensky, US Dept of State, Washington, DC 20250, USA

Transactions Editor: . . . .Chelsea C. White, Georgia Institute of Technology, Atlanta, GA 30332, USA

Newsletter Editor: . . . . . . . . . . . . . . . . . . . . . . .Alberto Broggi, Universita di Parma, Parma, I-43100, Italy

Committees

Finance Committee: Bill Scherer (Chair), Richard Klafter, Paul KostekConferences and Meetings Committee: Paul Kostek (Chair), T. F. Fwa, Michel Parent, Toshio Fukuda,

Ichiro Masaki, Emily Sopensky, Umit OzugunerPublications Committee: Hideki Hashimoto (Chair), Alberto Broggi, Toshio Fukuda, Ichiro Masaki,

Roger Pollard, Fei-Yue Wang, Chelsea WhiteNominations and Appointments Committee: Daniel Dailey (Chair), Rye Case, Umit OzgunerConstitution and Bylaws Committee: Rye Case (Chair), Charles Herget, Umit Ozguner, Chip WhiteTechnical Activities Committee: Ichiro Masaki (Chair), Anna Hauksdottir (subcommittee on Air Traf-

fic), Ryuji Kohno (subcommittee on Communication Networks), Bin Ning (subcommittee on Railroads)Standards: Ramez GergesLong Term Planning: Umit OzgunerFellows Nomination Committee: Richard KlafterEducation Outreach: Benn Coifman

ITSC Liaison: Toshio Fukuda

IV Liaison: Ichiro Masaki

WC Liaison: Chip White

Societies Representatives

Aerospace and Electronic Systems: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Bob TrebitsAntennas and Propagation: . . . . . . . . . . . . . . . . . . . . . . . . . . . L. Wilson Pearson, W. Ross StoneCommunications: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Algiridas Pakstas, Yilin ZahoComputer: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Alberto BroggiConsumer Electronics: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Brian MarkwalterControl Systems: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Petros Ioannou, Ka C. CheokElectromagnetic Compatibility: . . . . . . . . . . . . . . . . . . . . . . . . . . . . Andrew Drozd, John NorgardElectron Devices: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . John Troxell, Krishna ShenaiIndustrial Electronics: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Brian K. Johnson, Krishnan RamuInstrumentation and Measurement: . . . . . . . . . . . . . . . . . . . . . . . . . . . Stanley Young, Carlos SunMicrowave Theory and Techniques: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Hiroshi KondohPower Electronics: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Seth Sanders, Dean PattersonReliability: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Theodore Freeman, Shuichi FukudaRobotics and Automation: . . . . . . . . . . . . . . . . . . . . . . . . . .Stefano Stramigioli, Katsushi IkeuchiSignal Processing: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . James KrogmeierSystems, Man and Cybernetics: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Fei-Yue Wang, Brian SmithVehicular Technology: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Roger Madden, E. Ryerson Case


IEEE Intelligent Transportation Systems Council Newsletter Vol. 5, No. 4, October 2003

Council News

From the Editorby Alberto Broggi

Dear Colleague,This is the last issue of our Newsletter that is published under my editorialship. After five years as

newsletter editor, I will leave this position to Prof. S. Stramigioli (Univ of Twente, The Netherlands). Ipersonally know Stefano’s capabilities and I am sure he will be very active and will be able to improve andpromote our newsletter further.

Five years ago, when I started with the first issue of this newsletter, it was distributed to just a fewpeople; now the mailing list has grown to more than 14,000 email addresses.

From January 1, 2004, I will begin with my new position as Editor-in-Chief of our IEEE Transactionson ITS. I am indeed very glad for this opportunity to serve our Council at this very high level: this journalrepresents our main visibility means within IEEE and –thanks to the hard work of the current Editor-in-Chief, Prof. C. White, and his assistant, Ms. J. White– has become well known for its high quality.

If you have announcements or comments you would like to share, please contact me at [email protected] the new Editor at [email protected]. I hope you will enjoy your new issue of the IEEE ITS Coun-cil Newsletter.

Message from the IEEE ITS Council Presidentby Charles J. Herget

I am writing this president’s message while I am still in China where we just completed our annualConference on ITS in Shanghai. Preceding the Conference, the Administrative Committee of the Councilmet and approved some very important motions.

The first action I want to address is the appointment of our Editor-in-Chief of the Transactions on ITS.After four years as EIC, Prof. Chelsea White, the founding editor of our Transactions has asked to stepdown at the end of this year. I am pleased to announce that Prof. Alberto Broggi has been appointed EICof the Transactions effective January 1, 2004. As many of the readers of this Newsletter know, Prof. Broggihas been the editor since its inception in 1999.

I would like to thank Prof. White for his service to the Council for the past four years as EIC of the







Transactions and Prof. Broggi for his service to the Council for the past five years as Editor of this Newsletter.

I am pleased to announce that Prof. Stefano Stramigioli has been appointed Editor of this Newsletter tosucceed Prof. Broggi.

Another significant action taken by the AdCom was to approve a motion for the Council to request thestatus of Society from IEEE. It will be my honor to serve as President of the Council for another year in2004, and it will be my goal to obtain approval from IEEE by the end of my term in 2004.

The success of our Council is totally dependent on the volunteers who take charge of all of its activities.In addition to those whose service I have already mentioned, I would like to take this opportunity to thankProf. Hideki Hashimoto who will be completing his term as Vice President of Publications this year. Iwould also like to express my gratitude to this year’s General Chair of Symposium on Intelligent Vehicles,Prof. Umit Ozguner, and the General Chair of the Conference on ITS, Prof. Fei-Yue Wang, and theiroperating committees for their effort.

We can be successful only if we have a continuous input of new volunteers. I invite any of you to contactme if you would like to serve as a volunteer in any capacity. You can reach me at [email protected].




Calendar of Next Eventsby Emily Sopensky

Next Meetings are scheduled as follows:

ITS Council Executive Committee Meetings:

February 4, 2004 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . TeleconferenceJune 13, 2004 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Parma, Italy

during IEEE IV 2004

ITS Council Administrative Committee Meetings:

February 15, 2004 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Savannah, GAOctober 3, 2004 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Washington, DC

during IEEE ITSC 2004

IEEE Intelligent Transportation Systems Conferences:

October 3–5, 2004 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Washington, D.C., USALoew’s l’Enfant Plaza Hotel

September 11-14, 2005 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Vienna, Austria2006 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Toronto, Canada

IEEE Intelligent Vehicles Symposia:

June 14–17, 2004 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Parma, Italyin conjunction with ATA-EL conference

2005 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Las Vegas, NV, USA

ITS World Congress:

November 16-20, 2003 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Madrid, Spain2004 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Nagoya, Japan2005 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .San Francisco, USA2006 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . London, UK

ITS America:

April 26-29, 2004 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . San Antonio, Texas14th Annual ITS America Meeting

ERTICO:

24-26 May 2004 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Budapest, Hungary




Cooperative Autonomous Driving at the Intelligent Control SystemsLaboratoryby Julian Kolodko and Ljubo Vlacic

Cooperative Autonomous Driving

at the Intelligent Control Systems Laboratory

Reprint of the article appeared inIEEE Intelligent Systems, July-August 2003, p.8–11

Julian Kolodko is completing his PhD work by designing and implementing a sensor to de-tect and estimate motion for autonomous navigation. His research interests range from digitalsignal processing to autonomous-vehicle technologies and the principles of multirobot cooper-ation. He received his B.Eng. in microelectronic engineering and B.InfTech with first-classhonors from Griffith University. Contact him at the Intelligent Control Systems Laboratory,School of Microelectronic Eng., Griffith Univ., Nathan Campus, 4111, Brisbane, Australia;[email protected].

Ljubo Vlacic is an associate professor and the founding director of Griffith University’s Intel-ligent Control Systems Laboratory. His research interests and contributions span the areas ofcontrol systems, decision theory, intelligent control, AI, and computer and systems engineering,and applying these methodologies to intelligent vehicles and transport systems, mechatronics,intelligent robotics, industrial automation, and knowledge management. He received his GradDiploma in engineering and his MPhil and PhD in electrical engineering (control), all fromthe University of Sarajevo. He is a fellow of the Institution of Electrical Engineers and of theInstitution of Engineers Australia. Contact him at the Intelligent Control Systems Labora-tory, School of Microelectronic Eng., Griffith Univ., Nathan Campus, 4111, Brisbane, Australia;[email protected].

Recently, Griffith University’s Intelligent Con-trol Systems Laboratory (www.gu.edu.au/centre/icsl),collaborating with INRIA’s IMARA laboratory(www.inria.fr/recherche/equipes/imara.en.html),completed what we believe is the first on-road demon-stration of autonomous passenger vehicles performingcooperative passing and traversal of unsignalized in-tersections. (Unsignalized intersections have no traf-fic lights, stop signs, or yield signs to control trafficflow.) This demonstration mated ICSL’s commu-nication and collaborative decision-making subsys-tems with IMARA’s experimental vehicle platforms,creating autonomous vehicles capable of real-timecooperation in real-world applications (see Figure 1).

Design philosophy

To experiment with cooperation among au-tonomous vehicles without needing large-scale facil-ities, our early development work centered on cre-ating small mobile platforms. The result was afamily of Cooperative Autonomous Mobile Robots(CAMRs) [1]. These small robots (approximately 30cm in diameter –see Figure 2) have a differential drivesystem with optical encoders allowing precise controlof velocity and heading. Their maximum speed is 0.1meter per second.

The robots have three primary subsystems:

• Communication and sensing• Collaborative decision making• Motion execution


MAILTO:[email protected],[email protected]



http://www.gu.edu.au/centre/icsl

http://www.inria.fr/recherche/equipes/imara.en.html


Figure 1: IMARA vehicles controlled by IntelligentControl Systems Laboratory hardware.

Figure 2: Cooperative Autonomous Mobile Robots.

These subsystems are distributed, with individ-ual functions having dedicated modules comprising acircuit board with a dedicated microcontroller. Mod-ules communicate via an I2C (Inter-Integrated Cir-cuit) bus. Figure 3 illustrates the distributed archi-tecture. This architecture makes implementing new

functionality straightforward, eases maintenance, andavoids real-time-related difficulties that normally oc-cur when a single microcontroller or microprocessorhandles all control and decision-making functions.

Figure 4 summarizes the ICSL paradigm for coop-erative autonomous driving. Here, autonomous refersto the ability to interact with the environment, copewith incomplete information, and adapt to unpre-dictable changes. Cooperative refers to the ability towork together to achieve global goals (for example, toavoid collisions) and to achieve individual goals (forexample, traverse an intersection, stay on the road,and turn).

Figure 3: The CAMRs’ system architecture.

In Figure 4, the primary subsystems have inter-faces (light blue) that correspond to the I2C bus inthe physical implementation; these subsystems’ in-teraction leads to event-driven real-time cooperation.The system is eventdriven because it uses messages,and it’s real-time because it makes decisions immedi-ately using the available messages. Cooperation re-sults because a vehicle will consider other vehicles’needs before making any decisions.

Vehicle operation in an environment at any levelrequires some knowledge about that environment.Such knowledge could come from an a priori-createdenvironmental map. However, our cooperative-autonomous-driving paradigm considers such a mapas inappropriate for real-time on-road applications,where the environment is highly dynamic. Indeed,such a map is not required for the localized tasks ofcooperative autonomous driving. We use an event-based control and decision-making system where mes-sages from the environment, other vehicles, or thevehicle itself trigger particular maneuvers and hencecooperation.



Figure 4: The cooperative-autonomous-drivingparadigm.

In general terms, messages can take one of threeforms. Implicit messages refer to a common under-standing of the correct maneuver under particular cir-cumstances. For example, each vehicle should abideby the same road rules (CAMRs use Australian ruleswhere necessary). Passive messages are inferred froman object’s existence. For example, the white line ona road sends a message indicating the road bound-ary’s location. Finally, active messages are explicitlysent by the originator and require an explicit com-munication channel. These messages provide infor-mation that the system could not otherwise infer viaimplicit or passive messages, such as a vehicle’s (ordriver’s) intentions, and can subsume other messagetypes.

Sensors and passive messaging

CAMRs use three forms of passive messaging.First, they can determine an object’s presence andrange through an array of 16 infrared transceiverpairs and two ultrasonic sensors. Second, they candetect lines on the road through an infrared white-line detector. Finally, they can determine their rel-ative angle with respect to another vehicle throughthe optical-sensor array. These sensors fall into thecommunication-and-sensing subsystem. Because ourexperiments with the IMARA vehicles aimed primar-ily to demonstrate on-road cooperation, we retainedthe sensor technology developed for CAMRs ratherthan use more ”robust” sensors such as ladar sen-sors [2]. To allow intelligent avoidance of dynamicobstacles, we are also developing a sensor that cansegment the environment into coherently moving re-gions [3].

Figure 5: Mating ICSL hardware to the IMARAplatform.

Active messaging

CAMRs have two channels for external activemessaging. The first is a general-purpose wireless linkvia a 433-MHz radio packet modem. This modem al-lows communication at 40 kbits per second over arange of up to 200 m. The second communicationchannel employs a combination of roadside beaconsthat transmit road information through a laser to areceiver on the vehicle. The radio modems remainedunchanged for use on the IMARA vehicles; however,we increased the roadside beacons’power and the re-ceiver’s size.

Driving maneuvers

A vehicle operating on a road must be capable of”survival maneuvers” such as road lane following andobstacle avoidance. Other important maneuvers fornavigating through a road network include followinganother vehicle at a safe distance, passing anothervehicle, and traversing an unsignalized intersection.

To implement road lane following and obstacleavoidance, CAMRs use the ultrasonic and infraredsensors. Rather than employing a visual cue to findthe lane’s center, we assume a ”corridor” situationwhere walls mark the road boundaries. A CAMRthen uses the ultrasonic sensors to find and maintainits position in the corridor’s center, using the infraredsensors to detect and avoid obstacles.

To follow another CAMR at a safe distance [4], aCAMR uses the ultrasonic sensor to determine thedistance to the lead CAMR and uses the optical-sensor array to determine its own relative heading. Afuzzy controller in the following CAMR first matchesthe vehicles’ speed and then aligns the followingCAMR so that it follows directly in the lead CAMR’spath.



Figure 6: On road demonstrations of (a) cooperative passing and (b) unsignalized-intersection traversal.

Cooperative passing starts when a CAMR detectsan obstacle ahead at some predefined distance [5].When the CAMR detects such an object, it uses itsoptical-sensor array to determine whether the objectis another CAMR. If the object is a CAMR, the firstCAMR passes it according to Australian road rules(that is, pass on the right) under the assumption thatthe adjacent lane is a passing lane.

To traverse unsignalized intersections, CAMRsuse messages from roadside beacons indicating theupcoming intersection’s configuration, road markingsindicating when the CAMR is about to enter the intersection (the stop line) and when it has exited the in-tersection (the clear line), and radio communicationwith other CAMRs to determine whether the inter-section is clear. Cooperative intersection crossing op-erates on a first-come, first-served basis, with the in-tersection considered occupied when a CAMR crossesthe stop line (in this situation, no other CAMRscan enter the intersection) and clear when a CAMRcrosses the clear line. Experiments show that thisapproach works well, especially for low-traffic inter-sections.

From a hardware perspective, the decision-and-control modules (see Figure 3) make control deci-sions based on messages from the communication-and-sensing subsystem. The system then translatesthese control decisions into physical maneuvers viathe motion execution subsystem. This separationof control logic and actuation makes the transitionfrom the CAMR platform to the IMARA platformstraightforward because we need to replace only themotion execution subsystem. Figure 5 illustrates howwe achieve this. Because the IMARA platform usesa CAN (control area network) bus rather than I2C,we have developed an I2C-to-CAN bridge. We thenprogram the IMARA vehicle’s root processor to cor-

rectly interpret messages from the master module sothat the vehicle can perform appropriate maneuvers.

On-road demonstration of real-time cooperation

Once we completed the interface from the ICSLhardware to the IMARA vehicle, we were able toperform successful experiments demonstrating allthe available maneuvers. However, here we il-lustrate only cooperative passing and unsignalized-intersection traversal.

Figure 6a shows two IMARA vehicles performingcooperative passing. Here, the faster vehicle identi-fies the lead vehicle, pulls out of its lane, passes theslower vehicle, and returns to its original lane in frontof the slower vehicle.

Figure 6b illustrates the success of ourunsignalized-intersection traversal. In this demon-stration, three vehicles approach an intersection. Fol-lowing our algorithm and using the various messagesdescribed earlier, the three vehicles drive through theintersection without collision.

Our successful demonstration of real-time on-roadcooperation among autonomous passenger vehiclesshows how intelligent-vehicle technologies are comingof age. However, we still must resolve several aspects,including the appropriate choice of sensors for morerobust messaging. Furthermore, because we testedeach maneuver in isolation, we are now investigatingthe linking of maneuvers to ensure continual auton-omy. We are also planning experiments with highervehicle speeds (up to 30 kmh-the IMARA vehicles’maximum speed) and experiments incorporating ourdynamic-obstacle-detection sensor system.



Acknowledgments

Many people have been involved in the ICSL’ssuccess. The design and development of theICSL CAMRs has involved Mark Hitchings, ZivanO’Sullivan, Jason Adcock, Anthony Engwirda, andJohn Van Gulik. Wayne Seeto and Mark Hitchingsfrom the ICSL and Michel Parent and Tony Noel fromIMARA were instrumental in the success of our ex-periments with the IMARA vehicles. This work couldnot have reached this advanced stage without finan-cial assistance from the Commonwealth Departmentof Science,

Education, and Training’s Innovation AccessProgram-International Science and Technology, theAustralian Academy of Science, the Australian Re-search Council (infrastructure), AusIndustry, and theFrench Embassy in Australia. To all those who havebeen involved with our success, we are grateful.

References

1. L. Vlacic et al., ”Intelligent Autonomous Sys-

tems: Griffith University’s Creation,” Intelli-gent Autonomous Systems, Y. Kakazu et al.,eds., IOS Press, 1998, pp. 5360.

2. A. Ewald and V. Willhoeft, ”Laser Scannersfor Obstacle Detection in Automotive Appli-cations,” Proc. 2000 IEEE Intelligent Vehi-cles Symp. (IV 2000), IEEE Press, 2000, pp.682687.

3. J. Kolodko and L. Vlacic, ”Real-Time Mo-tion Segmentation Hardware,” Proc. 2nd Int’lSymp. Autonomous Mini-robots for Researchand Edutainment (AMiRE 2003),Centre for In-formation Technology Innovations, QueenslandUniv. of Technology, 2003, pp. 8392.

4. M. Hitchings, Distance and Tracking Controlfor Autonomous Vehicles, MPhil thesis, Schoolof Microelectronic Eng., Griffith Univ., 1999.

5. M. Hitchings et al., ”Cooperative Operation ofTwo Mobile Robots,” Distributed AutonomousRobotic Systems, H. Asama et al., eds.,Springer-Verlag, 1995, pp. 339349.

New Leadership at the Helm of ITSC Publicationsby Emily Sopensky

Ms. Emily Sopensky, 2004 ITSC VP Publications and Dr. Hideki Hashimoto, 2003 ITSC VP Publications,jointly announce with pleasure the selection of Prof. Alberto Broggi as the new Editor-in-Chief of theTransactions on Intelligent Transportation Systems. His three-year term commends on January 1, 2004.

Further, both Sopensky and Hashimoto were pleased to announce that Prof. Stefano Stramigioli is thenew editor of the ITSC newsletter.

The incoming and outgoing vice presidents thanked Prof. Chelsea White III and his very able assistant,Ms. Jerri White, for their thorough, thoughtful and successful guardianship of the Transactions during itsformative years.

Sopensky and Hashimoto also thanked Prof. Broggi for his very capable and enthusiastic managementof the ITSC newsletter. They also recognized his phenomenal achievement in growing the mailing list to14,000 email addresses.




Project54: Standardizing Electronic Device Integration in Police Cruis-ers Cooperative Autonomousby Andrew L. Kun, W. Thomas Miller III, and William H. Lenharth

Project54: Standardizing Electronic Device Integration

in Police Cruisers Cooperative Autonomous

Reprint of the article appeared inIEEE Intelligent Systems, September-October 2003, p.10–13

Andrew L. Kun is an assistant professor of electrical and computer engineering at the Universityof New Hampshire. Contact him at [email protected].

W. Thomas Miller III is a professor of electrical and computer engineering at the Universityof New Hampshire. Contact him at [email protected].

William H. Lenharth is the director of the Research Computing Center and a research asso-ciate professor of electrical and computer engineering, both at the University of New Hampshire.Contact him at [email protected].

Technological advances have introduced manyelectronic devices into police cruisers. Today’s policecruisers are equipped with not only lights and sirensbut also digital radios, GPS units, computers, radars,and other devices. These in-car devices aren’t usu-ally designed with integration in mind. This designapproach creates two problems. The first stems fromthe fact that police cruisers are primarily vehicles andthe officers operating them are primarily drivers. Be-cause in-car devices aren’t designed for integration,most police departments install them in cruisers asstand-alone devices, each with its own user interface.Consequently, the officers operating the cruisers mustdeal with the distraction of interacting with multi-ple user interfaces in the hands- and eyes-busy envi-ronment of a car. Research shows that interactingwith even a single in-car device can lead to safetyproblems [1]. Interacting with multiple in-car devicesclearly poses a safety problem. This problem is likelyto worsen as new devices are installed in cruisers.

The second problem is that exploiting potentialsynergies between individual devices is difficult. Oneway to exploit such synergies is to create an inte-grated system of in-car devices controlled by a sin-gle computer. Interestingly, most electronic devicesdesigned for police cruisers can be connected to acomputer relatively easily. Yet many manufacturers

appear to still think of their devices as stand-aloneeven if they can be computer-controlled. Not con-cerned with integration, different manufacturers usedifferent hardware and software interfaces to connecttheir devices to computers. Often, these interfacesare not freely available to third-party engineers. Evenif the interfaces are available, every integration effortis unique and depends on the specific equipment adepartment uses. New efforts can’t capitalize on theexperiences of previous ones. Even worse, incremen-tal changes to integrated systems will likely be com-plicated.

Project54 (www.project54.unh.edu), at the Uni-versity of New Hampshire’s Consolidated AdvancedTechnologies Laboratory (Catlab), is tackling theseproblems [2]. Our goal is to create integration stan-dards for in-car electronic devices. From the view-point of the officer operating a cruiser, the projectaims to create a system with a standard, safe user in-terface that allows hands- and eyes-free operation ofin-car devices. From the viewpoint of the departmentthat installs and maintains in-car devices, the projectaims to create a modular, scalable system that’s easyto install, modify, expand, inspect, and repair.

Project54 uses a two-pronged approach to inte-gration. First, we’ve adopted publicly available hard-ware and software standards for including electronicdevices into a computer-controlled integrated system.


MAILTO:[email protected],[email protected],[email protected]




http://www.project54.unh.edu


If devices conform to these standards, in-car systemscan incorporate them without costly integration ef-forts. Second, we’ve created a standard speech-baseduser interface for the system, shared by all in-car de-vices. By creating a system with a single user in-terface, we expect to minimize user distraction. Aspeech interface lets users keep their hands on thewheel and their eyes on the road.

Hardware integration

To realize hardware integration, the Project54system uses the Intelligent Transportation SystemData Bus. The IDB standard prescribes both thehardware components and the protocol needed to ac-complish control tasks and to exchange informationbetween the car’s systems [3].

Most devices meant for police cruisers can’t con-nect to the IDB; however, most have serial and/orparallel inputs and outputs. We developed the Com-mon IDB Interface, an embedded device that caninterface to electronic products serially or in paral-lel and can communicate with the IDB. Through theCIDBI, the Project54 system can translate messagesfrom the IDB, send them to a connected device, andput responses from that device on the IDB.

Figure 1 outlines the Project54 system’s hardwaredevices. At the system’s center is the embedded PC.The figure’s bottom part shows the devices that con-nect to the PC through the IDB: the lights and siren,the radar, the radio, the video recorder, the GPSunit, the bar code scanner, and the push-to-talk but-ton (used to signal that the system should performspeech recognition). The CIDBI connects all thesedevices to the IDB. The figure’s top part shows de-vices that connect directly to the PC: the system disk,the keyboard and mouse, the microphone and speak-ers, the LCD touch screen, and the wireless-networkcard. The card provides 802.11 connectivity and al-lows wireless connection to a handheld computer.

Software integration and user interface integra-tion

Figure 2 shows the high-level block diagram of theProject54 system’s software architecture. The soft-ware, which runs on the embedded PC under Win-dows 2000, comprises applications and system-widesupport components. The applications (Applications1 through n in the figure) usually control one or more

electronic devices. They may also provide a func-tionality that isn’t related to controlling a particu-lar device–for example, one application in our systemprovides access to IP-based networks.

The support components provide communication,registry, network, logging, and user interface sup-port for the applications. Communication supportallows one-to-one connectivity between the applica-tions. This lets the system exploit synergies betweenthe devices controlled by the applications. It also letsa single application provide a service, such as accessto IP-based networks, to the entire system. Registrysupport allows access to the Windows Registry to ap-plications and other support components.

Figure 1: Hardware devices for the Project54system.

Figure 2: Project54 system software.



Figure 3: Project54 system hardware installed in a New Hampshire State Police cruiser.

By storing system settings in the registry, we canavoid hard-coding them. Network support providesaccess to the physical network connecting the elec-tronic devices to the PC. Applications use the net-work support component to interact with electronicdevices. By simply modifying this component, we cansupport new physical networks without recompilingthe applications. Logging support provides a central-ized way for all the system’s parts to log events anderrors.

User interface support allows the creation of anintegrated user interface. This support lets applica-tions implement graphical and speech user interfacesusing input and output hardware as well as third-party speech recognition and text-to-speech engines.The individual GUIs have the same look and feel andcan be speech enabled. So, from the user’s viewpoint,the system has a single speech-enabled user interface.

The system software has an open architecture.New applications can be added to the system as longas they conform to the interapplication communi-cation standard, which is freely available from Cat-lab [4].

Results

Figure 3 shows the Project54 system hardwareinstalled in a New Hampshire State Police (NHSP)cruiser. The center console contains the embed-ded computer, the radio, the radar, and miscella-neous electronics. The system includes an LCD touchscreen, which can serve as a second I/O modalityif the speech interface is unavailable. The systemalso includes a keyboard, a directional microphone onthe visor, and the push-to-talk button on the steer-ing wheel. Officers can use the keyboard to performtasks while the cruiser is parked. The directional mi-crophone reduces the influence of sounds that don’tcome from the driver, thereby improving the speechrecognition engine’s performance.

Officers can operate all in-car electronic devicesby issuing voice commands to the system. To do this,the officer presses the push-to-talk button and uttersa predefined phrase. For example, the officer can say”strobes” to turn the strobe lights on and ”strobesoff” to turn them off.

Control of the police VHF radio provides a goodexample of how the system simplifies operations inthe police cruiser. The VHF radio has 256 differ-



ent channels, organized in 16 zones with 16 channelsper zone. The radio’s standard manual control has”zone up,” ”zone down,” ”channel up,” and ”chan-nel down” buttons and a display window showing atwo-character zone indicator and a six-character ab-breviation of the channel name. To switch to a spe-cific channel, the officer must push the zone buttonrepeatedly to find the correct zone and then push thechannel button repeatedly to find the correct channel,all while trying to watch the current channel name inthe small display window. With the Project54 sys-tem, the officer can say ”headquarters” to switch tothe state police headquarters channel, ”Exeter” toswitch to the channel used by the local police in Ex-eter, New Hampshire, and so forth. The officer alsoreceives voice confirmation of the channel selected.

We successfully tested the Project54 system inNHSP cruisers. Over a period of approximately twoyears between January 2001 and spring 2003, theNHSP issued cruisers equipped with the Project54system to six police officers. The officers used thesystem in their everyday work and provided feedbackto us about system operation. They provided feed-back in person when they visited our on-campus facil-ity for upgrades or repairs and through frequent tele-phone conversations and emails. This long-term testproduced excellent results. Throughout the testingperiod, the system hardware operated reliably (ex-cept for several initial glitches). The system softwareproved to be robust and, to the best of our knowledge,bug-free.

We are deploying the system in NHSP cruisers.We expect to install the system in 75 cruisers by theend of 2003. Over the next year or two, the NHSPplans to install the system in about 300 cruisers. Weare also installing the system in cruisers of local lawenforcement agencies in New Hampshire.

We plan to improve the system by introducingan in-car expert assistant module. The expert as-sistant will handle the interaction between the policeofficer and the system in a somewhat human-like fash-

ion. Speech will continue to be the primary modal-ity of interaction. The expert assistant will presentinformation to the officer on the basis of predefinedpriorities. It will also let the officer, as well as thesystem, interrupt current tasks and start perform-ing new tasks. We are also working on implementingthe Project54 system software using distributed com-ponents. This approach will facilitate incorporatinghandheld computers into the system.

Acknowledgments

We thank the US Department of Justice for fund-ing Project54 through Grant 1999-DD-BX-0082.

References

1. P.A. Green, ”Crashes Induced by Driver Infor-mation Systems and What Can Be Done to Re-duce Them,” Proc. Convergence 2000, Soc. ofAutomotive Engineers, 2000, pp. 2636.

2. A.L. Kun, W.T. Miller III, and W.H. Lenharth,”Modular System Architecture for ElectronicDevice Integration in Police Cruisers,” Proc.2002 IEEE Intelligent Vehicle Symp., vol. 1,IEEE Press, 2002, pp. 109114.

3. M.E. Martin, F.C. Hludik, and W.T. MillerIII, ”The Project54 Common Interface for theIntelligent Transportation Systems Data Bus,”Proc. 2002 Spring IEEE Semiannual VehicularTechnology Conf., vol. 2, IEEE Press, 2002, pp.679683.

4. A. Pelhe, A.L. Kun, and W.T. MillerIII, Project54 System Software Architecture–Version 2, tech. report ECE.P54.2003.9, Elec-trical and Computer Eng. Dept., Univ. NewHampshire, Durham, 2003.

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Report on ITS Council AdCom Meeting - Oct 12, 2003by Emily Sopensky

The IEEE ITSC AdCom met at the Shanghai Worldfield Convention Hotel on October 12, 2003. High-lights of the meeting are as follows:

1. The AdCom instructed President Herget to pursue society status for the council as soon as feasible. Hewill report on such activities at the next AdCom meeting to be held in Savannah, Georgia, February15, 2004.

2. After reporting the results of the committee seeking a new transactions editor, the current EIC, ChelseaWhite III, announced that the committee had chosen Alberto Broggi. The AdCom ratified the selection.Prof. Alberto Broggi begins his 3-year term as ITS Transactions Editor in Chief January 1, 2004. TheAdCom expressed its deep appreciation and extended its thanks to Chip White and editorial assistantJerri White for their hard work in founding and managing the publication for three years.

3. Based on the current newsletter editor’s recommendation, Prof. Stefano Stramigioli will assume theeditorship of the newsletter on January 1, 2004.

4. The AdCom voted to encourage and stimulate the use of an automated system to manage conferencepapers.

5. The AdCom voted to have the 2007 ITSC Conference in Seattle and the IV 2005 Symposium in LasVegas.

IEEE Awards

Emily Sopensky, who is Member-At-Large on the IEEE Awards Board, provided general information onIEEE’s major awards to stimulate interest and nominations. These awards include:

• Medal of Honor

• 14 Medals (8 with specific technical fields)

• 28 Technical Field Awards (includes 4 new awards in 2002)

• 2 Corporate Recognition Awards

• 2 Service Awards

• 2 Prize Paper Awards

• Honorary Members

• Society Awards

• Medal awards are for:

– Outstanding contribution– Career-long, sustained contributions– Broad technical achievements– Broad impact

• Technical Field Awards (TFAs) are for:

– Outstanding contribution– Single major achievement– Narrower technical focus

She urged the individual members of AdCom to not only consider making nominations, but also as abody to consider funding an award.




Report on IEEE Trans. on Intelligent Transportation Systemsby Chelsea C. White

Since the Transactions on ITS Manuscript Central Website became operational on 31 March 2003, wehave received 59 papers in Manuscript Central. This is almost double what we received during the sametime period in 2002. We also notice that the turnaround time for electronic submissions is shorter than thatof regularly submitted papers. The Manuscript Central System contains a report menu which helps withtracking a number of statistics for papers handled in the system. Therefore, we are able to determine thatthe average time it took to reach a decision for the papers with completed reviews. The average time was65.8 days. The range of days between submission and decision was from 0.9 days to 144.8 days.

In addition, we have been able to add a new category of decision, Accept with Minor Revisions, in theelectronic system. This category requires that authors of accepted papers submit the manuscript one moretime so that the associate editor can check to see if the final changes have been made. This gives the associateeditor the chance to check the final product quickly before we request the final manuscript materials. Wefeel that the extra step will produce higher quality papers.

We have added several new associate editors. They are as follows: Baher Abdulhai, Mark Brackstone,Alan Erera, Roy Goudy, Der-Horng Lee, Markos Papageorgiou, and Nikolaos Papanikolopoulos. It shouldbe pointed out that our list of associate editors contains experts from both industry and academia. Many ofour authors are also from industry. Therefore, it can be said that the Transactions on ITS is a journal forboth academics and practicing engineers.

I will be stepping down as Editor-In-Chief as of 31 December 2003 and will be succeeded by AlbertoBroggi of the University of Parma. I am delighted to have Alberto as the new Editor-In-Chief and lookforward to working with him during the transition. Thanks go out to all of the Associate Editors, theCouncil officers, and the publication staff at IEEE Headquarters for all of their support over the past fouryears. Let me end this report with special thanks to my editorial assistant, Jerri White, whose diligence andhard work have been key reasons for the success of the Transactions.

IEEE Trans. on Intelligent Transportation Systems - Indexby Jerri White

Vol.4, No.1, March 2003

• Fuzzy Logic Based Virtual Rumble Strip for Road Departure Warning Systems, by TomPilutti and A. G. Ulsoy

• Automated Lane Change Controller Design, by Cem Hatipoglu, Umit Ozguner, and K.A. Red-mill

• Performance Analysis of Caching and Prefetching Strategies for Palmtop-Based Naviga-tional Tools, by Vittoria de Nitto Persone and Vincenzo Grassi

• A Compact Integrated Visual Motion Sensor for ITS Applications, by Keiichi Yamada andMineki Soga





• Distributed Architecture for Real-Time Coordination of Bus Holding in Transit Networks,by Jiamin Zhao, Satish Bukkappatnam, and Maged Dessouky

Vol.4, No.2, June 2003

Special Issue Presenting Papers from the IEEE 5th International Conference on Intelligent TransportationSystems (ITSC 2002) – Guest Editors: Ruey Long Cheu, Dipti Srinivasan and Der-Horng Lee

• Trajectory Segmentation for the Autonomous Control of Backward Motion for Truck andTrailer, by Dieter Zoebel

Abstract: For logistics centers the disposition and dispatch of goods has reached a high standardof automation. However, the trucks and trailers bringing and taking wares are driven manually.This offers an enormous potential for automation for the yards of logistics centers. The availabilityof this potential is correlated to the autonomous forward and backward motion control for standardtransportation vehicles.By an experimental system it has been shown that truck and trailer can be maneuvered au-tonomously at a high degree of precision. For purposes of safety it is necessary to guarantee thatat any instant of time the vehicle is within some predefined area. Therefore this paper introducesthe principle of safe cover segments which are never left by the vehicle in motion and defines rulesfor the connection of such segments forming a safe corridor.

• Highway Overhead Structure Detection using Video Image Sequences, by Yang Chen

• Computer Vision Algorithms for Intersection Monitoring, by Harini Veeraraghavan, OsamaMasoud and Nikolaos Papanikolopoulos

• Dynamic Camera Calibration of Roadside Traffic Management Cameras for Vehicle SpeedEstimation, by T. N. Schoepflin and D. J. Dailey

• Methods of Analyzing Traffic Imagery Collected from Aerial Platforms, by Alejandro Angel,Mark Hickman, Pitu Mirchandani, and Dinesh Chandnani

Abstract: A limitation of most traditional methods of traffic data collection is that they relyon techniques that are strictly local in nature. Aerial imagery sensors can provide sufficientresolution to sense vehicle locations and movements across broader spatial and temporal scales.Digital imagery, global positioning systems (GPS), and automated image processing can be used toimprove the spatial coverage, accuracy and cost-effectiveness of the data collection and reduction.In this paper, an approach for collecting and analyzing aerial imagery is given. To illustrate thevalue of the imagery, the paper outlines methods to generate estimates of speeds, travel times,densities, and queuing delays.

Vol.4, No.3, September 2003

Special Issue on Adaptive Cruise Control – Guest Editor: Petros Ioannou

• ACC Radar Sensor Technology, Test Requirements, and Test Solutions, by Ramzi Abou-Jaoude

Abstract: This paper presents an overview of the radar sensor technology used in Adaptive CruiseControl (ACC) applications. The performance tradeoffs of the different modulation schemes andscanning antenna types used by these radar sensors are discussed. The test requirements of thesemillimeter wave radar sensors during production, installation on a vehicle, and during after-marketservice are also discussed. Different test methods used for characterizing and aligning these radarsensors are presented.



• Methodology for Assisting Adaptive Cruise Control Behavior in Traffic Streams, by Z.Bareket, P. Fancher, H. Peng, W. Lee, and C. Assaf

• Adaptive Fuzzy Control for Inter-Vehicle Gap Keeping, by J. E. Naranjo, Carlos Gonzalez,Jesus Reviejo, Ricardo Garcia, and Teresa de Pedro

Abstract: There is a broad range of diverse technologies under the generic topic of IntelligentTransportation Systems (ITS) that holds the answer to many of the transportation problems.In this paper, one approach to ITS is presented. One of the most important research topics inthis field is Adaptive Cruise Control (ACC). The main features of this kind of controller are theadaptation of the speed of the car to a predefined one and the keeping of a safe gap between thecontrolled car and the preceding vehicle on the road. We present an ACC controller based onFuzzy Logic, which assists the speed and distance vehicle control, offering driving strategies andactuation over the throttle of a car. The driving information is supplied by the car tachometer anda RTK differential GPS, and the actuation over the car is made through an electronic interfacethat simulates the electrical signal of the accelerator pedal directly to the onboard computer. Thiscontrol is embedded in an automatic driving system installed in two testbed mass-produced carsinstrumented for testing the work of these controllers in a real environment. The results obtainedin these experiments show a very good performance of the gap controller, which is adaptable toall the speeds and safe gap selections.

• Research Advances in Intelligent Collision Avoidance and Adaptive Cruise Control, byArdalan Vahidi and Azim Eskandarian

Abstract: This paper looks into recent developments and research trends in collision avoid-ance/warning systems and automation of vehicle longitudinal/lateral control tasks. It is anattempt to provide a bigger picture of the very diverse, detailed and highly multidisciplinaryresearch in this area. Based on diversely selected research, this paper explains the initiatives forautomation in different levels of transportation system with a specific emphasis on the vehicle-levelautomation. Human factor studies and legal issues are analyzed as well as control algorithms.Drivers’ comfort and well being, increased safety, and increased highway capacity are among themost important initiatives counted for automation. However, sometimes these are contradictoryrequirements. Relying on an analytical survey of the published research, we will try to providea more clear understanding of the impact of automation/warning systems on each of the above-mentioned factors. The discussion of sensory issues requires a dedicated paper due to its broadrange and is not addressed in this paper.

Regular papers:

• Learning-Based Spatio-Temporal Vehicle Tracking and Indexing for Transportation Mul-timedia Database Systems, by Shu-Ching Chen, Mei-Ling Shyu, Srinivas Peeta, Chengcui Zhang

Abstract: One key technology of Intelligent Transportation Systems (ITS) is the use of advancedsensor systems for on-line surveillance to gather detailed information on traffic conditions. Trafficvideo analysis can provide a wide range of useful information to traffic planners. In this context,the object-level indexing of video data can enable vehicle classification, traffic flow analysis, in-cident detection and analysis at intersections, vehicle tracking for traffic operations, and updateof design warrants. In this paper, a learning-based automatic framework is proposed to supportthe multimedia data indexing and querying of spatio-temporal relationships of vehicle objects ina traffic video sequence. The spatio-temporal relationships of vehicle objects are captured viathe proposed unsupervised image/video segmentation method and object tracking algorithm, andmodeled using a multimedia augmented transition network (MATN) model and multimedia inputstrings. An efficient and effective background learning and subtraction technique is employed toeliminate the complex background details in the traffic video frames. It substantially enhancesthe efficiency of the segmentation process and the accuracy of the segmentation results to enablemore accurate video indexing and annotation. The paper uses four real-life traffic video sequences



from several road intersections under different weather conditions in the study experiments. Theresults show that the proposed framework is effective in automating data collection and access forcomplex traffic situations.

Vol.4, No.4, December 2003

• On Spacing Policies for Highway Vehicle Automation, by K. Santhanakrishnan and RajeshRajamani

Abstract: This paper develops a framework for the design and evaluation of spacing policies foradaptive cruise control. Spacing policies are evaluated from the point of view of string stability,traffic flow stability and traffic flow capacity. The standard constant time-gap spacing policycan guarantee string stability but is shown to suffer from poor traffic capacity and traffic flowinstability. An ”ideal” spacing policy is proposed that evolves naturally from the evaluationframework. The proposed spacing policy is a nonlinear function of speed. It provides stringstability and traffic flow stability as well as a higher traffic flow capacity compared to the standardtime-gap controller. An associated result proved in the paper is that traffic flow stability impliesstring stability for flow volumes up to a described maximum value.

• Analysis of Traffic Flow with Mixed Manual and Semi-Automated Vehicles, by Arnab Boseand Petros Ioannou

Abstract: The introduction of semi-automated vehicles designed to operate with manually drivenvehicles is a realistic near term objective. The purpose of this paper is to analyze the effects ontraffic flow characteristics and environment when semi-automated vehicles with automatic vehi-cle following capability (in the same lane) operate together with manually driven vehicles. Wehave shown that semi-automated vehicles do not contribute to the slinky effect phenomenon whenthe lead manual vehicle performs smooth acceleration maneuvers. We have demonstrated thatsemi-automated vehicles help smooth traffic flow by filtering the response of rapidly acceleratinglead vehicles. The accurate speed tracking and the smooth response of the semi-automated vehi-cles designed for passenger comfort reduces fuel consumption and levels of pollutants of followingvehicles. This reduction is significant when the lead manual vehicle performs rapid accelerationmaneuvers. We have demonstrated using simulations that the fuel consumption and pollutionlevels present in manual traffic can be reduced during rapid acceleration transients by 28.5% and1.5%-60.6% respectively due to the presence of 10% semi-automated vehicles. These environmen-tal benefits are obtained without any adverse effects on the traffic flow rates. Experiments withactual vehicles are used to validate the theoretical and simulation results.

• Three-Feature Based Automatic Lane Detection Algorithm (TFALDA) for AutonomousDriving, by Younguk Yim and Se-Young Oh

• Performance Evaluation of Soft Handoff for Multimedia Services in Intelligent Trans-portation Systems Based on CDMA, by Young-Uk Chung and Dong-Ho Cho

Abstract: To support multimedia services in intelligent transportation systems (ITS), CDMAbased radio-on-fiber (ROF) road-vehicle communication systems was proposed. Soft handoffshould be provided for multimedia services because these services are required to guaranteereal-time property and quality of service (QoS). The performance evaluation of soft handoff isimportant in view of system management such as determination of optimal resource allocation,cell configuration, and admission strategy. But, the performance evaluation of soft handoff whenmultimedia services are serviced has not been previously researched, even though there have beensome previous works for voice-call service. In this paper, we develop a new analytical model of softhandoff when multimedia services are served in CDMA based ITS. We evaluate the performanceof soft handoff scheme by analytical and simulation method. Blocking probability, handoff failureprobability and carried traffic are obtained.



• Determining Driver Visual Attention with One Camera, by Paul Smith, Mubarak Shah, andN. da Vitoria Lobo

Abstract: This paper presents a system for analyzing human driver visual attention. The systemrelies on estimation of global motion and color statistics to robustly track a person’s head andfacial features. The system is fully automatic, it can initialize automatically, and reinitialize whennecessary. The system classifies rotation in all viewing directions, detects eye/mouth occlusion,detects eye blinking and eye closure, and recovers the 3D gaze of the eyes. In addition, thesystem is able to track both through occlusion due to eye blinking, and eye closure, large mouthmovement, and also through occlusion due to rotation. Even when the face is fully occluded dueto rotation, the system does not break down. Further the system is able to track through yawning,which is a large local mouth motion. Finally results are presented, and future work on how thissystem can be used for more advanced driver visual attention monitoring is discussed.

ITSC Standards Committee – Call to Actionby Ramez Gerges

ITS Standards and the Role of the ITSC Standards Committee

This is a call for ITSC members who have interest in the ITS standards activities. The ITSC StandardsCommittee is being formed to participate and represent the ITSC members’ interest in ITS Standardsdevelopment, validation, testing, and deployment activities. This activity can be done to a great degreethrough electronic means (Email/Conference Calls) without additional travel and attendance commitments.Of course these interactions can be enhanced through meetings during the ITSC annual conference.

In the early 90’s ITS (IVHS then) promised a strategic solution to the mobility and safety problemsof the transportation system. More than 10 years later, one of the main issues facing ITS deploymentand market development is the lack of interoperable standards; few ITS standards have been successfullyvalidated, implemented and deployed. Despite the fact that many academic institutions have recognized andformed multidisciplinary ITS research teams, academic participation in ITS standards has been limited. Inpractice, the main stream transportation engineers and planners responsible for the infrastructure side of ITShave different expectations. They anticipate mature ITS standards that are clear, validated, have testableperformance and are of similar quality to the pavement and other civil engineering standards that they areused to. Unfortunately, the demands of the multidisciplinary technical nature of ITS overwhelmed theseorganizations. They either minimized their investment in ITS standards development or delegated them toothers with little technical oversight. On the industry side, activities are fragmented, and overlapping inmany cases. In some instances standards development were impeded by vendors that were trying to maintaintheir market share by rejecting new technologies. In other cases industry fear of unnecessary governmentregulations excluded real cooperation with the infrastructure side of ITS.

The above situation impacted the development activities at the Standards Developing Organizations(SDO’s). At times, the mismatch between the main stream SDO expertise and the specific ITS standardunder development severely delayed the process or published an unusable standard. In other cases, theSDO members had the right expertise but lacked business interest in ITS. This in turn increased standarddevelopment through funded consultants instead of volunteer industry participation, and in many casesproduced standards that were not validated and hard to implement.

The ITSC Standards Committee (ITSC-SC) can serve as a coordinator and technical reviewer of ITSstandards. Many ITS standards can benefit from referencing many other published standards. For examplethe ITS-wireless communications standards can benefit from other standards developed at IEEE, ITU, OMG,




IETF, ISO, ASME and TIA. The ITSC-SC would add value by ensuring seamless integration of standardsbeyond specific protocol layers. The committee can act more flexibly without limitations of attendance rulesor travel demands. The ITS-SC multidisciplinary expertise can help transportation organizations in theinterpretation and validation of standards. For example in the cases of the ITS-Radio Services (mislabeledas DSRC) and the Advanced Transportation Controller (ATC), there is no standard protocol description ortesting languages used, since IEEE dropped the use of the ITU-SDL and few transportation organizationsknow about the ITU-TTCN. The ITSC-SC may sponsor the development of ”Best Test Practices” for someof the current ITS descriptive standards (e.g. NTCIP-CORBA) or serve to reconcile many overlappingpublished standards (How many SDO’s have standards related to Data dictionaries and Message Sets?).

ITSC-SC may also take the lead on new standards, for example post 9/11 the dual use of ITS sensors andcommunications technologies fueled the regional installations of hundreds of cameras with different compres-sion algorithms, camera control protocols, network media interfaces, redundancy schemes, and architecture.Can we help?

Did the above present a fair description of the ITS Standards from a practitioner point of view? Isthere a role for the ITS-SC? Is it practical to start standards activity without external funds? Can theITSC-SC add value to standards based deployment? Which standards need to be addressed? Let us try toaddress these questions together as part of the ITSC Standards Committee. Please feel free to contact meat [email protected].

CFP: IEEE Intelligent Vehicles Symposium 2004by Alberto Broggi

The IEEE Intelligent Vehicles Symposium 2004 will be held in Parma, Italy, at the University Campus(June 14-17, 2004) in conjunction with the 12th International Symposium ATA EL 2004 ”E-Safety: thechallenge of the future: Scenario - Technologies - Applications” (June 16-18, 2004), organized by ATA -Associazione Tecnica dell’Automobile, Italy.

These two colocated events will attract a large number of people from industry, academia, and gov-ernment, as well as media: IEEE IV Symp. will be based on its usual single track format, while ATA ELwill feature invited-only lectures about the current status of the research and future scenarios; both eventswill share one full day for live demonstrations of vehicles and infrastructures, during which an autonomousdriving race will be organized.

The schedule will be as described by the following picture:

Prior and after the meeting both sightiseeing and technical tours (the Ferrari industry is located only 40





minutes from Parma) will be organized, as well as a golf tournament.Parma is conveniently located in the middle of north Italy, making it easy to reach other well known

Italian landmarks (Venice, Florence,...) in just a few hours by train.

IEEE Intelligent Vehicles Symposium Parma, Italy, June 14-17, 2004

IV’04

The Intelligent Vehicles Symposium (IV’04) is an annual forum sponsored by theIEEE Intelligent Transportation Systems (ITS) Council. It gathers researchers from industry and universities to discuss research and applications for Intelligent Vehicles and Intelligent Infrastructures. Three days of the symposium will be allocated for technical presentations and one day will be dedicated to live vehicle demonstrations. The technical presentations are characterized by a single session format so that all attendees remain in a single room for multilateral communications in an informal atmosphere. Papers dealing with all aspects of vehicle-related intelligent systems and cooperation between vehicles and infrastructures are solicited for IV’04.

• Driver Assistance Systems • Automated Vehicles • Active and Passive Safety • Integrated Safety Systems • Vehicle Environment Perception • System Architecture • Smart Infrastructure • Impact on Traffic Flows • AHS • IVI

• Sensors • Image, Radar, Lidar Signal

Processing • Information Fusion • Vehicle Control • Decision and Expert Systems • Communications and Networks • Human Factors • Human Machine Interaction • Others

Special Session Organization is encouraged. Organizers should contact Dr. Niehsen at [email protected]

General Chair Alberto Broggi Università di Parma Program Chair Christoph Stiller Universität Karlsruhe Program Co-Chairs Ljubo Vlacic Griffith University Fei-Yue Wang Univ. of Arizona and CAS Tutorial Chair Massimo Bertozzi Università di Parma Demos Chair Gianfranco Burzio CRF Finance Chair Emily Sopensky The Iris Company Publication Chair Stefano Stramigioli Drebbel Institute on Mechatronics Advisory Chair Ichiro Masaki MIT Publicity Chairs Olga Landolfi TTS Italia Daniele Pulcini Univ. di Roma "La Sapienza" Local Arrangements and Registration Chair Alessandra Fascioli Università di Parma Program Committee B. van Arem J.-M. Blosseville N. Clarke E.D. Dickmanns K. Dietmayer U. Franke H.J. Gao J. Gayko T. Graf K. Gresser T. Jochem A. Kirchner K. Kluge G. Levizzari M. Maurer M.-M. Meinecke J. Misener K. Naab H.-H. Nagel W. Niehsen W. Niem Ü. Özgüner M. Parent L. Schäfers M. Tan C. Thorpe M. Tomizuka V. Torre H. Winner

Paper Submission Prospective authors are requested to send an extended summary through the conference website no later than Dec. 1, 2003. The summary must be a pdf file inIEEE two column format. A LaTeX style file and a Microsoft Word template are available at the website. The extended summary must be 4 pages including figureswith sufficient detail for review for technical merits and appropriateness. A separate page should include (1) the title of the paper, (2) the name of the authors, (3) the name, mailing address, telephone and fax number, and email address of the corresponding author, (4) the technical categories.

Important Dates Organized session proposal deadline Nov. 1, 2003 Extended summary submission Dec. 1, 2003 Notification of acceptance Feb. 1, 2004 Camera-ready manuscript due for proceedings Mar. 15, 2004

Please refer to the following websites for the most up-to-date information: IEEE IV’04 http://www.ieeeiv.org IEEE ITS Council http://www.ieee.org/itsc

Call for Papers

Program Topics Include the Following Technical Categories



The Test Track

andand

will be held in Parma, Italy, from June 14 to June 18, 2004. The two events jointly organize a one-day live demonstration of intelligent infrastructures and vehicles at the Varano test track (20 min from the symposia location).

Information about the test track can be obtained from www.varano.it

Co-located Events

How to ApplyTo apply, please complete the attached form and send it to [email protected] before January 10, 2004

TheThe

The purpose of the co-location of the two symposia is to offer the attendees the opportunity to meet a largernumber of specialists and invited speakers who will present and discuss alternative scenarios, technologicaltrends, scientific and applicatory aspects of the technologies for intelligent vehicles.A joint registration to the two events will be possible and will allow to attend both events at a reduced price.

Live Demonstrations and Autonomous Driving RaceBoth demonstrations and an autonomous driving race are planned to display the latest research results.

www.ieeeiv.org

www.ata.it



C A L L F O R D E M O N S T R A T I O N S A public demonstrations of new systems for Intelligent Vehicles will take place on June 17th, 2004 at the Varano test track, near Parma, Italy (20 km from Parma). Companies interested in displaying and demonstrating their prototypes and research results are kindly invited to complete the following questionnaire with their requests and suggestions, and send it to the Demo Chair ([email protected] - Fax: +39-011-9083083) before December 1, 2003 for the definition of the demo sessions. Please complete one form for each demonstrator. 1) What type of system would you like to demonstrate at the Varano test track?

q Vision Enhancement

q Adaptive Cruise Control

q Stop & Go

q Longitudinal Collision Warning / Avoidance

q Lateral Collision Warning / Avoidance

q Automatic Vehicle Operation

q Emergency Manoeuvres

q Pre-Crash Systems

q Vehicle Convoys

q Ecological Driving

q Driving Monitoring and Alertness Enhancement

q Human Machine Interface

q Inter Vehicle Communication

q Vehicle – Infrastructure Connection

q Other (please describe) ___________________________________________________________

2) Please describe shortly the type of demonstration in term of: vehicle manoeuvres, length of time,

number of passengers allowed on each test: ____________________________________________ ________________________________________________________________________________ ________________________________________________________________________________ ________________________________________________________________________________

3) What kind of off-board equipment do you plan to use?

q Road sign / Signal

q Magnetic marks

q White lines

q IR / mW beacons

q Other (please describe) ____________________________________________________________ 4) Will you provide the materials and the installation by yourself? ______________________________ 5) Do you need any electric supply for the road equipment? Where? ___________________________ 6) How long will it take for the installation and testing of the road equipment? _____________________ 7) Do you need dry runs (test séances) long time before the Symposia (March or April 2004) or it is

sufficient to install and test the road equipment the day before the event? _____________________ 8) What kind of support do you need for your vehicle(s) and the on-board equipment? ______________ 9) Is your Company interested in participating in an autonomous driving race to demonstrate the level

of your technology? ________________________________________________________________ Please send your completed questionnaire to: Gianfranco Burzio

FIAT Research Centre Fax: +39 011 9083 083 Email: [email protected]



CFP: IEEE Intelligent Transportation Systems Conference 2004by Paul Kostek

Advances in Intelligent Transportation Systems

Given the advances in information technologyapplied to ITS, we have added many new program topics that address the important

IT components in ITS. We also continue with the traditional IEEE ITSC Conference program tracks and the numerous advances in those associated areas.

PROGRAM TOPICSInformation Technology for ITS■ Computers (hardware, software, networks, wireless)■ Human-Computer-Interface (displays,

artificial speech)■ Information Systems (databases, data archiving, data

management, quality assurance)■ Security (hardware, software, communications, risk

analysis, information assurance)■ Geographic Information Systems (real-time traffic,

planning)■ Software Engineering (processes, metrics)■ ITS Systems Integration■ Wireless/Location-Based Services Applications

Systems Analysis and Modeling for ITS■ Intelligent Data Analysis (statistical modeling, data

mining, forecasting, data fusion)■ Simulation Models (continuous, discrete, real-time)■ Optimization Modeling (routing, route guidance)■ Decision Systems (expert systems, intelligent agents)■ Traffic Theory for ITS (capacity analysis, safety)■ Economic Analysis Models (cost/benefit, life-cycle,

performance evaluation)■ Control Theory (traffic networks, vehicular)

ITS Technology■ Communications ■ Vehicle Control■ Air Traffic Control■ Port and Terminal Automation■ Navigation and Guidance Systems■ Reliability and Quality Assurance■ Signal Processing■ Imaging and Image Analysis■ Sensors (infrastructure and vehicle based)■ Standards for ITS Technology■ Transit Systems■ Automated Incident Detection

Of Special Interest:■ All papers submitted will be considered for a special

issue(s) of the IEEE Transactions on ITS.

■ Proposals for Short Courses are invited and should be forwarded to Hamed Benouar: [email protected]. Short courses will provide CEU credits.

■ Proposals for Special Sessions are invited and should be forwarded to Azim Eskandarian: [email protected]

■ For information on the IEEE ITS Council and conference updates see: www.ewh.ieee.org/tc/its/

Paper Submission ■ Conference questions should be addressed to the

Conference Chair, Paul Kostek: [email protected] ■ Complete manuscripts in PDF format must be

electronically submitted for review no later than March 1, 2004 at the following address: To Be Announced.

■ Submitted manuscripts must be no longer than six (6) pages in IEEE two-column format, including figure and references. Manuscripts exceeding this length limit may be rejected without review. A LaTex style file and a Microsoft Word template are available from the IEEE web site, www.ieee.org/organizations/pubs/authors.htmlHOWEVER, submission MUST be in PDF Format. Also, authors must submit a completed IEEE copyright form with the paper submission: www.ieee.org/IEEECForm121302.htm

In addition to the manuscript, a cover page should besent that includes:

1. the title of the paper 2. the name(s) of the author(s) 3. the technical categories 4. the name, mailing address, telephone and fax number,

and email address of the contact author. 5. 3-5 keywords.

Notification of acceptance is scheduled for no later thanJune 1, 2004

ITSC!2 0 0 4

CONFERENCE COMMITTEE

Conference Chair:Paul [email protected]

Program Co-Chairs:William SchererBrian Smith

Special Sessions Chair:Azim Eskandarian

Finance:Bob Rassa

Publications:Emily Sopensky

Publicity:TBD

Short Courses:Hamed Benouar

Admin/Local Arrangement:Jackie Hunter

Exhibits:TBD

Tour Chair:TBD

Local Resources:Thomas M. KuriharaMichael BronziniScott GoldsteinMichael Cardinale

T H E 7 T H I N T E R N A T I O N A L IEEE Conference on Intelligent Transportation Systems

(www.ieee.org/itsc)

W a s h i n g t o n , D . C . , O c t o b e r 3 - 6 , 2 0 0 4L o e w s L ’ E n f a n t P l a z a H o t e l

(www.loewshotels.com/hotels/washington_lenfant/default.asp)




Non-Council ITS News

A Glimpse on the Webby Alessandra Fascioli

This department is dedicated to catching a glimpse on the WWW trying to discover interesting ITSrelated Web resources. Reviewed sites range from research programs and projects, to software packages,databases, associations, non-profit companies, and more.Every suggestion or contribution is welcome and should be addressed to [email protected].

• The ITS Cooperative Deployment Network (ICDN), managed by the USA National Asso-ciations Working Group for ITS is a shared Internet resource containing up-to-date news, insight,and resources for transportation professionals and agencies.Link to ITS Cooperative Deployment Network site:http://www.nawgits.com/icdn.html

• TechnoConsulting.Net is a technical portal wich offers information on infomobility and trasporta-tion. Its international edition contains up-to-date news and interesting links. A local edition dedi-cated to Italian information and issues is also available.Link to TechnoConsulting.Net site:http://www.technoconsulting.net/Infomobility.html

• Smart Urban Transport is conceived as a modern communication medium for managers, plan-ners, regulators, advisors, financiers of operations planning, coordinating and operating passengerand freight traffic. Smart Urban Transport’s focus is primarily in highlighting solutions for the costeffective, environmentally friendly transportation movements within the population centres of theAsian-Pacific triangle from Japan to Turkey to New Zealand. Smart Urban Transport sends eachmonth an email newsletter, and three times a year a magazine with fuller detail and longer articles.Link to Smart Urban Transport site:http://www.smarturbantransport.com

• The ITS site of the European Commission’s Directorate General for Energy and Trans-port presents the vision for ITS of the European Union as well as specific policies and key objectivesthat will help move forward important initiatives for road transport. Information on Communityaction and priority objectives and funding are also available.Link to ITS site of the European Commission’s DG for Energy and Transport:http://europa.eu.int/comm/transport/themes/network/english/its/html/index.html

• TRL (Transport Research Laboratory) is a centre of excellence providing world-class research,advice and solutions for all issues relating to land transport. TRL works with governments, aidagencies and private companies both in the UK and internationally to find sustainable solutions fortransport and create new opportunities across a wide range of transport-related issues throughoutthe world.Link to Transport Research Laboratory site:http://www.trl.co.uk




http://www.nawgits.com/icdn.html

http://www.technoconsulting.net/Infomobility.html

http://www.smarturbantransport.com

http://europa.eu.int/comm/transport/themes/network/english/its/html/index.html

http://www.trl.co.uk


Upcoming Conferences, Workshops, or Symposiaby Massimo Bertozzi

This section lists upcoming ITS-related conferences, workshops, or exhibits. Contributions are welcome;please send announcements to [email protected].

IEEE Semiannual Vehicular Technology Conference(VTC2003 fall)http://www.vtc2003.comOrlando, USANovember 4–9

10th ITS World Congresshttp://www.madrid2003.itscongress.orgMadrid, SpainNovember, 16–20

CAATS Annual MeetingSan Diego, CA, USADecember 2–4

Smart Demo 2004http://www.smartdemo.consec.com.auEastern Creek Raceway, Australiaearly 2004

Integrated Intelligent Transport SolutionsLondon, UKMarch 8–11, 2004

2004 SAE World CongressDetroit, USAMarch, 8–11, 2004,♦ submission by June, 1

Intelligent Autonomous Systems (IAS-8)http://www.ias8.orgAmsterdam, The NetherlandsMarch 10–13, 2004

IEEE Intl. Conf. on Networking, Sensing and Controlhttp://ins.cn.nctu.edu.tw/icnsc2004TaipeiMarch 21–23, 2004,♦ submission by November, 30

Intelligent Transportation Systems Safety and Secu-rityhttp://www.cisr.gwu.edu/conference.htmlMiami FL, USAMarch 23–24, 2004,♦ submission by December, 31

Workshop on Intelligent Transportation (WIT 2004)http://wit.tu-harburg.deHamburg, GermanyMarch 23–24, 2004,♦ submission by November, 15

FISITA 2004: World Automotive Congresshttp://www.fisita2004.comBarcelona, SpainMay 23–27, 2004,♦ submission by May, 31

ITE 2004 Annual Meeting and Exhibithttp://www.ite.org/meetcon/index.aspLake Buena Vista FL, USAAugust 1–4, 2004,♦ submission by September, 2

IFAC Symposium on Intelligent Autonomous Vehi-cleshttp://iav04.isr.ist.utl.ptLisbon, PortugalJuly 5–7, 2004,♦ submission by December, 1

11th ITS World Congresshttp://www.itswc2004.jpNagoya, JapanDecember, 16–20,♦ submission by February, 1




http://www.vtc2003.com



http://www.madrid2003.itscongress.org

http://www.madrid2003.itscongress.org

http://www.caats.org/news/calendar/9th_annual.htm

http://www.smartdemo.consec.com.au

http://www.smartdemo.consec.com.au

http://www.iir-conferences.com/site/_confcode.cfm?DirName=CG2150&ConfCode=CG2150&iv=15

http://www.sae.org/congress/author/cfp04.htm

http://www.ias8.org

http://www.ias8.org

http://ins.cn.nctu.edu.tw/icnsc2004

http://ins.cn.nctu.edu.tw/icnsc2004

http://www.cisr.gwu.edu/conference.html



http://wit.tu-harburg.de

http://wit.tu-harburg.de

http://www.fisita2004.com

http://www.fisita2004.com

http://www.ite.org/meetcon/index.asp

http://www.ite.org/meetcon/index.asp

http://iav04.isr.ist.utl.pt



http://www.itswc2004.jp

http://www.itswc2004.jp


Call for Papers

CFP: International Journal of Vehicle Information and CommunicationSystemsby Jeremy Blum

International Journal of Vehicle Information and Communication Systems

Call for Papers

The International Journal of Vehicle Information and Communication Systems is seeking high quality, original manuscripts for the inaugural issue. The deadline for papers is November 30, 2003. The aim of the journal is to provide a refereed reference in the field of vehicle networking, information and communication systems. The journal emphasizes the following: • how information flow and communication takes place; • the interaction, effects and implications of communication between systems and

subsystems within the vehicle, between vehicles, and between a vehicle and the roadside;

• the effects of such interaction on the driver, passengers and their safety, and the environment.

We are soliciting high quality, innovative work for the inaugural issue. Each paper submitted will be subject to the double-blind review procedures of IJVICS. Manuscripts could be original papers, empirical studies, or literature and research reviews providing new perspectives. The scope of the first issue includes the following: • Assisted driver information and

communication systems • Telematics • Vehicle entertainment systems; climate

control and comfort systems • In-car computing, internet applications • Application of wireless technology • Mobile communication technology • Intelligent highway systems • Optical power and data transmission • Application of glass fibre technology

• Real-time data communication • Real-time distributed systems • E/E Architectures and distributed E/E

architectures • Systems integration and compatibility • Control systems developments • Mechatronics and technologies for

smart-power mechatronics • System integration and compatibility • Integrated systems and modules • Multimedia networking in vehicles

If you are interested in submitting an manuscript for possible inclusion in this issue, please send it as an email to the Guest Editor for this issue - Jeremy Blum at [email protected]. The papers should be an MS Word file, a Postscript file, or an Adobe Acrobat file. For further information about the journal, please visit the website at www.inderscience.com/catalogue/v/ijvics/ijvics.html. Please check the journal website for further information concerning the format, style and guide to authors. The deadline for papers is November 30, 2003.




Intelligent Transportation Systems Safety and Security Conferenceby Riaz Akbar Sayed

Intelligent Transportation Systems Safety and Security Conference

ITS Safety Security

March 24-25, 2004 Eden Roc Renaissance Resort

4525 Collins Ave., Miami, Florida 33140 USA. (PH: 305-531-0000 ext.400, www.edenrocresort.com) Extended Call for Papers

The deadline for submission to the ITS S&S Conference has been extended. Full papers, without abstract review, may be submitted by Dec. 31, 2003.

Objective & Scope The Center for Intelligent Systems Research (CISR) of The George Washington University (GWU) in collaboration with several agencies of the US Department of Transportation, and industrial partners are organizing this unique conference to focus on safety and security aspects of Intelligent Transportation Systems. The objective of this conference is to provide researchers, students, developers, engineers, managers, and decision makers from government, academia, and industry a dedicated forum for exchange of the latest information, findings, and advances of intelligent systems and other automation, controls, and communications technologies for Transportation Safety and Security. Innovative methods, technologies, tools, demonstration projects, case studies, and applications which address various safety and security aspects of transportation systems, the infrastructure, and its components are covered. Authors with original contributions are invited to submit an abstract for review. Upon acceptance, a complete paper for review and publication in the conference proceedings (CD) will be required.

Topic Areas Traffic Monitoring, Control, and Management Network Safety and Security Emergency/Incident Management Remote Sensing, Sensor Fusion and Applications Telematics, ITS Applications and Case Studies Simulation, Modeling, and Virtual Reality

Collision Avoidance, ACC Intelligent Vehicles, Driver Assistance Automatic Crash Notification (ACN) and Crash

Countermeasures Aviation Safety and Security Other related safety & security topics

Authors Schedule - Full Paper Due: December 31, 2003 - Review Process & Notice of Acceptance: January 31, 2004 - Pre-registration Deadline: February 10, 2004 - Final Papers Due: March 1, 2004 - Conference Presentations: March 24-25, 2004

Contact- Submit Papers and Registration Forms To: Abstracts and Full Papers: An electronic file (PDF or MS WORD format). Conf. Info. also available on the web site: (www.cisr.gwu.edu)

Dr. R. A. Sayed, Conference Secretariat

[email protected], PH (703) 726-8507, FAX (703) 726-8505 Center for Intelligent Systems Research The George Washington, University, Virginia Campus 20101 Academic Way, Ashburn, Virginia 20147 USA

Presenters, Authors, and Participants are required to pre-register

Organizers

Conference Chair: Eskandarian, Azim (GWU, CISR)

Planning Committee: Bedewi, Nabih E. (GWU, NCAC) Harrald, John (GWU, ICDRM) Motevalli, Vahid (GWU, Aviation Institute) Sayed, Riaz A. (GWU, CISR)

Technical Organizing Committee Adeli, Hojjat (Ohio State Univ.) Augenstein, Jeffery S. (Univ. of Miami, Lehman Injury Res. Ctr.) Bahouth, George (GWU, NCAC) Bedewi, Nabih (GWU, NCAC) Blum, Jeremy (GWU, CISR) Burgutt, August L. (DOT, NHTSA) Carsey, Diana (HART Transit Authority, FL) Digges, Kennerly (GWU, NCAC) Eskandarian, Azim (GWU, CISR) Harrald, John (GWU, ICDRM) Krammes, Raymond (DOT, FHWA) Kühne, Reinhart (U. of Stuttgart, Germany) Lombardo, Louis (DOT, NHTSA) Mahmassani, Hani S. (U. of Maryland, MTI) Michael, J. Bret (US Naval Postgraduate School) Motevalli, Vahid (GWU Aviation Institute) - General Registration Fee: $ 475

- Presenters Registration Fee: $ 375 - Student Registration Fee: $ 275 - Media Registration Fee $ 100 Fees cover proceedings CD and continental breakfasts and luncheons for two conference days.

Najm, Wassim (DOT, Volpe Center) Oskard, Mort (DOT, FHWA) Patel, Raman K. (Polytechnic Univ. Brooklyn, NY) Radwan, Essam (U. of Central Florida, CATTS) Rouhana, Stephen W. Ford Scientific Res. Lab) Scemama, Gerard (INRETS, France) Seher, Chris (DOT, FAA) Thirumalai, K. (DOT, RSPA) Walker, Martin (DOT, FMCSA) Wentworth, James (GWU, CISR)



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