{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,18]],"date-time":"2026-01-18T09:00:47Z","timestamp":1768726847617,"version":"3.49.0"},"reference-count":12,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2011,1,11]],"date-time":"2011-01-11T00:00:00Z","timestamp":1294704000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/3.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Currently, vehicles are often equipped with active safety systems to reduce the risk of accidents, most of which occur in urban environments. The most prominent include Antilock Braking Systems (ABS), Traction Control and Stability Control. All these systems use different kinds of sensors to constantly monitor the conditions of the vehicle, and act in an emergency. In this paper the use of ultrasonic sensors in active safety systems for urban traffic is proposed, and the advantages and disadvantages when compared to other sensors are discussed. Adaptive Cruise Control (ACC) for urban traffic based on ultrasounds is presented as an application example. The proposed system has been implemented in a fully-automated prototype vehicle and has been tested under real traffic conditions. The results confirm the good performance of ultrasonic sensors in these systems.\r\n\t\t\t\t\t\t <\/jats:p>","DOI":"10.3390\/s110100661","type":"journal-article","created":{"date-parts":[[2011,1,12]],"date-time":"2011-01-12T04:53:33Z","timestamp":1294808013000},"page":"661-673","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":41,"title":["Ultrasonic Sensors in Urban Traffic Driving-Aid Systems"],"prefix":"10.3390","volume":"11","author":[{"given":"Luciano","family":"Alonso","sequence":"first","affiliation":[{"name":"Control Engineering Group, University of Cantabria, Avda. Los Castros s\/n, 39005 Santander, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Vicente","family":"Milan\u00e9s","sequence":"additional","affiliation":[{"name":"AUTOPIA Program at Center for Automation and Robotics (CAR, UPM-CSIC), 28500 Arganda del Rey, Madrid, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Carlos","family":"Torre-Ferrero","sequence":"additional","affiliation":[{"name":"Control Engineering Group, University of Cantabria, Avda. Los Castros s\/n, 39005 Santander, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3132-5348","authenticated-orcid":false,"given":"Jorge","family":"Godoy","sequence":"additional","affiliation":[{"name":"AUTOPIA Program at Center for Automation and Robotics (CAR, UPM-CSIC), 28500 Arganda del Rey, Madrid, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Juan P.","family":"Oria","sequence":"additional","affiliation":[{"name":"Control Engineering Group, University of Cantabria, Avda. Los Castros s\/n, 39005 Santander, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Teresa","family":"De Pedro","sequence":"additional","affiliation":[{"name":"AUTOPIA Program at Center for Automation and Robotics (CAR, UPM-CSIC), 28500 Arganda del Rey, Madrid, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2011,1,11]]},"reference":[{"key":"ref_1","unstructured":"Observatorio Nacional de Seguridad Vial (2008). Anuario Estad\u00edstico de Accidentes 2009, Direcci\u00f3n General de Tr\u00e1fico, Ministerio del Interior."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"509","DOI":"10.1017\/S0263574709005815","article-title":"Throttle and brake pedals automation for populated areas","volume":"28","author":"Onieva","year":"2010","journal-title":"Robotica"},{"key":"ref_3","unstructured":"Kinsler, L.E., Frey, A.R., Coopens, A.B., and Sanders, J.V. (2000). Fundamentals of Acoustics, Wiley. [4th ed]."},{"key":"ref_4","unstructured":"Alonso, L. (Contribuciones al estudio de sistemas ultras\u00f3nicos y su aplicaci\u00f3n a la seguridad activa en veh\u00edculos inteligentes, 2009). Contribuciones al estudio de sistemas ultras\u00f3nicos y su aplicaci\u00f3n a la seguridad activa en veh\u00edculos inteligentes, Ph.D. Thesis,."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"479","DOI":"10.1007\/978-3-642-15822-3_58","article-title":"Genetically tuned controller of an adaptive cruise control for urban traffic based on ultrasounds","volume":"6353\/2010","author":"Alonso","year":"2010","journal-title":"Artificial Neural Networks\u2014ICANN 2010"},{"key":"ref_6","unstructured":"Short, M., Pont, M.J., and Huang, Q. (2004). Simulation of Vehicle Longitudinal Dynamics, Embedded Systems Laboratory, University of Leicester."},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"Holland, J.H. (1992). Adaptation in Natural and Artificial Systems, MIT Press.","DOI":"10.7551\/mitpress\/1090.001.0001"},{"key":"ref_8","unstructured":"Available online: http:\/\/www.iai.csic.es\/users\/autopia\/programa_en.html (accessed on September 15, 2010)."},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"Milan\u00e9s, V., Llorca, D.F., Vinagre, B., Gonz\u00e1lez, C., and Sotelo, M.A. (2010, January September). Clavileno: Evolution of an Autonomous Car. Funchal, Portugal.","DOI":"10.1109\/ITSC.2010.5624971"},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"89","DOI":"10.1007\/s12239-010-0012-6","article-title":"Electro-Hydraulic Braking System for Autonomous Vehicles","volume":"11","author":"Naranjo","year":"2010","journal-title":"Int. J. Autom. Technol"},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"627","DOI":"10.1017\/S0263574708004232","article-title":"Autonomous vehicle based in cooperative GPS and intertial systems","volume":"26","author":"Naranjo","year":"2008","journal-title":"Robotica"},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"5872","DOI":"10.3390\/s100605872","article-title":"An RFID-based intelligent vehicle speed controller using active traffic signals","volume":"10","author":"Seco","year":"2010","journal-title":"Sensors"}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/11\/1\/661\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T21:54:51Z","timestamp":1760219691000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/11\/1\/661"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2011,1,11]]},"references-count":12,"journal-issue":{"issue":"1","published-online":{"date-parts":[[2011,1]]}},"alternative-id":["s110100661"],"URL":"https:\/\/doi.org\/10.3390\/s110100661","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2011,1,11]]}}}