Mustafa Ridvan Cantas

Ozgenur Kavas-Torris, Sukru Yaren Gelbal, Mustafa Ridvan Cantas et al.

Connectivity between ground vehicles can be utilized and expanded to include aerial vehicles for coordinated missions. Using Vehicle-to-Everything (V2X) communication technologies, a communication link can be established between Connected and Autonomous vehicles (CAVs) and Unmanned Aerial vehicles (UAVs). Hardware implementation and testing of a ground to air communication link is crucial for real-life applications. Two different communication links were established, Dedicated Short Range communication (DSRC) and 4G internet based WebSocket communication. Both links were tested separately both for stationary and dynamic test cases. One step further, both links were used together for a real-life use case scenario called Quick Clear demonstration. The aim was to first send ground vehicle location information from the CAV to the UAV through DSRC communication. On the UAV side, the connection between the DSRC modem and Raspberry Pi companion computer was established through User Datagram Protocol (UDP) to get the CAV location information to the companion computer. Raspberry Pi handles 2 different connection, it first connects to a traffic contingency management system (CMP) through Transmission Control Protocol (TCP) to send CAV and UAV location information to the CMP. Secondly, Raspberry Pi uses a WebSocket communication to connect to a web server to send photos taken by an on-board camera the UAV has. Quick Clear demo was conducted both for stationary test and dynamic flight tests. The results show that this communication structure can be utilized for real-life scenarios.

Sukru Yaren Gelbal, Mustafa Ridvan Cantas, Bilin Aksun-Guvenc et al.

The novel Corona virus pandemic is one of the biggest worldwide problems right now. While hygiene and wearing masks make up a large portion of the currently suggested precautions by the Centers for Disease Control and Prevention (CDC) and World Health Organization (WHO), social distancing is another and arguably the most important precaution that would protect people since the airborne virus is easily transmitted through the air. Social distancing while walking outside, can be more effective, if pedestrians know locations of each other and even better if they know locations of people who are possible carriers. With this information, they can change their routes depending on the people walking nearby or they can stay away from areas that contain or have recently contained crowds. This paper presents a mobile device application that would be a very beneficial tool for social distancing during Coronavirus Disease 2019 (COVID-19). The application works, synced close to real-time, in a networking fashion with all users obtaining their locations and drawing a virtual safety bubble around them. These safety bubbles are used with the constant velocity pedestrian model to predict possible future social distancing violations and warn the user with sound and vibration. Moreover, it takes into account the virus staying airborne for a certain time, hence, creating time-decaying non-safe areas in the past trajectories of the users. The mobile app generates collision free paths for navigating around the undesired locations for the pedestrian mode of transportation when used as part of a multi-modal trip planning app. Results are applicable to other modes of transportation also. Features and the methods used for implementation are discussed in the paper. The application is tested using previously collected real pedestrian walking data in a realistic environment.

Mustafa Ridvan Cantas, Arpita Chand, Hao Zhang et al.

The connectivity between vehicles, infrastructure, and other traffic participants brings a new dimension to automotive safety applications. Soon all the newly produced cars will have Vehicle to Everything (V2X) communication modems alongside the existing Advanced Driver Assistant Systems (ADAS). It is essential to identify the different sensor measurements for the same targets (Data Association) to use connectivity reliably as a safety feature alongside the standard ADAS functionality. Considering the camera is the most common sensor available for ADAS systems, in this paper, we present an experimental implementation of a Mahalanobis distance-based data association algorithm between the camera and the Vehicle to Vehicle (V2V) communication sensors. The implemented algorithm has low computational complexity and the capability of running in real-time. One can use the presented algorithm for sensor fusion algorithms or higher-level decision-making applications in ADAS modules.