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June 9, 2019
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Intelligent automatic overtaking system using vision for vehicle detection

Publicated to: EXPERT SYSTEMS WITH APPLICATIONS. 39 (3): 3362-3373 - 2012-02-15 39(3), DOI: 10.1016/j.eswa.2011.09.024

Authors:

Milanés, V; Llorca, DF; Villagrá, J; Pérez, J; Fernández, C; Parra, I; González, C; Sotelo, MA
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Affiliations

Univ Alcala, Polytech Sch, Dept Comp Engn - Author
UPM CSI, CAR, AUTOPIA Program - Author

Abstract

There is clear evidence that investment in intelligent transportation system technologies brings major social and economic benefits. Technological advances in the area of automatic systems in particular are becoming vital for the reduction of road deaths. We here describe our approach to automation of one the riskiest autonomous manoeuvres involving vehicles - overtaking. The approach is based on a stereo vision system responsible for detecting any preceding vehicle and triggering the autonomous overtaking manoeuvre. To this end, a fuzzy-logic based controller was developed to emulate how humans overtake. Its input is information from the vision system and from a positioning-based system consisting of a differential global positioning system (DGPS) and an inertial measurement unit (IMU). Its output is the generation of action on the vehicle's actuators, i.e., the steering wheel and throttle and brake pedals. The system has been incorporated into a commercial Citroen car and tested on the private driving circuit at the facilities of our research center, CAR, with different preceding vehicles - a motorbike, car, and truck - with encouraging results. (C) 2011 Elsevier Ltd. All rights reserved.
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Keywords

Advanced vehicle control and safety systemsAutonomous vehiclesAvoidanceControllerDesignDriver assistance systemsFuzzy logicIntelligent transportation systemsPedestrian detectionRoad vehicle controlSensorStereo vision

Quality index

Bibliometric impact. Analysis of the contribution and dissemination channel

The work has been published in the journal EXPERT SYSTEMS WITH APPLICATIONS due to its progression and the good impact it has achieved in recent years, according to the agency WoS (JCR), it has become a reference in its field. In the year of publication of the work, 2012, it was in position 31/115, thus managing to position itself as a Q1 (Primer Cuartil), in the category Computer Science, Artificial Intelligence.

From a relative perspective, and based on the normalized impact indicator calculated from World Citations provided by WoS (ESI, Clarivate), it yields a value for the citation normalization relative to the expected citation rate of: 2.67. This indicates that, compared to works in the same discipline and in the same year of publication, it ranks as a work cited above average. (source consulted: ESI Nov 13, 2025)

This information is reinforced by other indicators of the same type, which, although dynamic over time and dependent on the set of average global citations at the time of their calculation, consistently position the work at some point among the top 50% most cited in its field:

  • Weighted Average of Normalized Impact by the Scopus agency: 3.28 (source consulted: FECYT Mar 2025)

Specifically, and according to different indexing agencies, this work has accumulated citations as of 2026-04-27, the following number of citations:

  • WoS: 95
  • Scopus: 124
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Impact and social visibility

From the perspective of influence or social adoption, and based on metrics associated with mentions and interactions provided by agencies specializing in calculating the so-called "Alternative or Social Metrics," we can highlight as of 2026-04-27:

  • The use, from an academic perspective evidenced by the Altmetric agency indicator referring to aggregations made by the personal bibliographic manager Mendeley, gives us a total of: 152.
  • The use of this contribution in bookmarks, code forks, additions to favorite lists for recurrent reading, as well as general views, indicates that someone is using the publication as a basis for their current work. This may be a notable indicator of future more formal and academic citations. This claim is supported by the result of the "Capture" indicator, which yields a total of: 151 (PlumX).

With a more dissemination-oriented intent and targeting more general audiences, we can observe other more global scores such as:

  • The Total Score from Altmetric: 6.

It is essential to present evidence supporting full alignment with institutional principles and guidelines on Open Science and the Conservation and Dissemination of Intellectual Heritage. A clear example of this is:

  • Assignment of a Handle/URN as an identifier within the deposit in the Institutional Repository: https://oa.upm.es/21249/

As a result of the publication of the work in the institutional repository, statistical usage data has been obtained that reflects its impact. In terms of dissemination, we can state that, as of

  • Views: 512
  • Downloads: 2,135
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Awards linked to the item

This work has been supported by the Spanish Ministry of Science and Innovation by means of Research Grant TRANSITO TRA2008-06602 and Spanish Ministry of Development by means of Research Grant GUIADE P9/08.
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