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  • 期刊名称：

    Intelligent Transportation Systems, IEEE Transactions on

  • 中文名称： 智能交通系统，IEEE事务
  • 刊频：
  • ISSN： 1524-9050
  • 出版社： -
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  • 1.

    【24hr】Accelerated Evaluation of Automated Vehicles Safety in Lane-Change Scenarios Based on Importance Sampling Techniques

    包量

    机译 基于重要抽样技术的变道场景下自动驾驶汽车安全性加速评估
    摘要：Automated vehicles (AVs) must be thoroughly evaluated before their release and deployment. A widely used evaluation approach is the Naturalistic-Field Operational Test (N-FOT), which tests prototype vehicles directly on the public roads. Due to the low exposure to safety-critical scenarios, N-FOTs are time consuming and expensive to conduct. In this paper, we propose an accelerated evaluation approach for AVs. The results can be used to generate motions of the other primary vehicles to accelerate the verification of AVs in simulations and controlled experiments. Frontal collision due to unsafe cut-ins is the target crash type of this paper. Human-controlled vehicles making unsafe lane changes are modeled as the primary disturbance to AVs based on data collected by the University of Michigan Safety Pilot Model Deployment Program. The cut-in scenarios are generated based on skewed statistics of collected human driver behaviors, which generate risky testing scenarios while preserving the statistical information so that the safety benefits of AVs in nonaccelerated cases can be accurately estimated. The cross-entropy method is used to recursively search for the optimal skewing parameters. The frequencies of the occurrences of conflicts, crashes, and injuries are estimated for a modeled AV, and the achieved accelerated rate is around 2000 to 20 000. In other words, in the accelerated simulations, driving for 1000 miles will expose the AV with challenging scenarios that will take about 2 to 20 million miles of real-world driving to encounter. This technique thus has the potential to greatly reduce the development and validation time for AVs.
  • 2.

    【24hr】Distributed Aggregate Privacy-Preserving Authentication in VANETs

    包量

    机译 VANET中的分布式聚合隐私保护身份验证
    摘要：Existing secure and privacy-preserving vehicular communication protocols in vehicular ad hoc networks face the challenges of being fast and not depending on ideal tamper-proof devices (TPDs) embedded in vehicles. To address these challenges, we propose a vehicular authentication protocol referred to as distributedaggregate privacy-preserving authentication. The proposed protocol is based on our new multiple trusted authority one-time identity-based aggregate signature technique. With this technique a vehicle can verify many messages simultaneously and their signatures can be compressed into a single one that greatly reduces the storage space needed by a vehicle or a data collector (e.g., the traffic management authority). Instead of ideal TPDs, our protocol only requires realistic TPDs and hence is more practical.
  • 3.

    【24hr】Nonlinear Control for Dual Objective Active Suspension Systems

    包量

    机译 双目标主动悬架系统的非线性控制
    摘要：In this paper, an active suspension system employing a new nonlinear control law is proposed to address the problem of achieving the dual objective of providing ride comfort and trying to keep the suspension deflection within the constraint of rattle space. The control is a nonlinear function of the magnitude of the suspension deflection and an estimate of the effect of the road disturbance. The control scheme is analyzed and assessed for the large classes of road profiles through simulation and by experimentation on a laboratory setup. The performance of the proposed scheme is compared with a passive suspension system.
  • 4.

    【24hr】Modal Activity-Based Stochastic Model for Estimating Vehicle Trajectories from Sparse Mobile Sensor Data

    包量

    机译 基于模态活动的随机模型，用于从稀疏移动传感器数据估计车辆轨迹
    摘要：Probe vehicles that measure position and speed have emerged as a promising tool for traffic data collection and performance measurement, but the sampling rates of most probe vehicle sensor data available today are low (ranging from 10 to 60 s per sample), and the data coverage is limited. Therefore, it is challenging to accurately estimate the vehicle dynamic states in both space and time based on these sparse mobile sensor data. In this paper, a stochastic model is proposed to estimate the second-by-second vehicle speed trajectories by examining all possible sequences of modal activities (i.e., acceleration, deceleration, cruising, and idling) between consecutive data points from sparse position and speed measurements. The likelihood of occurrence of each sequential pattern is first quantified by mode-specific a priori distributions. The vehicle dynamic state probability is then formulated as the product of probabilities for multiple independent events. Therefore, a detailed vehicle speed trajectory can be reconstructed using the optimal modal activity sequence, which maximizes the likelihood. The proposed model is calibrated and validated using the Next-Generation SIMulation dataset. The results show the substantial improvements on the accuracy of estimated vehicle trajectories compared with a baseline method based on linear interpolation. The proposed model is applied to a large-scale vehicle activity dataset to demonstrate the estimation of hourly traffic delay variation.
  • 5.

    【24hr】Visual Object Tracking With Partition Loss Schemes

    包量

    机译 具有分区丢失方案的视觉对象跟踪
    摘要：Object tracking is a fundamental task for building vision systems of automatic transportation. Despite demonstrated success in this active research field, it is still difficult to cope with complicated appearance changes caused by background clutters, illumination change, scale variation, deformation, rotation, and occlusion, etc. Due to these challenging factors, a target bounding box tends to easily contain a disturbing context of background, which may lead to an inaccurate localization if some key parts of the foreground object share an excess of information loss. In this paper, we propose an online algorithm using the local loss features to alleviate the drift problem during tracking. An adaptive block-division appearance model is constructed to exploit patch-based loss representations by decomposing sample region sequences into a set of subblocks. The basic purpose of partition coefficients is to indicate local relevance and effectively capture spatial correlation through measuring image similarity. Namely, they can strengthen positive effects of discriminative patches within locating bounding boxes and weaken negative impacts of disturbing context possibly included in the surrounding regions. The object state estimation of a moving target is then formulated as an integrated likelihood evaluation on the ensemble loss. Experimental results on a suite of representative video sequences of realistic scenarios demonstrate the superiority of the proposed method to several state-of-the-art tracking approaches in terms of both accuracy and robustness.
  • 6.

    【24hr】On Optimizing Reservation-Based Intersection Controls

    包量

    机译 基于预留的交叉口控制的优化
    摘要：Tile-based reservation intersection control for autonomous vehicles has the potential to reduce intersection delays beyond optimized traffic signals. A major question in implementing reservations is the underdetermined problem of resolving conflicting reservation requests. Previous work studied prioritizing requests by first come first served or holding auctions at intersections, but the possibilities are infinite. Furthermore, although selfish routing behavior could affect the benefits of the reservation prioritization, reservation control has not been studied with user equilibrium routing due to its microsimulation definition. This paper addresses these issues by presenting an integer program formulation of the conflict point simplification of reservations. The feasible region is transformed, resulting in a more tractable integer program on conflict regions for dynamic traffic assignment. Because the integer program is NP-hard we present a polynomial-time heuristic. Finally, we demonstrate the potential utility of this heuristic by demonstrating objective functions that reduce travel time and energy consumption on a city network.
  • 7.

    【24hr】How to Protect ADS-B: Confidentiality Framework and Efficient Realization Based on Staged Identity-Based Encryption

    包量

    机译 如何保护ADS-B：基于基于身份的分段加密的机密性框架和高效实现
    摘要：Automatic Dependent Surveillance-Broadcast (ADS-B) is one of the key technologies for future “e-Enabled” aircrafts. ADS-B uses avionics in the e-Enabled aircrafts to broadcast essential flight data such as call sign, altitude, heading, and other extra positioning information. On the one hand, ADS-B brings significant benefits to the aviation industry, but, on the other hand, it could pose security concerns as channels between ground controllers and aircrafts for the ADS-B communication are not secured, and ADS-B messages could be captured by random individuals who own ADS-B receivers. In certain situations, ADS-B messages contain sensitive information, particularly when communications occur among mission-critical civil airplanes. These messages need to be protected from any interruption and eavesdropping. The challenge here is to construct an encryption scheme that is fast enough for very frequent encryption and that is flexible enough for effective key management. In this paper, we propose a Staged Identity-Based Encryption (SIBE) scheme, which modifies Boneh and Franklin's original IBE scheme to address those challenges, that is, to construct an efficient and functional encryption scheme for ADS-B system. Based on the proposed SIBE scheme, we provide a confidentiality framework for future e-Enabled aircraft with ADS-B capability.
  • 8.

    【24hr】Detector of Electrical Discontinuity of Rails in Double-Track Railway Lines: Electronic System and Measurement Methodology

    包量

    机译 双线铁路轨道电气不连续性检测器：电子系统和测量方法
    摘要：This paper describes the design, measurement methodology, and experimental validation of an electronic system for monitoring the electrical discontinuity in rails of double-track railway lines in order to detect the rail breakage. The electronic system is based on an emitter node and on the two receiver nodes. The three nodes, together with the four rails to be analyzed, constitute the electrical circuits, whose currents are measured in both the emission and reception nodes. These nodes can communicate through a data network between them, as well as with a remote center that controls and synchronizes the electronic systems along the railway line. The electronic subsystem associated with the emitter node transmits an encoded signal to the rails, modulated by an 800-Hz carrier. A set of eight currents are measured, one per rail at each end of the section defined between the emitter and the receiver, with a maximum length of 7 km. The evaluation of electrical discontinuities in each section is carried out by means of the relative imbalances that can appear between the eight measured currents, according to possible breakages. The method of measurement is characterized by a high immunity to noise. The results presented here are based on a railway line prototype, which implements the electrical propagation models and coupling between the four rails in the double track. This model allows the proposed electronic system and measurement methodology to be successfully verified.
  • 9.

    【24hr】Vulnerabilities, Attacks, and Countermeasures in Balise-Based Train Control Systems

    包量

    机译 基于轻轨的列车控制系统中的漏洞，攻击和对策
    摘要：In modern rail transport systems, balises are widely used to exchange track-train information via air-gap interface. In this paper, we first present the vulnerabilities on the standard balise air-gap interface, and then conduct vulnerability simulations using the system parameters that were specified in the European Train Control System. The simulation results show that the vulnerabilities can be exploited to launch effective and practical attacks, which could lead to catastrophic consequences, such as train derailment or collision. To mitigate the vulnerabilities and attacks, we propose to implement a challenge-response authentication process in the air-gap interface in the existing transport infrastructure.
  • 10.

    【24hr】Cooperative Charging in Residential Areas

    包量

    机译 居民区合作充电
    摘要：Electric vehicles (EVs) require a well-developed charging infrastructure. Particularly when used for the daily commute, most EV drivers will rely on a nightly charge in their garage, for instance. In typical European urban residential areas, however, private parking and charging resources are severely limited. Therefore, public on-street charging often is the only option. However, it faces several limitations that lead to an inefficient and unfair utilization of charging stations, or EV supply equipment (EVSE). For instance, EVSEs are often blocked by fully charged vehicles. We thus propose and evaluate a cooperative protocol for EVs that facilitates coordinated handovers of EVSEs. We integrate this protocol with the ISO 15118 standard and provide a detailed security analysis. In the evaluation, we show that coordinated handovers significantly improve both EVSE utilization (helping to amortize the expensive operating costs) and provide benefits for EV owners by providing sufficient charging resources. This reduces range anxiety and saves them from cruising for charging.
  • 11.

    【24hr】Accurate Detection and Recognition of Dirty Vehicle Plate Numbers for High-Speed Applications

    包量

    机译 高速应用中准确检测和识别脏车牌号
    摘要：This paper presents an online highly accurate system for automatic number plate recognition (ANPR) that can be used as a basis for many real-world ITS applications. The system is designed to deal with unclear vehicle plates, variations in weather and lighting conditions, different traffic situations, and high-speed vehicles. This paper addresses various issues by presenting proper hardware platforms along with real-time, robust, and innovative algorithms. We have collected huge and highly inclusive data sets of Persian license plates for evaluations, comparisons, and improvement of various involved algorithms. The data sets include images that were captured from crossroads, streets, and highways, in day and night, various weather conditions, and different plate clarities. Over these data sets, our system achieves 98.7%, 99.2%, and 97.6% accuracies for plate detection, character segmentation, and plate recognition, respectively. The false alarm rate in plate detection is less than 0.5%. The overall accuracy on the dirty plates portion of our data sets is 91.4%. Our ANPR system has been installed in several locations and has been tested extensively for more than a year. The proposed algorithms for each part of the system are highly robust to lighting changes, size variations, plate clarity, and plate skewness. The system is also independent of the number of plates in captured images. This system has been also tested on three other Iranian data sets and has achieved 100% accuracy in both detection and recognition parts. To show that our ANPR is not language dependent, we have tested our system on available English plates data set and achieved 97% overall accuracy.
  • 12.

    【24hr】A Public Traffic Demand Forecast Method Based on Computational Experiments

    包量

    机译 基于计算实验的公共交通需求预测方法
    摘要：The conventional mathematical models that are used for traffic distribution and traffic mode choice forecasts consider neither the individual heterogeneity on the micro level nor the changeable traffic scenes. This prompted us to propose a new forecast method composed of a traffic survey, an artificial transportation system (ATS), and computational experiments. We introduced a BDI modeling method in the agent-based ATS. This method considers an individual's psychological characteristics in combination with logical thinking, which was introduced to individual passenger agents, to deduce each passenger's decision-making process when choosing the traffic mode and route. A series of computational experiments were conducted on the ATS by using a school bus system as a case study to validate the feasibility and superiority of our method. Several computational experiments were conducted to predict the traffic distribution in normal and abnormal traffic scenarios and to analyze the extent to which each factor influences the travel modal split. Furthermore, the outcomes of various vehicle-scheduling plans were predicted and analyzed by using computational experiments to determine the optimal plan and support the establishment of transportation policies in the real world.
  • 13.

    【24hr】A Constrained Dual Kalman Filter Based on pdf Truncation for Estimation of Vehicle Parameters and Road Bank Angle: Analysis and Experimental Validation

    包量

    机译 基于pdf截断的约束双卡尔曼滤波估计车辆参数和路堤角度：分析和实验验证
    摘要：Vehicles today are equipped with control systems that improve their handling and stability. Knowledge of road bank angle and vehicle parameters is crucial for good behavior in this type of control. This paper develops a new method for estimating different states, such as vehicle roll angle, road bank angle, and vehicle parameters. This method combines a dual Kalman filter with a probability density function truncation method to consider the parameter physical limitations. Experimental results show the effectiveness of the proposed method and demonstrate that the incorporation of parameter constraints improves its estimation accuracy. The proposed method provides an estimation of the parameters and the states' physical meaning and the stable values within the real boundary limits in contrast to other estimation methods.
  • 14.

    【24hr】Learning Traffic Patterns at Small Airports From Flight Tracks

    包量

    机译 从航迹中学习小型机场的交通模式
    摘要：The majority of reported near-midair collisions that involve a general aviation aircraft occur in the vicinity of nontowered airports. A prior work has investigated the feasibility of creating an automated air traffic control system for these nontowered airports using solutions to a partially observable Markov decision process. Validating such system will require an accurate model of aircraft behavior in the traffic pattern. This paper evaluates the different approaches for deriving traffic pattern models from recorded radar data. The first approach is based on prior trajectory clustering work, where turning points in trajectories are identified and clustered. This method performs well on simulated data, but due to its reliance on noisy heading rates, it has difficulty with real-world data. The second approach uses Bayesian inference techniques to learn the parameters of the traffic pattern model, where a hidden semi-Markov model with a hierarchical Dirichlet process as a prior is investigated. Inference in this model is made computationally tractable using Markov chain Monte Carlo methods. The turning point and Bayesian models are compared with each other using different f-divergence measures, and the latter is found to better represent the observed data.
  • 15.

    【24hr】A Novel Distance Estimation Method Leading a Forward Collision Avoidance Assist System for Vehicles on Highways

    包量

    机译 一种新的距离估计方法，可为公路车辆提供前避撞辅助系统
    摘要：This paper proposes a novel distance estimation method to build a forward collision avoidance assist system (FCAAS) containing techniques of lane marking detection, vehicle tracking, and distance estimation. First, a lane marking detection technique uses a RANSAC algorithm to extract lines of lane markings, which were previously collected from an inverse perspective mapping image filtered by steerable filters. A Kalman filter then tracks the extracted lines accurately and efficiently. Second, a vehicle tracking technique implements a multiple-vehicle tracking method using a particle filter, which tracks the vehicles detected by an AdaBoost classifier. An improved particle filter is implemented to predict the next movement of a vehicle and spread the particles near the predicted location of the vehicle instead of originally spreading the particles around the current location of the vehicle. Finally, an innovative distance estimation method is derived to estimate the distance between the ego vehicle and the front vehicle. The distance estimation method is verified by setting several standard points in the image, whose locations can be measured according to the regulation of lane markings. As a result, verification of the distance estimation method demonstrates a robust feasibility in reality. The FCAAS shows its potential in particular scenes through many experimental sequences acquired from highways in the real world. In addition, the FCAAS fits the demand of a real-time speed system with a speed of 22 frames/s.
  • 16.

    【24hr】Performance Evaluation of Radio Map Construction Methods for Wi-Fi Positioning Systems

    包量

    机译 Wi-Fi定位系统无线电地图构建方法的性能评估
    摘要：A radio map is a collection of signal fingerprints labeled with their collected locations. It is known that the performance of a fingerprint-based positioning systems is closely related to the precision and accuracy of the underlying radio maps. However, little has been studied on the performance of radio maps in relation to the fingerprint collection methods and the radio map models, which determine the accuracy and precision of radio maps, respectively. This paper evaluates the performance of various radio map construction methods in both indoor and outdoor environments. Four radio map construction methods, i.e., a point-by-point manual calibration, a walking survey, a semisupervised learning-based method, and an unsupervised learning-based method, have been compared. We also evaluate the performance of various types of radio map models that represent the characteristics of collected fingerprints. To demonstrate the importance of the radio map model, a new model named signal fluctuation matrix (SFM) was developed, and its performance was compared with that of the three conventional radio map models, respectively. The evaluation revealed that the performance of the radio maps was very sensitive to the design of radio map models and the number of fingerprints collected at each location. The performance achieved by SFM-based positioning was comparable with that of the other models despite using a small number of fingerprints.
  • 17.

    【24hr】Rethinking Transit Time Reliability by Integrating Automated Vehicle Location Data, Passenger Patterns, and Web Tools

    包量

    机译 通过集成自动车辆位置数据，乘客模式和Web工具重新考虑运输时间可靠性
    摘要：This paper investigates time reliability at bus stops. Although it is typically evaluated from the transit provider's viewpoint, it must also account for passengers, as required in recent service-quality norms. Hence, data on both bus arrival (or departure) times and passenger arrivals must be collected and processed. Automated vehicle location (AVL) systems can collect bus data, but several challenges must be addressed to effectively use them. Passenger arrival data can be collected by surveys or direct observations and processed to derive patterns. This paper proposes two novel time reliability metrics: the percentage of passengers receiving regular service (PPR) and the percentage of passengers receiving punctual service (PPP) for regularity and punctuality evaluations, respectively. They are determined by a methodology that collects and handles AVL data, computes passenger patterns from passenger arrival data, and integrates AVL data and patterns. Experiments highlight the viability of the novel evaluation metrics using about three million of real-world AVL records. Their results are reported by straightforward Web tools. A comparison with traditional metrics shows that PPR and PPP provide a more careful evaluation by using the passenger as a normalization basis for their outcomes. In the new paradigm of demand-oriented services, the proposed metrics are crucial to quantify the ability of operators to serve passengers.
  • 18.

    【24hr】Motion Segmentation Via a Sparsity Constraint

    包量

    机译 通过稀疏约束进行运动分割
    摘要：Motion segmentation is an important task for intelligent transportation systems. In this paper, inspired by the fact that a feature point trajectory can be sparsely represented as a combination of several feature point trajectories that share coherent transformations, an efficient and effective motion segmentation method with a sparsity constraint is proposed. Specifically, we first propose an accumulated scheme to efficiently integrate motion information from all the frames of a video sequence to construct a correlation matrix. Then, a sparse affinity matrix is built on the correlation matrix by using information-theoretic principles, where the nonzero elements in the same row of the sparse affinity matrix correspond to the feature point trajectories more likely belonging to the same motion. Thereafter, a segment and merge procedure is proposed to effectively estimate the number of motions via the sparse affinity matrix. Finally, by applying spectral clustering on the sparse affinity matrix, different motions in the video sequence are accurately segmented based on the estimated number of motions. Experimental results on the Hopkins 155 and the 62-clip datasets demonstrate that the proposed method achieves superior performance compared with several state-of-the-art methods.
  • 19.

    【24hr】Detecting Communities on Topic of Transportation With Sparse Crowd Annotations

    包量

    机译 使用稀疏人群注释检测有关交通主题的社区
    摘要：Social networks contain a large amount of information on transportation, e.g., traffic accidents, congestions, and vehicles. Such information is the original ideas of people with respect to real-world transportation issues, and detecting communities on the topic of transportation from the information will benefit many ITS applications. However, realworld social network nodes often contain multiple attributes, and the network can be very large. The two properties can lead to confusion and unscalability problem to clustering methods. In this paper, we propose a semisupervised method, namely, Transportation Community Detection (TRACED), to address this problem. TRACED allows multiple individuals to select their familiar nodes as the participants of a certain community, and thus, the confusion of multiple attributes can be largely reduced. Moreover, the proposed method can be expanded to large networks since it is able to conduct an effective clustering with low time complexity. With the help of TRACED, we can detect densely connected communities on the topic of transportation for further studies.
  • 20.

    【24hr】An Efficient Framework for Multirequest Route Planning in Urban Environments

    包量

    机译 城市环境中多请求路线规划的有效框架
    摘要：In recent years, research on location-based services has received a lot of interest, in both industry and academia, due to a wide range of potential applications. Among them, one of the active topic areas is the constraint-based route planning on a point-of-interest (POI) network. Most of the previous studies on this topic primarily consider the geographic properties of the POIs in planning a route. However, we consider that the reason that a user visits a POI is that it provides some services that the user needs. In particular, in urban environments, a POI may provide various kinds of services. Hence, the user's requests should be considered. In this paper, we address a novel problem, which is called multirequest route planning, and propose a novel framework to efficiently plan a route for serving multiple user-specified requests. The framework consists of two major modules: planning module, in which four approaches with pruning and caching strategies are proposed for planning a preliminary route, and refinement module, in which two refinement mechanisms are proposed for further enhancing the quality of the route. To our best knowledge, this is the first work on route planning that considers multiple services provided by a POI and multiple requests specified by a user, simultaneously. Finally, we perform an extensive experimental evaluation based on three real-world POI data sets and deliver excellent performance.
  • 21.

    【24hr】Estimation of Passenger Route Choice Pattern Using Smart Card Data for Complex Metro Systems

    包量

    机译 使用智能卡数据估算复杂地铁系统的乘客路线选择模式
    摘要：Metro systems play an important role in meeting the demand for urban transportation in large cities. The understanding of passenger route choice is critical for public transit management. The wide deployment of automated fare collection (AFC) systems opens up a new opportunity. However, only each trip's tap-in and tap-out time stamp and stations can be directly obtained from AFC system records; the train and route chosen by a passenger are unknown, information necessary to solve our problem. While existing methods work well in some specific situations, they hardly work for complicated situations. In this paper, we propose a solution that needs no additional equipment or human involvement than the AFC systems. We develop a probabilistic model that can estimate from empirical analysis how the passenger flows are dispatched to different routes and trains. We validate our approach using a large-scale data set collected from the Shenzhen Metro system. The measured results provide us with useful input when building the passenger path choice model.
  • 22.

    【24hr】Vehicle–Bicyclist Dynamic Position Extracted From Naturalistic Driving Videos

    包量

    机译 从自然驾驶视频中提取的自行车动态位置
    摘要：Pre-collision systems (PCS) are designed to warn a driver or brake automatically to help avoid or mitigate accidents, protecting vulnerable road users such as pedestrians and bicyclists. A PCS system needs to understand both normal and abnormal behavior of the vulnerable users in order to have high true-positive and low false-positive detection of PCS events. In this paper, the normal bicyclist behavior is analyzed based on naturalistic driving data. These data can inform the PCS design and lead to proper testing and evaluation of PCS systems. This paper focuses on the following attributes of normal bicyclist behavior: time to collision, lateral position, and bicycle speed. The behavior was analyzed using the Transportation Active Safety Institute naturalistic driving data from 110 cars. This paper presents new analysis gleaned from these data, plotted in 2-D graphical form, showing heat maps of common bicycle positions and trajectories of the dynamic vehicle-bicycle interactions.
  • 23.

    【24hr】A Jam-Absorption Driving Strategy for Mitigating Traffic Oscillations

    包量

    机译 缓解交通波动的果酱吸收驾驶策略
    摘要：To mitigate traffic oscillations that usually sustainably propagate upstream, this paper proposes a jam-absorption driving (JAD) strategy in the framework of Newell's car-following theory. The basic idea of the JAD strategy is to guide a vehicle to move slowly before being captured by an oscillation and terminate the slow movement when the vehicle would start to leave the jam if no such slow movement was implemented. To practically implement the idea, a two-step method is proposed to estimate the time-space ending point of the strategy, and a proper vehicle is selected to implement the JAD strategy based on a given expected absorbing speed and current traffic conditions. To test the JAD strategy, two simulated traffic scenarios are constructed based on a realistic data-driven car-following model. The first scenario, which only reproduces one oscillation, directly shows the effectiveness of the JAD idea in preventing wave propagation and capacity drop. The second scenario, which contains a series of traffic oscillations induced by the rubbernecking behavior, validates the proposed JAD strategy in more complicated and realistic conditions. It is indicated that the JAD strategy is able to absorb traffic oscillations; thus, the side effects incurred by the oscillations could be subsequently mitigated. The significance of this paper is to provide us a new idea to mitigate traffic oscillations, i.e., the JAD strategy.
  • 24.

    【24hr】Enhancing Automatic Maritime Surveillance Systems With Visual Information

    包量

    机译 利用视觉信息增强自动海上监视系统
    摘要：Automatic surveillance systems for the maritime domain are becoming more and more important due to a constant increase of naval traffic and to the simultaneous reduction of crews on decks. However, available technology still provides only a limited support to this kind of applications. In this paper, a modular system for intelligent maritime surveillance, capable of fusing information from heterogeneous sources, is described. The system is designed to enhance the functions of the existing vessel traffic services systems and to be deployable in populated areas, where radar-based systems cannot be used due to the high electromagnetic radiation emissions. A quantitative evaluation of the proposed approach has been carried out on a large and publicly available data set of images and videos, which are collected from multiple real sites, with different light, weather, and traffic conditions.
  • 25.

    【24hr】A Probabilistic Prediction Model for the Safety Assessment of HDVs Under Complex Driving Environments

    包量

    机译 复杂驾驶环境下重型汽车安全性评估的概率预测模型
    摘要：Accidents such as those caused by rollovers and sideslips in complex driving environments involving heavy-duty vehicles (HDVs) often have serious consequences. Such accidents can be due to many factors. In this paper, a probabilistic method for predicting and preventing these accidents is presented. First, a specific vehicle dynamics model based on various random parameters that consider the wind velocity and road curvature is developed. Second, a safety margin function is defined to divide the safe and dangerous domains in the parameter space. Then, the first-order reliability method and second-order reliability method approximations are developed to evaluate the probability of such an accident by using the vehicle dynamics model. Finally, the probability model is applied to explore the interrelations and sensitivities of those parameters with regard to their effects on the accident probability in different scenarios. The study suggests that the presented probabilistic methodology can effectively estimate rollovers and sideslips of HDVs in complex environments, which represent a challenge for the prediction of accidents based on sensors alone.
  • 26.

    【24hr】Enhanced Algorithm of Automated Ground Truth Generation and Validation for Lane Detection System by M2BMT

    包量

    机译 M2BMT的车道检测系统自动生成地面真值的增强算法和验证。
    摘要：Automotive imaging is a recent trend in research to assist drivers and is finally moving forward to achieve the goal of designing a driverless car. Along with a state-of-the-art algorithm, a state-of-the-art validation framework is also a requirement to ensure the quality of the system. This paper proposes an enhancement of the ground truth determination for automated lane detection system. The approach of time slicing has been built up on the binary framework. However, the classical binarization algorithms are not found to be good enough to address the particular domain of lane detection in an unconstrained environment and varied scenarios of lane structures, including curvy and dashed lane marks. This paper proposes a novel binarization algorithm based on min-between-max thresholding (MBMT). The adaptive binarization addresses the issue of outlier rejection in an efficient way and handles the effect of shadow, illumination variation, and other factors in time-sliced images in an automated manner. Additionally, this paper identifies the limitation of the classical time-slice-based approach even with time MBMT for ground truth determination and addresses the same through the second level of adaptation by spatial MBMT. Finally, a complete mathematical model is presented to validate any arbitrary lane detection algorithm with respect to the ground truth determined through the said method of hybrid or modified MBMT or M2BMT.
  • 27.

    【24hr】Fast and Efficient Pedestrian Detection via the Cascade Implementation of an Additive Kernel Support Vector Machine

    包量

    机译 通过附加内核支持向量机的级联实现，快速高效地检测行人
    摘要：For reliable driving assistance or automated driving, pedestrian detection must be robust and performed in real time. In pedestrian detection, a linear support vector machine (linSVM) is popularly used as a classifier but exhibits degraded performance due to the multipostures of pedestrians. Kernel SVM (KSVM) could be a better choice for pedestrian detection, but it has a disadvantage in that it requires too much more computation than linSVM. In this paper, the cascade implementation of the additive KSVM (AKSVM) is proposed for the application of pedestrian detection. AKSVM avoids kernel expansion by using lookup tables, and it is implemented in cascade form, thereby speeding up pedestrian detection. The cascade implementation is trained by a genetic algorithm such that the computation time is minimized, whereas the detection accuracy is maximized. In experiments, the proposed method is tested with the INRIA dataset. The experimental results indicate that the proposed method has better detection accuracy and reduced computation time compared with conventional methods.
  • 28.

    【24hr】Nighttime Vehicle Detection Based on Bio-Inspired Image Enhancement and Weighted Score-Level Feature Fusion

    包量

    机译 基于生物启发式图像增强和加权得分水平特征融合的夜间车辆检测
    摘要：This paper presents an effective nighttime vehicle detection system that combines a novel bioinspired image enhancement approach with a weighted feature fusion technique. Inspired by the retinal mechanism in natural visual processing, we develop a nighttime image enhancement method by modeling the adaptive feedback from horizontal cells and the center-surround antagonistic receptive fields of bipolar cells. Furthermore, we extract features based on the convolutional neural network, histogram of oriented gradient, and local binary pattern to train the classifiers with support vector machine. These features are fused by combining the score vectors of each feature with the learnt weights. During detection, we generate accurate regions of interest by combining vehicle taillight detection with object proposals. Experimental results demonstrate that the proposed bioinspired image enhancement method contributes well to vehicle detection. Our vehicle detection method demonstrates a 95.95% detection rate at 0.0575 false positives per image and outperforms some state-of-the-art techniques. Our proposed method can deal with various scenes including vehicles of different types and sizes and those with occlusions and in blurred zones. It can also detect vehicles at various locations and multiple vehicles.
  • 29.

    【24hr】City-Wide Traffic Flow Estimation From a Limited Number of Low-Quality Cameras

    包量

    机译 有限数量的低质量摄像机在全市范围内的交通流量估计
    摘要：We present a new approach to lightweight intelligent transportation systems. Our approach does not rely on traditional expensive infrastructures, but rather on advanced machine learning algorithms. It takes images from traffic cameras at a limited number of locations and estimates the traffic over the entire road network. Our approach features two main algorithms. The first is a probabilistic vehicle counting algorithm from low-quality images that falls into the category of unsupervised learning. The other is a network inference algorithm based on an inverse Markov chain formulation that infers the traffic at arbitrary links from a limited number of observations. We evaluated our approach on two different traffic data sets, one acquired in Nairobi, Kenya, and the other in Kyoto, Japan.
  • 30.

    【24hr】Traffic Sign Recognition via Multi-Modal Tree-Structure Embedded Multi-Task Learning

    包量

    机译 通过多模式树结构嵌入式多任务学习进行交通标志识别
    摘要：Traffic sign recognition is a rather challenging task for intelligent transportation systems since signs in different subsets, e.g., speed limit signs, prohibition signs, and mandatory signs, are very different from each other in color or shape, whereas they share some similarities to the ones in the same subset. Therefore, it is important to integrate different modalities of visual features, such as color and shape, and select discriminative features for better sign description; in addition, it benefits to explore the correlations between the classes of traffic signs to learn the classifiers jointly to improve the generalization performance. In this paper, we propose Multi- Modal tree-structure embedded Multi-Task Learning called M2- tMTL to select discriminative visual features both between and within modalities, as well as the correlated features shared by similar classification tasks. Our method simultaneously introduces two structured sparsity-induced norms into a least squares regression. One of the norms can be used not only to select modality of features but also to conduct within-modality feature selection. Moreover, the hierarchical correlations among the classification tasks are well represented by a tree structure, and therefore, the tree-structure sparsity-induced norm is used for learning the regression coefficients jointly to boost the performance of multi-class traffic sign recognition. Alternating direction method of multipliers (ADMM) is used to efficiently solve the proposed model with guaranteed convergence. Extensive experiments on public benchmark data sets demonstrate that the proposed algorithm leads to a quite interpretable model, and it has better or competitive performance with several state-of-the-art methods but with less computational and memory cost.
  • 31.

    【24hr】Real-Time Bidirectional Traffic Flow Parameter Estimation From Aerial Videos

    包量

    机译 航拍视频实时双向交通流参数估计
    摘要：Unmanned aerial vehicles (UAVs) are gaining popularity in traffic monitoring due to their low cost, high flexibility, and wide view range. Traffic flow parameters such as speed, density, and volume extracted from UAV-based traffic videos are critical for traffic state estimation and traffic control and have recently received much attention from researchers. However, different from stationary surveillance videos, the camera platforms move with UAVs, and the background motion in aerial videos makes it very challenging to process for data extraction. To address this problem, a novel framework for real-time traffic flow parameter estimation from aerial videos is proposed. The proposed system identifies the directions of traffic streams and extracts traffic flow parameters of each traffic stream separately. Our method incorporates four steps that make use of the Kanade-Lucas-Tomasi (KLT) tracker, k-means clustering, connected graphs, and traffic flow theory. The KLT tracker and k-means clustering are used for interest-point-based motion analysis; then, four constraints are proposed to further determine the connectivity of interest points belonging to one traffic stream cluster. Finally, the average speed of a traffic stream as well as density and volume can be estimated using outputs from previous steps and reference markings. Our method was tested on five videos taken in very different scenarios. The experimental results show that in our case studies, the proposed method achieves about 96% and 87% accuracy in estimating average traffic stream speed and vehicle count, respectively. The method also achieves a fast processing speed that enables real-time traffic information estimation.
  • 32.

    【24hr】Graphical Human–Machine Interactive Approach for Integrated Bus Transit Scheduling: Lessons Gained From a Large Bus Company

    包量

    机译 图形化人机交互方法用于集成公交运输调度：大型公交公司的经验教训
    摘要：This paper describes an integrated human-machine interactive bus transit scheduling system developed for the Beijing Public Transport Holdings (Group) Company, Ltd. (BPTG), one of the largest bus companies in the world. The system, which is based on a highly informative deficit function graphical optimization technique, allows schedulers to select computer-generated improvements or interject their own practical considerations. The initial implementation of the new system in two subcompanies of BPTG demonstrates its effectiveness and efficiency with many good features, such as improved integration and coordination of scheduling vehicles and crews, reduced vehicle fleet size, and reduced number of crew duties.
  • 33.

    【24hr】Automated and Cooperative Vehicle Merging at Highway On-Ramps

    包量

    机译 高速公路匝道上的自动和协作车辆合并
    摘要：Recognition of necessities of connected and automated vehicles (CAVs) is gaining momentum. CAVs can improve both transportation network efficiency and safety through control algorithms that can harmonically use all existing information to coordinate the vehicles. This paper addresses the problem of optimally coordinating CAVs at merging roadways to achieve smooth traffic flow without stop-and-go driving. We present an optimization framework and an analytical closed-form solution that allows online coordination of vehicles at merging zones. The effectiveness of the efficiency of the proposed solution is validated through a simulation, and it is shown that coordination of vehicles can significantly reduce both fuel consumption and travel time.
  • 34.

    【24hr】Accurate Real-time Map Matching for Challenging Environments

    包量

    机译 严苛环境下的精确实时地图匹配
    摘要：We present the SnapNet system, which provides accurate real-time map matching for cellular-based trajectory traces. Such traces are characterized by input locations that are far from the actual road segment, errors on the order of kilometers, back-and-forth transitions, and highly sparse input data. SnapNet applies a series of filters to handle the noisy locations and an interpolation stage to address the data sparseness. At the core of SnapNet is a novel incremental HMM algorithm that combines digital map hints in the estimation process and a number of heuristics to reduce the noise and provide real-time estimations. Evaluation of SnapNet using actual traces from different cities covering more than 400 km shows that it can achieve a precision and recall of more than 90% under noisy coarse-grained input location estimates. This maps to over 97% and 34% enhancement in precision and recall, respectively, when compared to the traditional HMM map-matching algorithms. Moreover, SnapNet has a latency of 0.58 ms per location estimate.
  • 35.

    【24hr】Vehicles of the Future: A Survey of Research on Safety Issues

    包量

    机译 未来的车辆：安全问题研究概览
    摘要：Information and communication technologies (ICTs) have a profound impact on the current state and envisioned future of automobiles. This paper presents an overview of research on ICT-based support and assistance services for the safety of future connected vehicles. A general classification and a brief description of the focus areas for research and development in this direction are given under the titles of vehicle detection, road detection, lane detection, pedestrian detection, drowsiness detection, and collision avoidance. Following an overview and taxonomy of the reviewed research articles, a categorized literature survey of safety critical applications is presented in detail. Future research directions are also highlighted.
  • 36.

    【24hr】Sensor Fusion-Based Low-Cost Vehicle Localization System for Complex Urban Environments

    包量

    机译 基于传感器融合的低成本车辆本地化系统，用于复杂的城市环境
    摘要：This paper proposes a sensor fusion-based low-cost vehicle localization system. The proposed system fuses a global positioning system (GPS), an inertial measurement unit (IMU), a wheel speed sensor, a single front camera, and a digital map via the particle filter. This system is advantageous over previous methods from the perspective of mass production. First, it only utilizes low-cost sensors. Second, it requires a low-volume digital map where road markings are expressed by a minimum number of points. Third, it consumes a small computational cost and has been implemented in a low-cost real-time embedded system. Fourth, it requests the perception sensor module to transmit a small amount of information to the vehicle localization module. Last, it was quantitatively evaluated in a large-scale database.
  • 37.

    【24hr】A Gain-Scheduling Driver Assistance Trajectory-Following Algorithm Considering Different Driver Steering Characteristics

    包量

    机译 考虑不同驾驶员转向特性的增益调度驾驶员辅助轨迹跟踪算法
    摘要：In this paper, a gain-scheduling, robust, and shared controller is proposed to assist drivers in tracking vehicle reference trajectory. In the controller, the driver steering parameters such as delay time, preview time, and steering gain are assumed to be varying with respect to the different characteristics of drivers, vehicle states, and driving scenarios. Meanwhile, the modeling errors and uncertainties in the tire cornering stiffness are also considered in the driver-vehicle system model and the controller design. A global objective function, considering the tracking error, the driver's physical and mental workloads, and the control effort, is designed to optimize the overall performance of the driver-vehicle system. Constraint on eigenvalue placement is added to the controller design to improve the performance of the closed-loop driver-vehicle system. Simulation results under different maneuvers show that the controller can significantly improve the system performance and reduce the driver's workloads. The controller can reduce the delay time of the driver-vehicle system in emergency maneuvers, particularly for inexperienced drivers.
  • 38.

    【24hr】Anomaly Detection in Traffic Scenes via Spatial-Aware Motion Reconstruction

    包量

    机译 通过空间感知运动重构在交通场景中进行异常检测
    摘要：Anomaly detection from a driver's perspective when driving is important to autonomous vehicles. As a part of Advanced Driver Assistance Systems (ADAS), it can remind the driver about dangers in a timely manner. Compared with traditional studied scenes such as a university campus and market surveillance videos, it is difficult to detect an abnormal event from a driver's perspective due to camera waggle, abidingly moving background, drastic change of vehicle velocity, etc. To tackle these specific problems, this paper proposes a spatial localization constrained sparse coding approach for anomaly detection in traffic scenes, which first measures the abnormality of motion orientation and magnitude, respectively, and then fuses these two aspects to obtain a robust detection result. The main contributions are threefold, as follows. 1) This work describes the motion orientation and magnitude of the object, respectively, in a new way, which is demonstrated to be better than the traditional motion descriptors. 2) The spatial localization of an object is taken into account considering the sparse reconstruction framework, which utilizes the scene's structural information and outperforms the conventional sparse coding methods. 3) Results of motion orientation and magnitude are adaptively weighted and fused by a Bayesian model, which makes the proposed method more robust and able to handle more kinds of abnormal events. The efficiency and effectiveness of the proposed method are validated by testing on nine difficult video sequences that we captured ourselves. Observed from the experimental results, the proposed method is more effective and efficient than the popular competitors and yields a higher performance.
  • 39.

    【24hr】Instantaneous Feedback Control for a Fuel-Prioritized Vehicle Cruising System on Highways With a Varying Slope

    包量

    机译 坡度变化的高速公路上燃油优先车辆巡航系统的瞬时反馈控制
    摘要：This paper presents two fuel-prioritized feedback controllers, which are called the estimated minimum principle (EMP) and kinetic energy conversion (KEC), to realize eco-cruising on varying slopes for vehicles with conventional powertrains. The former is derived from the minimum principle with an estimated Hamiltonian, and the latter is designed based on the equivalent conversion between the kinetic-energy change of vehicle body and the fuel consumption of the engine. They are implemented with analytical control laws and rely on current road slope information only without look-ahead prediction. This feature results in a very light computing load, with the average computing time of each step less than one millisecond. Their fuel-saving performances are quantitatively studied and compared with a model predictive control and a constant speed control. As an expansion, the control rule for avoiding rear-end collision is also designed by using a safety-guaranteed car-following model to constrain the high-risk behaviors.
  • 40.

    【24hr】Analysis of Recurrent Neural Networks for Probabilistic Modeling of Driver Behavior

    包量

    机译 递归神经网络的驾驶员行为概率建模分析
    摘要：The validity of any traffic simulation model depends on its ability to generate representative driver acceleration profiles. This paper studies the effectiveness of recurrent neural networks in predicting the acceleration distributions for car following on highways. The long short-term memory recurrent networks are trained and used to propagate the simulated vehicle trajectories over 10-s horizons. On the basis of several performance metrics, the recurrent networks are shown to generally match or outperform baseline methods in replicating driver behavior, including smoothness and oscillatory characteristics present in real trajectories. This paper reveals that the strong performance is due to the ability of the recurrent network to identify recent trends in the ego-vehicle's state, and recurrent networks are shown to perform as, well as feedforward networks with longer histories as inputs.
  • 41.

    【24hr】Toward Mitigating Phantom Jam Using Vehicle-to-Vehicle Communication

    包量

    机译 通过车对车通信来减轻幻像卡纸
    摘要：Traffic jams often occur without any obvious reasons such as traffic accidents, roadwork, or closed lanes. Under moderate to high traffic density, minor perturbations to traffic flow (e.g., a strong braking motion) are easily amplified into a wave of stop-and-go traffic. This is known as a phantom jam. In this paper, we aim to mitigate phantom jams leveraging the three-phase traffic theory and vehicle-to-vehicle (V2V) communication. More specifically, an efficient phantom jam control protocol is proposed in which a fuzzy inference system is integrated with a V2V-based phantom jam detection algorithm to effectively capture the dynamics of traffic jams. Per-lane speed difference under traffic congestion is taken into account in the protocol design, so that a phantom jam is controlled separately for each lane, improving the performance of the proposed protocol. We implemented the protocol in the Jist/SWAN traffic simulator. Simulations with artificially generated traffic data and real-world traffic data collected from vehicle loop detectors on Interstate 880, California, USA, demonstrate that our approach has by up to 9% and 4.9% smaller average travel times (at penetration rates of 10%) compared with a state-of-the-art approach, respectively.
  • 42.

    【24hr】A ST-CRF Map-Matching Method for Low-Frequency Floating Car Data

    包量

    机译 低频浮动汽车数据的ST-CRF地图匹配方法
    摘要：Integrating raw Global Position System (GPS) trajectories with a road network is often referred to as a map-matching problem. However, low-frequency trajectories (e.g., one GPS point for every 1-2 min) have raised many challenges to existing map-matching methods. In this paper, we propose a novel and global spatial-temporal map-matching method called spatial and temporal conditional random field (ST-CRF), which is based on insights relating to: 1) the spatial positioning accuracy of GPS points with the topological information of the underlying road network; 2) the spatial-temporal accessibility of a floating car; 3) the spatial distribution of the middle point between two consecutive GPS points; and 4) the consistency of the driving direction of a GPS trajectory. We construct a conditional random field model and identify the best matching path sequence from all candidate points. A series of experiments conducted for real environments using mass floating car data collected in Beijing and Shanghai shows that the ST-CRF method not only has better performance and robustness than other popular methods (e.g., point-line, ST-matching, and interactive voting-based map-matching methods) in low-frequency map matching but also solves the “label-bias” problem, which has long existed in the map matching of classical hidden Markov-based methods.
  • 43.

    【24hr】Railway Traffic Conflict Detection via a State Transition Prediction Approach

    包量

    机译 基于状态转换预测方法的铁路交通冲突检测
    摘要：Conflict detection and resolution is one of the most important tasks in daily railway traffic management, although it is still difficult to solve all its aspects. In fact, the aspect of conflict detection has not been amply studied. In this paper, an approach of traffic state prediction and conflict detection, based on proper state transition maps (STMaps) and corresponding relation matrices, is proposed. First, the traffic state sequences, which mainly concern infrastructure status and train movement information, are studied. These state sequences are expressed as segment and route state vectors and kept in corresponding state-domain tables (SDTables). The empirical state transitions are then applied to detect irregular states in a dynamic traffic environment. Furthermore, the structural constraints of infrastructure topology and route compatibilities are represented in matrices to aid the calculation and prediction of potential conflicting situations. Scenarios such as train delay and infrastructure failure are designed to test the proposed approach. The test results show that irregular states can be efficiently detected and potential conflicts can be further identified, and the detailed conflict information is also approachable.
  • 44.

    【24hr】A Novel Speed–Density Relationship Model Based on the Energy Conservation Concept

    包量

    机译 基于节能概念的新型速度-密度关系模型
    摘要：This paper makes a basic assumption that energy conservation exists, between psychological potential and a vehicle's kinetic energy, in the driver's psychological field based on the driver's mental activities. A virtual spring is used to describe the storage and release of psychological potential energy. Under the aforementioned conditions, we established a macroscopic traffic flow model with conservation law. Each parameter in the new model is physically meaningful and explicit. Additionally, the model can fit field data consistently well, both in free-flow and congested situations. The results of this paper prove the rationality of the energy conservation concept in traffic flow, which improves the understanding of traffic flow and provides a new theoretical foundation.
  • 45.

    【24hr】An Adaptive Background Modeling Method for Foreground Segmentation

    包量

    机译 前景分割的自适应背景建模方法
    摘要：Background modeling has played an important role in detecting the foreground for video analysis. In this paper, we presented a novel background modeling method for foreground segmentation. The innovations of the proposed method lie in the joint usage of the pixel-based adaptive segmentation method and the background updating strategy, which is performed in both pixel and object levels. Current pixel-based adaptive segmentation method only updates the background at the pixel level and does not take into account the physical changes of the object, which may result in a series of problems in foreground detection, e.g., a static or low-speed object is updated too fast or merely a partial foreground region is properly detected. To avoid these deficiencies, we used a counter to place the foreground pixels into two categories (illumination and object). The proposed method extracted a correct foreground object by controlling the updating time of the pixels belonging to an object or an illumination region respectively. Extensive experiments showed that our method is more competitive than the state-of-the-art foreground detection methods, particularly in the intermittent object motion scenario. Moreover, we also analyzed the efficiency of our method in different situations to show that the proposed method is available for real-time applications.
  • 46.

    【24hr】Research on the Cooperative Train Control Strategy to Reduce Energy Consumption

    包量

    机译 降低能耗的协同列车控制策略研究
    摘要：Based on the mature energy-saving strategy of a single train, the optimization of multiple trains' trajectories is studied. A cooperative control model is formulated with the utilization of the regenerative energy considered, which is used to calculate the total energy consumption of an electric subway system under various energy-saving control strategies. Taking the cooperative operation of two trains within the same section of an electrical system as an example, the front one adopt the optimal driving strategy with four modes of movement, which are the maximum traction, cruising, coasting, and the maximum braking by sequence. The latter is controlled by the strategy with four movement modes (mentioned earlier) and five movement modes (namely, the maximum traction, cruising/coasting, the maximum traction, coasting, and the maximum braking), respectively. The minimum energy consumption under different departure headway is calculated by using a heuristic algorithm. It turned out that the optimal energy-saving control strategy can be obtained with the departure headway given, and an energy-saving control strategy corresponding to the minimum energy consumption can be worked out too. The proposed energy-saving strategy can reduce energy consumption by 19.2% at the most.
  • 47.

    【24hr】A Low-Complexity Vision-Based System for Real-Time Traffic Monitoring

    包量

    机译 一种基于低复杂度视觉的实时交通监控系统
    摘要：In this paper a novel, efficient, and fast-performing vision-based system for traffic flow monitoring is presented. Using standard traffic surveillance cameras and effectively applying simple techniques, the proposed method can produce accurate results on vehicle counting in different challenging situations, such as low-resolution videos, rainy scenes, and situations of stop-and-go traffic. Due to the simplicity of the proposed algorithm, the system is able to manage multiple video streams simultaneously in real time. The method follows a robust adaptive background segmentation strategy based on the Approximated Median Filter technique, which detects pixels corresponding to moving objects. Experimental results show that the proposed method can achieve sufficient accuracy and reliability while showing high performance rates, outperforming other state-of-the-art methods. Tests have proved that the system is able to work with up to 50 standard-resolution cameras at the same time in a standard computer, producing satisfactory results.
  • 48.

    【24hr】Intelligent Charge Rate Optimization of PHEVs Incorporating Driver Satisfaction and Grid Constraints

    包量

    机译 结合驾驶员满意度和电网约束的插电式混合动力汽车的智能充电率优化
    摘要：In this paper, an optimization model is developed to find a plug-in hybrid electric vehicle (PHEV) optimum charging rate profile that dynamically varies throughout the day. From the grid point of view, the model takes into account the constraints of maximum demand and charging facilities, while from the driver's point of view, waiting and charging time restrictions are considered. The novelty of this paper lies in maximizing the energy delivered to PHEVs in a region equipped with smart grid technology by intelligently alternating charging rates during the day while incorporating both driver satisfaction constraints as well as grid limitations. Using the proposed optimization model, two cases with optimized charging rates are studied and compared with constant charging levels. Furthermore, quantitative results from the perspective of both power grid contribution and driver satisfaction are presented and discussed in detail for each case.
  • 49.

    【24hr】A Survey on the Coordination of Connected and Automated Vehicles at Intersections and Merging at Highway On-Ramps

    包量

    机译 交叉口自动驾驶汽车与高速公路匝道合并的协调调查
    摘要：Connected and automated vehicles (CAVs) have the potential to improve safety by reducing and mitigating traffic accidents. They can also provide opportunities to reduce transportation energy consumption and emissions by improving traffic flow. Vehicle communication with traffic structures and traffic lights can allow individual vehicles to optimize their operation and account for unpredictable changes. This paper summarizes the developments and the research trends in coordination with the CAVs that have been reported in the literature to date. Remaining challenges and potential future research directions are also discussed.
  • 50.

    【24hr】Lane Change Maneuvers for Automated Vehicles

    包量

    机译 自动化车辆的换道操作
    摘要：By considering a lane change maneuver as primarily a longitudinal motion planning problem, this paper presents a lane change maneuver algorithm with a pragmatic approach to determine an inter-vehicle traffic gap and time instance to perform the maneuver. The proposed approach selects an appropriate inter-vehicle traffic gap and time instance to perform the lane change maneuver by simply estimating whether there might exist a longitudinal trajectory that allows the automated vehicle to safely perform the maneuver. The lane change maneuver algorithm then proceeds to solve two loosely coupled convex quadratic programs to obtain the longitudinal trajectory to position the automated vehicle in the selected inter-vehicle traffic gap at the desired time instance and the corresponding lateral trajectory. Simulation results demonstrate the capability of the proposed approach to select an appropriate inter-vehicle traffic gap and time instance to initialize the lateral motion of a lane change maneuver in various traffic scenarios. The real-time ability of the lane change maneuver algorithm to generate safe and smooth trajectories is shown by experimental results of a Volvo V60 performing automated lane change maneuvers on a test track.
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