Iván García Daza

Computer Science Engineer

Biography

Iván García Daza received the MSc and PhD degrees in Telecommunications Engineering from the University of Alcalá (UAH), Madrid (Spain), in 2004 and 2011 respectively. At present he is Assistant Professor at the Computer Engineering Department at the University of Alcalá and member of the INVETT research group since 2007. In this period he has collaborated on more than 20 projects with public and private funding. All the projects are related with computer science techniques applied on Intelligent Transportation System. His professional experience in the private field is 10 years, where he acquires wide knowledge about management of national and international technological projects. He developed flight control systems which were applied to Airbus A400M aircraft and optical gyro stabilization systems for surveillance with accuracy less than 1mrad based on optimal control and bayesian filter theory. He learnt methodologies to manage the development of technological projects where the number of participants is hight and variable, as us Scrum, guaranteeing the successful project development. Its scientific production includes 11 JCR indexed publications, 9 in the first and second quartile, and 11 publications in international congresses. He has participated as a speaker in several scientific conferences and is a regular reviewer of the "IEEE Conference on Intelligent Transportation Systems" and "IEEE Conference on Intelligent Vehicles" since 2011. He was Guest Editor of Special Issue "Intelligent Vehicles", "Sensors Technologies for Intelligent Transportation Systems" and "Advanced Sensing Techniques for Autonomous Vehicles and Advanced Driver Assistance System" in Sensor an Open Access Journal. He has served as a member of the Program Committee of the 15th International Conference on Informatics in Control, Automation and Robotics held in Porto Portugal from 29 to 31 of July 2018. The number of citations to research publications evaluated by Web of Science is 128, with an average of citations per article of 7.53 points and an H index of 6. His research interests are mainly focused on intelligent transportation systems where topics like accurate mapping process, dynamic and cinematic cars models, sensor fusion technics, pure LiDAR odometry or optimal controller theory are well known. On the docent management scope, he collaborates on Innovation Teaching Group within Systems Engineering and Automation Are, he was the Head of the Systems Engineering and Automation Teaching Area for two years, from 2018 to 2020. At present he is deputy director of Automatic Department since the mouth of January 2020. He belong to multiples Docent Comisions lie the Institution, where participate actively to address it with success. In 2010 and 2019 he was visitor research in the Department of Applied Mechanics at Chalmers University of Technology, Göteborg. He was under the supervision of Dr Mattias Wahde in 2010, improving the knowledges about optimization algorithms that were applied in Drowsiness Detection System based on Computer Vision algorithms. He was under the supervision of Dr Ola Benderious in 2019, who participates actively with Volvo company on ITS research projects. The collaboration was about how to build a high-resolution 3D map with only LiDAR-based odometry algorithms. The collaboration allowed the scientific article "Fail-Aware LIDAR-Based Odometry for Autonomous Vehicles".

Interested Topics

Accurate mapping system based on optimal optimisation algorithm
Advanced Driver Assistance Systems
Assistive Intelligent Vehicles
Cooperative driving
Driver and road users state and intent recognition
Dynamic and Cinematic Cars Models
Friction analysis and modeling
Intelligent localization systems based on LiDAR odometry
Intelligent navigation and localization systems based on Inertial Navigation Systems
Intelligent vehicles related image, radar and LiDAR signal processing
Optimal Control Theory and Applications
Self-Driving Cars Technology
Sensor Fusion Systems for Driverless cars
Vehicle scene understanding

Education

Phd. on Intelligent Systems, 2011

University of Alcalá
M.Sc. in Telecommunication, 2007

University of Alcalá

Selected Publication

Sim-to-real transfer and reality gap modeling in model predictive control for autonomous driving

Iván Garcı́a Daza, Rubén Izquierdo, Luis Miguel Martı́nez, Ola Benderius, David Fernández Llorca

In Applied Intelligence (2022)

The main challenge for the adoption of autonomous driving is to ensure an adequate level of safety. Considering the almost infinite variability of possible scenarios that autonomous vehicles would have to face, the use of autonomous driving simulators is becoming of utmost importance. Simulation suites allow the used of automated validation techniques in a wide variety of scenarios, and enable the development of closed-loop validation methods, such as machine learning and reinforcement learning approaches. However, simulation tools suffer from a standing flaw in that there is a noticeable gap between the simulation conditions and real-world scenarios. Although the use of simulators powers most of the research around autonomous driving, and is generally used within all domains it is divided into, there is an inherent source of error given the stochastic nature of activities performed in real world, which are unreplicable in computer environments. This paper proposes a new approach to assess the real-to-sim gap for path tracking systems. The aim is to narrow down the sources of error between simulation results and real-world conditions, and to evaluate the performance of the simulation suite in the design process by employing the information extracted from gap analysis, which adds a new dimension of development against other approaches for autonomous driving. A real-time model predictive controller (MPC) based on adaptive potential fields was developed and validated using the CARLA simulator. Both the path planning and vehicle control systems where tested in real traffic conditions. The error between the simulator and the real data acquisition was evaluated using the Pearson correlation coefficient (PCC) and the max normalized cross-correlation (MNCC). The controller was further evaluated on a process of sim-to-real transfer, and was finally tested both in simulation and real traffic conditions. A comparison was performed against an optimal-control ILQR-based model predictive controller was carried out to further showcase the validity of this approach.

Publications

Journal Papers

2022

Sim-to-real transfer and reality gap modeling in model predictive control for autonomous driving

Iván Garcı́a Daza, Rubén Izquierdo, Luis Miguel Martı́nez, Ola Benderius, David Fernández Llorca

Applied Intelligence - 5.019 - Q2(57/189)

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Cover image of Sim-to-real transfer and reality gap modeling in model predictive control for autonomous driving

Vehicle trajectory prediction on highways using bird eye view representations and deep learning

Rubén Izquierdo, Álvaro Quintanar, David Fernández Llorca, Iván Garcı́a Daza, Noelia Hernández, Ignacio Parra, Miguel Ángel Sotelo

Applied Intelligence - 5.019 - Q2(57/189)

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Cover image of Vehicle trajectory prediction on highways using bird eye view representations and deep learning

2021

Urban Intersection Classification: A Comparative Analysis

Augusto Luis Ballardini, Álvaro Hernández Saz, Sandra Carrasco Limeros, Javier Lorenzo, Parra Alonso, Noelia Hernández Parra, Iván García Daza, Miguel Ángel Sotelo

SENSORS - 3.847 - Q2(29/87)

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Cover image of Urban Intersection Classification: A Comparative Analysis

Vision-based Vehicle Speed Estimation for ITS: A Survey

David Fernández Llorca, Antonio Hernández Martínez, Iván García Daza

IET Intelligent Transport Systems - 2.568 - Q2(151/344)

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Cover image of Vision-based Vehicle Speed Estimation for ITS: A Survey

Vehicle Lane Change Prediction on Highways Using Efficient Environment Representation and Deep Learning

RUBÉN IZQUIERDO, ÁLVARO QUINTANAR, JAVIER LORENZO, IVÁN GARCÍA-DAZA, IGNACIO PARRA, DAVID FERNÁNDEZ-LLORCA, AND MIGUEL ÁNGEL

IEEE Access - 0.93 - Q2(79/164)

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Cover image of Vehicle Lane Change Prediction on Highways Using Efficient Environment Representation and Deep Learning

WiFiNet: WiFi-based indoor localisation using CNNs

Noelia Hernández, Ignacio Parra, Héctor Corrales, Rubén Izquierdo, Augusto Luis Ballardini, Carlota Salinas, Iván García

Expert Systems With Applications - 8.665 - Q1(21/144)

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Cover image of WiFiNet: WiFi-based indoor localisation using CNNs

2020

Fail-Aware LIDAR-Based Odometry for Autonomous Vehicles.

Iván García Daza, Mónica Rentero, Carlota Salinas Maldonado , Ruben Izquierdo Gonzalo, Noelia Hernández Parra, Augusto Ballardini and David Fernandez Llorca

SENSORS - Q2 - IF:3.275/2019

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Cover image of Fail-Aware LIDAR-Based Odometry for Autonomous Vehicles.

Sensors and Sensing for Intelligent Vehicles

David Fernández Llorca, Iván García Daza, Noelia Hernández Parra and Ignacio Parra Alonso

SENSORS - 3.576 - Q2(26/87)

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Cover image of Sensors and Sensing for Intelligent Vehicles

2018

High-Level Interpretation of Urban Road Maps Fusing Deep Learning-Based Pixelwise Scene Segmentation and Digital Navigation Maps.

Carlos Fernández, Jesús Muñoz-Bulnes, David Fernández-Llorca, Ignacio Parra, Iván García-Daza, Rubén Izquierdo, Miguel Á. Sotelo

JOURNAL OF ADVANCED TRANSPORTATION - 1.983 - Q2(56/132)

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Cover image of High-Level Interpretation of Urban Road Maps Fusing Deep Learning-Based Pixelwise Scene Segmentation and Digital Navigation Maps.

2017

Assistive Intelligent Transportation Systems: the need for user localization and anonymous disability identification.

D. F. Llorca, R. Quintero, I. Parra, C. Fernández, I. G. Daza, C. Alén, M. A. Sotelo

IEEE INTELLIGENT TRANSPORTATION SYSTEMS MAGAZINE - 3.019 - Q1(37/306)

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Cover image of Assistive Intelligent Transportation Systems: the need for user localization and anonymous disability identification.

2015

Expert video-surveillance system for real-time detection of suspicious behaviors in shopping malls.

Roberto Arroyo, J. Javier Yebes, Luis M. Bergasa, I. G. Daza, Javier Almazán

EXPERT SYSTEMS WITH APPLICATIONS - 2.981 - Q1(19/130)

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Cover image of Expert video-surveillance system for real-time detection of suspicious behaviors in shopping malls.

2014

Parking assistance system for leaving perpendicular parking lots: experiments in daytime/nighttime conditions.

D. F. Llorca, I. G. Daza, S. Álvarez, A. Martínez-Hellín, M. A. Sotelo

IEEE INTELLIGENT TRANSPORTATION SYSTEMS MAGAZINE - 0.821 - Q3(162/249)

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Cover image of Parking assistance system for leaving perpendicular parking lots: experiments in daytime/nighttime conditions.

Fusion of Optimized Indicators from Advanced Driver Assistance Systems (ADAS) for Driver Drowsiness Detection.

I.G. Daza, L.M. Bergasa, S. Bronte, J.J. Yebes, J. Almazan, R. Arroyo

SENSORS - 2.245 - Q1(10/56)

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Cover image of Fusion of Optimized Indicators from Advanced Driver Assistance Systems (ADAS) for Driver Drowsiness Detection.

2013

Real-time vision-based blind spot warning system: Experiments with motorcycles in daytime/nighttime conditions.

C. Fernández, D.F. Llorca, M.A. Sotelo, I.G. Daza, A.M. Hellin, S. Álvarez

INTERNATIONAL JOURNAL OF AUTOMOTIVE TECHNOLOGY - 0.821 - Q3(70/128)

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Cover image of Real-time vision-based blind spot warning system: Experiments with motorcycles in daytime/nighttime conditions.

2012

Gaze Fixation System for the Evaluation of Driver Distractions Induced by IVIS.

P. Jiménez, L.M. Bergasa, J. Nuevo, N. Hernández, I.G. Daza

IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS - 3.064 - Q1(3/122)

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Cover image of Gaze Fixation System for the Evaluation of Driver Distractions Induced by IVIS.

Stereo region-of-Interest selection for pedestrian protection: A survey.

D. F. Llorca, M. A. Sotelo, A. M. Hellín, A. Orellana, M. Gavilán, I. G. Daza, A. G. Lorente

TRANSPORTATION RESEARCH PART C-EMERGING TECHNOLOGIES - 2.006 - Q1(7/30)

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Cover image of Stereo region-of-Interest selection for pedestrian protection: A survey.

2011

Autonomous Pedestrian Collision Avoidance using a Fuzzy Steering Controller.

D. F. Llorca, V. Milanés, I. P. Alonso, M. Gavilán, I. García Daza, J. Pérez, M. A. Sotelo

IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS - 3.452 - Q1(1/28)

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Cover image of Autonomous Pedestrian Collision Avoidance using a Fuzzy Steering Controller.

Conference Papers

2018

Intelligent feature selection method for accurate laser-based mapping and localisation in self-driving cars.

N. Hernández, I. G. Daza, C. Salinas, I. Parra, J. Alonso, D. Fernández-Llorca, M.Á. Sotelo

IEEE/RSJ International Conference on Intelligent Robots and Systems (IEEE IROS 2018)

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2014

Vehicle Model Recognition Using Geometry and Appearance of Car Emblems from Rear View Images.

David Fernández Llorca; Diego Colas Arnaiz; Iván García Daza; Ignacio Parra Alonso; Miguel Ángel Sotelo Vázquez.

17th International IEEE Conference on Intelligent Transportation Systems (IEEE ITSC 2014)

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2013

Automatic Thermal Leakage Detection in Building Facades Using Laser and Thermal Images.

D. F. Llorca, A.G. Lorente, C. Fernández, I.G. Daza, M.A. Sotelo

14th International Conference on Computer Aided Systems Theory (EUROCAST 2013)

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2012

Vision-Based drowsiness detector for Real Driving Conditions.

Iván García Daza; Sebastián Bronte Palacios; Luis M. Bergasa Pascual; Javier Almazán Yagüe; José Javier Yebes Torres

IEEE Intelligent Vehicle Symposium (IEEE IV 2012)

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2011

Surface Classification for Road Distress Detection System Enhancement.

M. Gavilán, D. Balcones, M.A. Sotelo, D.F. Llorca, O. Marcos, C. Fernández, I.G. Daza, R. Quintero

13th International Conference on Computer Aided Systems Theory (EUROCAST 2011)

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Assessment Of Distractions Inferred By In-Vehicle Information Systems On a Naturalistic Simulator.

N. Hernández, P. Jiménez , L.M. Bergasa, I. Parra, I. García, M. Ocaña, B. Delgado, M. Sevillano

14th International IEEE Annual Conference on Intelligent Transportation Systems (IEEE ITSC 2011)

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Drowsiness Monitoring Based on Driver and Driving Data Fusion.

I. G. Daza, N. Hernandez, L. M. Bergasa, I. Parra, J. J. Yebes, M. Gavilan, R. Quintero, D. F. Llorca, M. A. Sotelo

14th International IEEE Annual Conference on Intelligent Transportation Systems (IEEE ITSC 2011)

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Visual Odometry and map fusion for GPS navigation assistance.

Ignacio Parra Alonso; Miguel Ángel Sotelo Vázquez; David Fernández Llorca; Carlos Fernández López; Ángel Llamazares Llamazares; Noelia Hernández Parra; Iván García Daza

20th IEEE international symposium on industrial electronics (IEEE ISIE 2011)

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Extended Floating Car Data System - Experimental Study.

Raúl Quintero Mínguez; Ángel Llamazares Llamazares; David Fernández Llorca; Miguel Ángel Sotelo Vázquez; Luis Eduardo Bellot Cortés; Óscar Marcos Martín; Iván García Daza; Carlos Fernández López

IEEE Intelligent Vehicle Symposium (IEEE IV 2011)

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2010

Vision-Based Drowsiness Detector for a Realistic Driving Simulator.

Iván García Daza; Sebastián Bronte Palacios; Luis M. Bergasa Pascual; Noelia Hernández Parra; Beatriz Delgado; Matías Sevillano Vecillas

13th International IEEE Conference on Intelligent Transportation Systems (IEEE ITSC 2010)

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2005

Low Level Control in States Space for the Pioneer.

Iván García Daza; Luis M. Bergasa Pascual; Miguel Ángel Sotelo Vázquez; M. Elena López Guillén; Rafael Barea Navarro; Luciano Boquete Vázquez

IEEE International Conference on Computer as a Tool (IEEE EUROCON 2005)

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Research Projects as Scientific Collaborator

Public Funding

Seguridad de vehículos para una movilidad inteligente, sostenible, segura e integradora

Scientific Responsible: Miguel Ángel Sotelo Vázquez, 2019-2022

Financed by: Spanish Ministry of Economy and Competitiveness (MINECO)

Interacción predictiva entre vehículos autónomos cooperativos y usuarios vulnerables de carretera orientada al usuario final

Scientific Responsible: Ignacio Parra Alonso and David Fernández Llorca, 2018

Financed by: Spanish Ministry of Economy and Competitiveness (MINECO)

Conducción autónoma: estudio y desarrollo de sistemas de creación de mapas de alta definición.

Scientific Responsible: Iván García Daza, 2018

Financed by: Universidad de Alcalá

Transporte Inteligente, Sostenible e Integrado

Scientific Responsible: Miguel Ángel Sotelo Vázquez, 2017

Financed by: Spanish Ministry of Economy and Competitiveness (MINECO)

Evaluación del traspaso de control y la entrega de información en sistemas de asistencia a la conducción avanzados

Scientific Responsible: Ignacio Parra Alonso, 2017

Financed by: University of Alcalá (UAH)

(AutoDrive) Advancing fail-aware, fail-safe, and fail-operational electronic components, systems, and architectures for fully automated driving to make future mobility safer, affordable, and end-user

Scientific Responsible: Miguel Ángel Sotelo Vázquez, 2017

Financed by: European Commission. H2020-ECSEL Programme

Percepción Cooperativa: Integración de sensores y comunicaciones V2X en entornos reales de conducción autónoma cooperativa

Scientific Responsible: Ignacio Parra Alonso, 2016

Financed by: University of Alcalá (UAH)

IMPROVE - Intelligent predictive Methods for the PROtection of Vulnerable road usErs

Scientific Responsible: Miguel Ángel Sotelo Vázquez and David Fernández, 2015

Financed by: Spanish Ministry of Economy and Competitiveness (MINECO)

(DAInt) Detección anticipada de la intención de peatones en situaciones de cruce para un vehículo inteligente

Scientific Responsible: Ignacio Parra Alonso, 2015

Financed by: University of Alcalá (UAH)

(VISPEED) Vision-based speed detection at fixed locations

Scientific Responsible: David Fernández Llorca, 2015

Financed by: General Traffic Division of Spain (DGT), Ministry of the Interior

Smart Driving Applications

Scientific Responsible: Luis M. Bergasa Pascual, 2015

Financed by: Spanish Ministry of Economy and Competitiveness (MINECO)

(SEGVAUTO-TRIES-CM) Innovative sensing and intelligent systems

Scientific Responsible: Miguel Ángel Sotelo Vázquez, 2014

Financed by: Regional Government of Madrid, Spain

Parking assistance system for leaving perpendicular parking lots in daytime/nighttime conditions

Scientific Responsible: David Fernández Llorca, 2014

Financed by: University of Alcalá (UAH)

Vehicle model and make recognition in traffic control applications

Scientific Responsible: David Fernández Llorca, 2013

Financed by: University of Alcalá (UAH)

(VISETRAF) Sistema VIsual de localización y reconocimiento de SEñales de Tráfico en colaboración con equipos de RAdio Frecuencia

Scientific Responsible: Miguel Ángel García Garrido, 2011

Financed by: Regional Government of Castilla-León

(RoboCity2030 II-CM) Service Robots for Improving the Quality of Life of Citizens in Metropolitan Areas II

Scientific Responsible: Luis M. Bergasa Pascual, 2010

Financed by: Regional Government of Madrid, Spain

(CABINTEC II) Cabina Inteligente para el Transporte por Carretera II

Scientific Responsible: Luis M. Bergasa Pascual, 2009

Financed by: Spanish Ministry of Science and Technology (MICINN)

(SISLOPEWI) Sistema de localización de personas basado en medida de la señal WIFI

Scientific Responsible: Manuel Ocaña Miguel, 2009

Financed by: University of Alcalá (UAH)

(CABINTEC) Cabina Inteligente para el Transporte por Carretera

Scientific Responsible: Luis M. Bergasa Pascual, 2007

Financed by: Spanish Ministry of Science and Technology (MICINN)

Private Funding

Estudio sobre las áreas clave en el desarrollo del vehículo autónomo.

Scientific Responsible: David Fernandez Llorca, Ignacio Parra Alonso, Javier Carrillo Hermosilla, Ruben Izquierdo Gonzalo, Iván García Daza, 2019-2021

Financed by: REPSOL

Advanced Driver Assistance Systems: Pedestrian Detection and Diagnosis Functions. Part II

Scientific Responsible: Luis M. Bergasa Pascual and Miguel Ángel Sotelo Vázquez, 2010

Financed by: FICOMIRRORS, S.A.

Advanced Driver Assistance Systems: Pedestrian Detection and Diagnosis Functions

Scientific Responsible: Luis M. Bergasa Pascual; Miguel Ángel Sotelo Vázquez, 2008

Financed by: FICOMIRRORS, S.A.