Motorcycle That See: Multifocal Stereo Vision Sensor for Advanced Safety Systems in Tilting Vehicles

Applicability Assessment of Active Safety Systems for Motorcycles Using Population-Based Crash Data: Cross-Country Comparison among Australia, Italy, and USA

The role of powered two-wheeler (PTW) transport from the perspective of a more sustainable mobility system is undermined by the associated high injury risk due to crashes. Motorcycle-based active safety systems promise to avoid or mitigate many of these crashes suffered by PTW riders. Despite this, most systems are still only in the prototype phase and understanding which systems have the greatest chance of reducing crashes is an important step in prioritizing their development. Earlier studies have examined the applicability of these systems to individual crash configurations, e.g., rear-end vs. intersection crashes. However, there may be large regional differences in the distribution of PTW crash configurations, motorcycle types, and road systems, and hence in the priority for the development of systems. The study objective is to compare the applicability of five active safety systems for PTWs in Australia, Italy, and the US using real-world crash data from each region. The analysis found stark differences in the expected applicability of the systems across the three regions. ABS generally resulted in the most applicable system, with estimated applicability in 45–60% of all crashes. In contrast, in 20–30% of the crashes in each country, none of the safety systems analyzed were found to be applicable. This has important implications for manufacturers and researchers, but also for regulators, which may demand country-specific minimum performance requirements for PTW active safety countermeasures.

Moving-object detection and tracking by scanning LiDAR mounted on motorcycle based on dynamic background subtraction

This paper presents a method for moving-object detection and tracking (DATMO) in global navigation satellite systems (GNSS)-denied environments using a light detection and ranging (LiDAR) mounted on a motorcycle. Distortion in the scanning LiDAR data is corrected by estimating the pose (3D positions and attitude angles) of the motorcycle in a period shorter than the LiDAR scan period using normal distributions transform-based simultaneous localization and mapping (NDT-based SLAM) and the information from an inertial measurement unit (IMU) via the extended Kalman filter (EKF). The scan data of interest are extracted by subtracting the local environment map generated by NDT-based SLAM from the LiDAR scan data. Moving objects are detected from the scan data of interest using an occupancy grid method and are tracked with a Bayesian filter. Experimental results obtained from public road and university campus environments demonstrate the effectiveness of the proposed method.

SLAM-Based Self-Calibration of a Binocular Stereo Vision Rig in Real-Time

The calibration problem of binocular stereo vision rig is critical for its practical application. However, most existing calibration methods are based on manual off-line algorithms for specific reference targets or patterns. In this paper, we propose a novel simultaneous localization and mapping (SLAM)-based self-calibration method designed to achieve real-time, automatic and accurate calibration of the binocular stereo vision (BSV) rig’s extrinsic parameters in a short period without auxiliary equipment and special calibration markers, assuming the intrinsic parameters of the left and right cameras are known in advance. The main contribution of this paper is to use the SLAM algorithm as our main tool for the calibration method. The method mainly consists of two parts: SLAM-based construction of 3D scene point map and extrinsic parameter calibration. In the first part, the SLAM mainly constructs a 3D feature point map of the natural environment, which is used as a calibration area map. To improve the efficiency of calibration, a lightweight, real-time visual SLAM is built. In the second part, extrinsic parameters are calibrated through the 3D scene point map created by the SLAM. Ultimately, field experiments are performed to evaluate the feasibility, repeatability, and efficiency of our self-calibration method. The experimental data shows that the average absolute error of the Euler angles and translation vectors obtained by our method relative to the reference values obtained by Zhang’s calibration method does not exceed 0.5˚ and 2 mm, respectively. The distribution range of the most widely spread parameter in Euler angles is less than 0.2˚ while that in translation vectors does not exceed 2.15 mm. Under the general texture scene and the normal driving speed of the mobile robot, the calibration time can be generally maintained within 10 s. The above results prove that our proposed method is reliable and has practical value.

Active safety systems for powered two-wheelers: A systematic review

Objective: Active safety systems, of which antilock braking is a prominent example, are going to play an important role to improve powered two-wheeler (PTW) safety. This paper presents a systematic review of the scientific literature on active safety for PTWs. The aim was to list all systems under development, identify knowledge gaps and recognize promising research areas that require further efforts.Methods: A broad search using "safety" as the main keyword was performed on Scopus, Web of Science and Google Scholar, followed by manual screening to identify eligible papers that underwent a full-text review. Finally, the selected papers were grouped by general technology type and analyzed via structured form to identify the following: specific active safety system, study type, outcome type, population/sample where applicable, and overall findings.Results: Of the 8,000 papers identified with the initial search, 85 were selected for full-text review and 62 were finally included in the study, of which 34 were journal papers. The general technology types identified included antilock braking system, autonomous emergency braking, collision avoidance, intersection support, intelligent transportation systems, curve warning, human machine interface systems, stability control, traction control, and vision assistance. Approximately one third of the studies considered the design and early stage testing of safety systems (n. 22); almost one fourth (n.15) included evaluations of system effectiveness.Conclusions: Our systematic review shows that a multiplicity of active safety systems for PTWs were examined in the scientific literature, but the levels of development are diverse. A few systems are currently available in the series production, whereas other systems are still at the level of early-stage prototypes. Safety benefit assessments were conducted for single systems, however, organized comparisons between systems that may inform the prioritization of future research are lacking. Another area of future analysis is on the combined effects of different safety systems, that may be capitalized for better performance and to maximize the safety impact of new technologies.

Motorcycle active safety systems: Assessment of the function and applicability using a population-based crash data set

Objective: Motorcycles and mopeds, often referred to as powered 2-wheelers (PTWs), play an important role in personal mobility worldwide. Despite their advantages, including low cost, space occupancy, and fuel efficiency, the risk of sustaining serious or fatal injuries is higher than that for occupants of passenger cars. The development of safety systems specific for PTWs represents a potential way to reduce casualties among riders. With the proliferation of new active and passive safety technologies, the question as to which might offer the most value is important. In this context, a prioritization process was applied to a set of PTW active safety systems to evaluate their applicability to crash scenarios alone and in combination. The systems included in the study were antilock braking (ABS), autonomous emergency braking (AEB), collision warning, curve warning, and curve assist. Methods: With the functional performance of the 5 safety systems established, the relevance of each system to specific crash configurations and vehicle movements defined by a standardized accident classification system used in Victoria, Australia, was rated by 2 independent reviewers, with a third reviewer acting as a moderator where disagreements occurred. Ratings ranged from 1 (definitely not applicable) to 4 (definitely applicable). Using population-based crash data, the number and percentage of crashes that each safety system could potentially influence, or be relevant for, was defined. Applying accepted injury costs permitted the derivation of the societal economic cost of PTW crashes and the potential reductions associated with each safety system given a theoretical crash avoidance effectiveness of 100%. Results: In the 12-year period 2000-2011, 23,955 PTW riders and 1292 pillion passengers were reported to have been involved in a road crash, with over 500 killed and more than 10,000 seriously injured; only 3.5% of riders/pillion passengers were uninjured. The total economic cost associated with these injured riders and pillion passengers was estimated to be AU$11.1 billion (US$7.70 billion; €6.67 billion). The 5 safety systems, as single solutions or in combination, were relevant to 57% of all crashes and to 74% of riders killed. Antilock braking was found to be relevant to the highest number of crashes, with incremental increases in coverage when combined with other safety systems. Conclusions: The findings demonstrate that ABS, alone and in combination with other safety systems, has the potential to mitigate or possibly prevent a high percentage of PTW crashes in the considered setting. Other safety systems can influence different crash scenarios and are also recommended. Given the high cost of motorcycle crashes and the increasing number of PTW safety technologies, the proposed approach can be used to inform the process of selection of the most suitable interventions to improve PTW safety.