Pub Date : 2023-06-01DOI: 10.26599/JICV.2023.9210011
Pan Wu;Lingshu Zhong;Jingwen Xiong;Yuhao Zeng;Mingyang Pei
With the rapid development of warehouse robots in logistics and other industries, research on their path planning has become increasingly important. Based on the analysis of various conflicts that occur when the warehouse robot travels, this study proposes a two-level vehicle path planning model for multi-warehouse robots, which integrates static and dynamic planning to improve operational efficiency and reduce operating costs. In the static phase, the blockage factor is introduced to enhance the ant colony optimization (ACO) algorithm as a negative feedback mechanism to effectively avoid the blockage nodes during movement. In the dynamic stage, a dynamic priority mechanism is designed to adjust the routing strategy in real time and give the optimal path according to the real situation. To evaluate the model's effectiveness, simulations were performed under different operating environments and application strategies based on an actual grid environment map. The simulation results confirm that the proposed model outperforms other methods in terms of average running distance, number of blocked nodes, percentage of replanned paths, and average running time, showing great potential in optimizing warehouse operations.
{"title":"Two-level vehicle path planning model for multi-warehouse robots with conflict solution strategies and improved ACO","authors":"Pan Wu;Lingshu Zhong;Jingwen Xiong;Yuhao Zeng;Mingyang Pei","doi":"10.26599/JICV.2023.9210011","DOIUrl":"https://doi.org/10.26599/JICV.2023.9210011","url":null,"abstract":"With the rapid development of warehouse robots in logistics and other industries, research on their path planning has become increasingly important. Based on the analysis of various conflicts that occur when the warehouse robot travels, this study proposes a two-level vehicle path planning model for multi-warehouse robots, which integrates static and dynamic planning to improve operational efficiency and reduce operating costs. In the static phase, the blockage factor is introduced to enhance the ant colony optimization (ACO) algorithm as a negative feedback mechanism to effectively avoid the blockage nodes during movement. In the dynamic stage, a dynamic priority mechanism is designed to adjust the routing strategy in real time and give the optimal path according to the real situation. To evaluate the model's effectiveness, simulations were performed under different operating environments and application strategies based on an actual grid environment map. The simulation results confirm that the proposed model outperforms other methods in terms of average running distance, number of blocked nodes, percentage of replanned paths, and average running time, showing great potential in optimizing warehouse operations.","PeriodicalId":100793,"journal":{"name":"Journal of Intelligent and Connected Vehicles","volume":"6 2","pages":"102-112"},"PeriodicalIF":0.0,"publicationDate":"2023-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/iel7/9944931/10287912/10225633.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"68031025","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-01DOI: 10.26599/JICV.2023.9210008
Pinlong Cai;Jia He;Yikang Li
Connected Automated Vehicles (CAVs) have drawn much attention in recent years. High reliable automatic technologies can help CAVs to follow given trajectories well. However, safety and efficiency are hard to be ensured since the interactions between CAVs and pedestrians are complex problems. Thus, this study focuses on cooperative intersection management for CAVs and pedestrians. To avoid the effects of uncertainty about pedestrian behaviors, an indirect way is to use pedestrians' signal lights to guide the movements of pedestrians, and such lights with communication devices can share information with CAVs to make decisions together. In time domains, a general conflict-free rule is established depending on the positions of CAVs and crosswalks. Geometric analysis with coordinate calculation is used to accurately determine the feasible vehicle trajectories and the reasonable periods for signal lights turning green. Four control strategies for the same conditions are compared in simulation experiments, and their performances are analyzed. We demonstrate that the proposed cooperative strategy not only balances the benefits of vehicles and pedestrians but also improves the traffic efficiency at the intersection.
{"title":"Hybrid cooperative intersection management for connected automated vehicles and pedestrians","authors":"Pinlong Cai;Jia He;Yikang Li","doi":"10.26599/JICV.2023.9210008","DOIUrl":"https://doi.org/10.26599/JICV.2023.9210008","url":null,"abstract":"Connected Automated Vehicles (CAVs) have drawn much attention in recent years. High reliable automatic technologies can help CAVs to follow given trajectories well. However, safety and efficiency are hard to be ensured since the interactions between CAVs and pedestrians are complex problems. Thus, this study focuses on cooperative intersection management for CAVs and pedestrians. To avoid the effects of uncertainty about pedestrian behaviors, an indirect way is to use pedestrians' signal lights to guide the movements of pedestrians, and such lights with communication devices can share information with CAVs to make decisions together. In time domains, a general conflict-free rule is established depending on the positions of CAVs and crosswalks. Geometric analysis with coordinate calculation is used to accurately determine the feasible vehicle trajectories and the reasonable periods for signal lights turning green. Four control strategies for the same conditions are compared in simulation experiments, and their performances are analyzed. We demonstrate that the proposed cooperative strategy not only balances the benefits of vehicles and pedestrians but also improves the traffic efficiency at the intersection.","PeriodicalId":100793,"journal":{"name":"Journal of Intelligent and Connected Vehicles","volume":"6 2","pages":"91-101"},"PeriodicalIF":0.0,"publicationDate":"2023-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/iel7/9944931/10287912/10184172.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67865537","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-11DOI: 10.26599/JICV.2023.9210006
Haozhan Ma;Bocheng An;Linheng Li;Zhi Zhou;Xu Qu;Bin Ran
Potential field theory, as a theory that can also be applied to vehicle control, is an emerging risk quantification approach to accommodate the connected and self-driving vehicle environment. Vehicles have different risk impact effects on other road participants in each direction under the influence of road rules. This variability exhibited by vehicles in each direction is not considered in the previous potential field model. Therefore, this paper proposed a potential field model that takes the anisotropy of vehicle impact into account: (1) introducing equivalent distances to separate the potential field area in the different directions before and after the vehicle; (2) introducing co-virtual forces to characterize the effect of the side-by-side travel phenomenon on vehicle car-following travel; (3) introducing target forces and lane resistance, which regress the control of desired speed to control the acceptable risk of drivers. The Next Generation Simulation (NGSIM) dataset is used in this study to create the model's initial parameter values based on the artificial swarm algorithm. The simulation findings indicate that when the vehicle is given the capacity to perceive the surrounding traffic environment, the suggested the anisotropic safety potential field model (ASPFM) performs better in terms of driving safety.
{"title":"Anisotropy safety potential field model under intelligent and connected vehicle environment and its application in car-following modeling","authors":"Haozhan Ma;Bocheng An;Linheng Li;Zhi Zhou;Xu Qu;Bin Ran","doi":"10.26599/JICV.2023.9210006","DOIUrl":"https://doi.org/10.26599/JICV.2023.9210006","url":null,"abstract":"Potential field theory, as a theory that can also be applied to vehicle control, is an emerging risk quantification approach to accommodate the connected and self-driving vehicle environment. Vehicles have different risk impact effects on other road participants in each direction under the influence of road rules. This variability exhibited by vehicles in each direction is not considered in the previous potential field model. Therefore, this paper proposed a potential field model that takes the anisotropy of vehicle impact into account: (1) introducing equivalent distances to separate the potential field area in the different directions before and after the vehicle; (2) introducing co-virtual forces to characterize the effect of the side-by-side travel phenomenon on vehicle car-following travel; (3) introducing target forces and lane resistance, which regress the control of desired speed to control the acceptable risk of drivers. The Next Generation Simulation (NGSIM) dataset is used in this study to create the model's initial parameter values based on the artificial swarm algorithm. The simulation findings indicate that when the vehicle is given the capacity to perceive the surrounding traffic environment, the suggested the anisotropic safety potential field model (ASPFM) performs better in terms of driving safety.","PeriodicalId":100793,"journal":{"name":"Journal of Intelligent and Connected Vehicles","volume":"6 2","pages":"79-90"},"PeriodicalIF":0.0,"publicationDate":"2023-03-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/iel7/9944931/10287912/10123364.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67865536","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A large number of reported road collisions are caused by driver inattention, and inappropriate driving behaviour. This study investigated the effectiveness and acceptance of Advanced Driving Assistance Systems (ADAS) for driver age groups, gender, occupation (professional/non-professional), and road type (expressway, urban roads, and semiurban road) based on the Field Operational Test (FOT). The ADAS is provided with assistance features, such as Lane Departure Warning (LDW), Forward Collision Warning (FCW), and Traffic Speed Recognition Warning (TSRW). In total, the FOT involved 30 participants who drove the test vehicle twice (once in the stealth phase and once in the active phase). The FOT included three sections: expressway (20.60 km), urban road (7.2 km), and semi-urban road (13.35 km). A questionnaire was used to determine user acceptance of the ADAS technology. In addition, parametric and non-parametric statistical tests were carried out to determine ADAS's significant effects. The FOT results showed statistically significant differences in the LDW's acceptance and effectiveness for gender, age group, occupation, and road type before and after exposure to ADAS. Male participants showed significant lateral behavior improvement compared to female participants. Old-aged drivers scored the highest acceptance score for the technology compared to middle and young-aged drivers. The subjective ratings ranked the assistance features in descending order as TSRW, LDW, and FCW. This study's findings can support policy development and induce trust in the public for the technology adoption to improve road traffic safety.
{"title":"Evaluating effectiveness and acceptance of advanced driving assistance systems using field operational test","authors":"Kasi Nayana Badweeti;Vinayak Devendra Malaghan;Digvijay Sampatrao Pawar;Said Easa","doi":"10.26599/JICV.2023.9210005","DOIUrl":"https://doi.org/10.26599/JICV.2023.9210005","url":null,"abstract":"A large number of reported road collisions are caused by driver inattention, and inappropriate driving behaviour. This study investigated the effectiveness and acceptance of Advanced Driving Assistance Systems (ADAS) for driver age groups, gender, occupation (professional/non-professional), and road type (expressway, urban roads, and semiurban road) based on the Field Operational Test (FOT). The ADAS is provided with assistance features, such as Lane Departure Warning (LDW), Forward Collision Warning (FCW), and Traffic Speed Recognition Warning (TSRW). In total, the FOT involved 30 participants who drove the test vehicle twice (once in the stealth phase and once in the active phase). The FOT included three sections: expressway (20.60 km), urban road (7.2 km), and semi-urban road (13.35 km). A questionnaire was used to determine user acceptance of the ADAS technology. In addition, parametric and non-parametric statistical tests were carried out to determine ADAS's significant effects. The FOT results showed statistically significant differences in the LDW's acceptance and effectiveness for gender, age group, occupation, and road type before and after exposure to ADAS. Male participants showed significant lateral behavior improvement compared to female participants. Old-aged drivers scored the highest acceptance score for the technology compared to middle and young-aged drivers. The subjective ratings ranked the assistance features in descending order as TSRW, LDW, and FCW. This study's findings can support policy development and induce trust in the public for the technology adoption to improve road traffic safety.","PeriodicalId":100793,"journal":{"name":"Journal of Intelligent and Connected Vehicles","volume":"6 2","pages":"65-78"},"PeriodicalIF":0.0,"publicationDate":"2023-03-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/iel7/9944931/10287912/10123363.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67865535","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-01DOI: 10.26599/JICV.2023.9210001
Eleonora Andreotti;Selpi;Pinar Boyraz
This work focuses on the potential impacts of the autonomous vehicles in a mixed traffic condition represented in traffic simulator Simulation of Urban MObility (SUMO) with real traffic flow. Specifically, real traffic flow and speed data collected in 2002 and 2019 in Gothenburg were used to simulate daily flow variation in SUMO. In order to predict the most likely drawbacks during the transition from a traffic consisting only manually driven vehicles to a traffic consisting only fully-autonomous vehicles, this study focuses on mixed traffic with different percentages of autonomous and manually driven vehicles. To realize this aim, several parameters of the car following and lane change models of autonomous vehicles are investigated in this paper. Along with the fundamental diagram, the number of lane changes and the number of conflicts are analyzed and studied as measures for improving road safety and efficiency. The study highlights that the autonomous vehicles' features that improve safety and efficiency in 100% autonomous and mixed traffic are different, and the ability of autonomous vehicles to switch between mixed and autonomous driving styles, and vice versa depending on the scenario, is necessary.
{"title":"Potential impact of autonomous vehicles in mixed traffic from simulation using real traffic flow","authors":"Eleonora Andreotti;Selpi;Pinar Boyraz","doi":"10.26599/JICV.2023.9210001","DOIUrl":"https://doi.org/10.26599/JICV.2023.9210001","url":null,"abstract":"This work focuses on the potential impacts of the autonomous vehicles in a mixed traffic condition represented in traffic simulator Simulation of Urban MObility (SUMO) with real traffic flow. Specifically, real traffic flow and speed data collected in 2002 and 2019 in Gothenburg were used to simulate daily flow variation in SUMO. In order to predict the most likely drawbacks during the transition from a traffic consisting only manually driven vehicles to a traffic consisting only fully-autonomous vehicles, this study focuses on mixed traffic with different percentages of autonomous and manually driven vehicles. To realize this aim, several parameters of the car following and lane change models of autonomous vehicles are investigated in this paper. Along with the fundamental diagram, the number of lane changes and the number of conflicts are analyzed and studied as measures for improving road safety and efficiency. The study highlights that the autonomous vehicles' features that improve safety and efficiency in 100% autonomous and mixed traffic are different, and the ability of autonomous vehicles to switch between mixed and autonomous driving styles, and vice versa depending on the scenario, is necessary.","PeriodicalId":100793,"journal":{"name":"Journal of Intelligent and Connected Vehicles","volume":"6 1","pages":"1-15"},"PeriodicalIF":0.0,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/iel7/9944931/10175392/10175393.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67858195","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-01DOI: 10.26599/JICV.2023.9210003
Daniel Knutsen;Nils O.E. Olsson;Jiali Fu
The purpose of this paper is to categorize the research on Level 3 and Hybrid Level 3; map how the research focus on ERTMS Level 3 has developed over time; summarize key assumptions in research on Level 3 and Hybrid Level 3. This study uses a scoping review approach. This review method provides a comprehensive overview of the literature in a selected field. The literature searches in this study were primarily conducted in Scopus and Web of Science and were complemented with a follow-up search in Google Scholar. The topics are divided into two thematic areas: Effects on the Railway System and Technical Requirements. The thematic area Technical Requirements is further divided into the following subcategories: train, trackside, and communication. The effects on the railway system are measured using performance indicators: capacity, stability/robustness, and safety. ERTMS Level 3 has developed from a pure Level 3 to Hybrid Level 3. Hybrid Level 3 represents a pragmatic solution, but it may emerge as a threat to the long-term objective of the Level 3 moving block. Studies of Level 3 are based on a moving block solution, while studies of Hybrid Level 3 are mainly based on virtual sub-sections. Both Level 3 and Hybrid Level 3 studies tend to make assumptions that risk missing wider aspects of the railway system. There is also a need to correctly represent different ERTMS Level 3 configurations to ensure expected capacity gains. For a better understanding of the development and future path of ERTMS Level 3, it is interesting to study the following aspects: the historical development of ERTMS Level 3 research, the assumptions made about ERTMS Level 3, and the conditions and restrictions under which ERTMS Level 3 will be implemented. Assumptions and simplifications are necessary for modeling work, but there is also a need to highlight underlying assumptions in analyses of different ERTMS Level 3 configurations.
本文的目的是对三级和混合三级的研究进行分类；绘制关于ERTMS 3级的研究重点是如何随着时间的推移而发展的；总结3级和混合3级研究中的关键假设。本研究采用范围界定审查方法。这种综述方法对选定领域的文献进行了全面综述。本研究中的文献搜索主要在Scopus和Web of Science上进行，并在Google Scholar上进行了后续搜索。专题分为两个专题领域：对铁路系统的影响和技术要求。主题领域技术要求进一步分为以下子类别：列车、轨旁和通信。使用性能指标来衡量对铁路系统的影响：容量、稳定性/稳健性和安全性。ERTMS 3级已经从纯3级发展到混合3级。混合3级代表了一个务实的解决方案，但它可能会对3级移动块的长期目标构成威胁。3级研究基于移动块解决方案，而混合3级研究主要基于虚拟小节。三级和混合三级研究都倾向于假设铁路系统的更广泛方面存在缺失风险。还需要正确地表示不同的ERTMS级别3配置，以确保预期的容量增益。为了更好地了解ERTMS第三级的发展和未来路径，有兴趣研究以下方面：ERTMS第3级研究的历史发展、对ERTMS第2级的假设，以及实施ERTMS第4级的条件和限制。假设和简化对于建模工作是必要的，但在不同ERTMS 3级配置的分析中也需要强调基本假设。
{"title":"ERTMS/ETCS Level 3: Development, assumptions, and what it means for the future","authors":"Daniel Knutsen;Nils O.E. Olsson;Jiali Fu","doi":"10.26599/JICV.2023.9210003","DOIUrl":"https://doi.org/10.26599/JICV.2023.9210003","url":null,"abstract":"The purpose of this paper is to categorize the research on Level 3 and Hybrid Level 3; map how the research focus on ERTMS Level 3 has developed over time; summarize key assumptions in research on Level 3 and Hybrid Level 3. This study uses a scoping review approach. This review method provides a comprehensive overview of the literature in a selected field. The literature searches in this study were primarily conducted in Scopus and Web of Science and were complemented with a follow-up search in Google Scholar. The topics are divided into two thematic areas: Effects on the Railway System and Technical Requirements. The thematic area Technical Requirements is further divided into the following subcategories: train, trackside, and communication. The effects on the railway system are measured using performance indicators: capacity, stability/robustness, and safety. ERTMS Level 3 has developed from a pure Level 3 to Hybrid Level 3. Hybrid Level 3 represents a pragmatic solution, but it may emerge as a threat to the long-term objective of the Level 3 moving block. Studies of Level 3 are based on a moving block solution, while studies of Hybrid Level 3 are mainly based on virtual sub-sections. Both Level 3 and Hybrid Level 3 studies tend to make assumptions that risk missing wider aspects of the railway system. There is also a need to correctly represent different ERTMS Level 3 configurations to ensure expected capacity gains. For a better understanding of the development and future path of ERTMS Level 3, it is interesting to study the following aspects: the historical development of ERTMS Level 3 research, the assumptions made about ERTMS Level 3, and the conditions and restrictions under which ERTMS Level 3 will be implemented. Assumptions and simplifications are necessary for modeling work, but there is also a need to highlight underlying assumptions in analyses of different ERTMS Level 3 configurations.","PeriodicalId":100793,"journal":{"name":"Journal of Intelligent and Connected Vehicles","volume":"6 1","pages":"34-45"},"PeriodicalIF":0.0,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/iel7/9944931/10175392/10124376.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"68021348","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The purpose of this paper is to alleviate the potential safety problems associated with the human driver and the automatic system competing for the right of way due to different objectives by mitigating the human-machine conflict phenomenon in human-machine shared driving (HMSD) technology from the automation system. Firstly, a basic lane-changing trajectory algorithm based on the quintic polynomial in the Frenet coordinate system is developed. Then, in order to make the planned trajectory close to human behavior, naturalistic driving data is collected, based on which some lane-changing performance features are selected and analyzed. There are three aspects have been taken into consideration for the human-like lane-changing trajectory: vehicle dynamic stability performance, driving cost optimization, and collision avoidance. Finally, the HMSD experiments are conducted with the driving simulator to test the potential of the human-like lane-changing trajectory planning algorithm. The results demonstrate that the lane-changing trajectory planning algorithm with the highest degree of personalization is highly consistent with human driver behavior and consequently would potentially mitigate the human-machine conflict with the HMSD application. Furthermore, it could be further employed as an empirical trajectory prediction result. The algorithm employs the distribution state of the historical trajectory for human-like processing, simplifying the operational process and ensuring the credibility, integrity, and interpretability of the results. Moreover, in terms of optimization processing, the form of optimization search followed by collision avoidance detection is adopted to in principle reduce the calculation difficulty. Additionally, a new convex polygon collision detection method, namely the vertex embedding method, is proposed for collision avoidance detection.
{"title":"Human-like lane-changing trajectory planning algorithm for human-machine conflict mitigation","authors":"Changhua Dai;Changfu Zong;Dong Zhang;Gang Li;Kaku Chuyo;Hongyu Zheng;Fei Gao","doi":"10.26599/JICV.2023.9210004","DOIUrl":"https://doi.org/10.26599/JICV.2023.9210004","url":null,"abstract":"The purpose of this paper is to alleviate the potential safety problems associated with the human driver and the automatic system competing for the right of way due to different objectives by mitigating the human-machine conflict phenomenon in human-machine shared driving (HMSD) technology from the automation system. Firstly, a basic lane-changing trajectory algorithm based on the quintic polynomial in the Frenet coordinate system is developed. Then, in order to make the planned trajectory close to human behavior, naturalistic driving data is collected, based on which some lane-changing performance features are selected and analyzed. There are three aspects have been taken into consideration for the human-like lane-changing trajectory: vehicle dynamic stability performance, driving cost optimization, and collision avoidance. Finally, the HMSD experiments are conducted with the driving simulator to test the potential of the human-like lane-changing trajectory planning algorithm. The results demonstrate that the lane-changing trajectory planning algorithm with the highest degree of personalization is highly consistent with human driver behavior and consequently would potentially mitigate the human-machine conflict with the HMSD application. Furthermore, it could be further employed as an empirical trajectory prediction result. The algorithm employs the distribution state of the historical trajectory for human-like processing, simplifying the operational process and ensuring the credibility, integrity, and interpretability of the results. Moreover, in terms of optimization processing, the form of optimization search followed by collision avoidance detection is adopted to in principle reduce the calculation difficulty. Additionally, a new convex polygon collision detection method, namely the vertex embedding method, is proposed for collision avoidance detection.","PeriodicalId":100793,"journal":{"name":"Journal of Intelligent and Connected Vehicles","volume":"6 1","pages":"46-63"},"PeriodicalIF":0.0,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/iel7/9944931/10175392/10124377.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67858197","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-01DOI: 10.26599/JICV.2023.9210002
Arnav Choudhry;Sean Qian
Global Navigation Satellite System (GNSS) data is an inexpensive and ubiquitous source of activity data. Global Positioning System (GPS) is an example of such data. Although there have been several studies about inferring device activity using GPS data from a consumer device, freight GPS data presents unique challenges for example having low and variable frequency, long transmission gaps, and frequent and unpredictable device ID resetting for preserving privacy. This study aims to provide an end-to-end, generic data analytical framework to infer multiple aspects of truck activity such as stops, trips, and tours. We use popular existing methods to construct the data processing pipeline and provide insights into their practical usage. We also propose improved data filters to different aspects of the data processing pipeline to address challenges found in privacy-preserving freight GPS data. We use freight data across four weeks from the greater Philadelphia region with variable transmission frequency ranging from one second to several hours to perform experiments and validate our methods. Our findings indicate that auxiliary information such as land use can be helpful in fine tuning stop inference, but spatio-temporal information contained in timestamped GPS pings is still the most powerful source of false stop identification. We also find that a combination of simple clustering techniques can provide a way to perform fast and reasonable clustering of the same stop.
{"title":"Inferring truck activities using privacy-preserving truck trajectories data","authors":"Arnav Choudhry;Sean Qian","doi":"10.26599/JICV.2023.9210002","DOIUrl":"https://doi.org/10.26599/JICV.2023.9210002","url":null,"abstract":"Global Navigation Satellite System (GNSS) data is an inexpensive and ubiquitous source of activity data. Global Positioning System (GPS) is an example of such data. Although there have been several studies about inferring device activity using GPS data from a consumer device, freight GPS data presents unique challenges for example having low and variable frequency, long transmission gaps, and frequent and unpredictable device ID resetting for preserving privacy. This study aims to provide an end-to-end, generic data analytical framework to infer multiple aspects of truck activity such as stops, trips, and tours. We use popular existing methods to construct the data processing pipeline and provide insights into their practical usage. We also propose improved data filters to different aspects of the data processing pipeline to address challenges found in privacy-preserving freight GPS data. We use freight data across four weeks from the greater Philadelphia region with variable transmission frequency ranging from one second to several hours to perform experiments and validate our methods. Our findings indicate that auxiliary information such as land use can be helpful in fine tuning stop inference, but spatio-temporal information contained in timestamped GPS pings is still the most powerful source of false stop identification. We also find that a combination of simple clustering techniques can provide a way to perform fast and reasonable clustering of the same stop.","PeriodicalId":100793,"journal":{"name":"Journal of Intelligent and Connected Vehicles","volume":"6 1","pages":"16-33"},"PeriodicalIF":0.0,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/iel7/9944931/10175392/10175394.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"68145417","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Purpose - The rapid development of Intelligent and Connected Vehicles (ICVs) has boomed a new round of global technological and industrial revolution in recent decades. The Technology Roadmap of Intelligent and Connected Vehicles (2020) comprehensively analyzes the technical architecture, research status and future trends of ICVs. The methodology that supports the roadmap should get studied. Design/methodology/approach - This paper interprets the roadmap from the aspects of strategic significance, technical content and characteristics of the roadmap, and evaluates the impact of the roadmap on researchers, industries and international strategies. Findings - The technical architecture of ICVs as the "three rows and two columns" structure is studied, the methodology that supported the roadmap is explained with a case study and the influence of key technologies with proposed development routes is analyzed. Originality/value - This paper could help researchers understand both thoughts and methodologies behind the technology roadmap of ICVs.
{"title":"The status, challenges, and trends: An interpretation of technology roadmap of intelligent and connected vehicles in China (2020)","authors":"Qing Xu;Keqiang Li;Jianqiang Wang;Quan Yuan;Yanding Yang;Wenbo Chu","doi":"10.1108/JICV-07-2021-0010","DOIUrl":"https://doi.org/10.1108/JICV-07-2021-0010","url":null,"abstract":"Purpose - The rapid development of Intelligent and Connected Vehicles (ICVs) has boomed a new round of global technological and industrial revolution in recent decades. The Technology Roadmap of Intelligent and Connected Vehicles (2020) comprehensively analyzes the technical architecture, research status and future trends of ICVs. The methodology that supports the roadmap should get studied. Design/methodology/approach - This paper interprets the roadmap from the aspects of strategic significance, technical content and characteristics of the roadmap, and evaluates the impact of the roadmap on researchers, industries and international strategies. Findings - The technical architecture of ICVs as the \"three rows and two columns\" structure is studied, the methodology that supported the roadmap is explained with a case study and the influence of key technologies with proposed development routes is analyzed. Originality/value - This paper could help researchers understand both thoughts and methodologies behind the technology roadmap of ICVs.","PeriodicalId":100793,"journal":{"name":"Journal of Intelligent and Connected Vehicles","volume":"5 1","pages":"1-7"},"PeriodicalIF":0.0,"publicationDate":"2022-12-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/iel7/9944931/10004514/10004517.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67851797","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-12-30DOI: 10.1108/JICV-06-2022-0024
Ying Li;Li Zhao;Kun Gao;Yisheng An;Jelena Andric
Purpose - The purpose of this paper is to characterize distracted driving by quantifying the response time and response intensity to an emergency stop using the driver's physiological states. Design/methodology/approach - Field tests with 17 participants were conducted in the connected and automated vehicle test field. All participants were required to prioritize their primary driving tasks while a secondary nondriving task was asked to be executed. Demographic data, vehicle trajectory data and various physiological data were recorded through a biosignalsplux signal data acquisition toolkit, such as electrocardiograph for heart rate, electromyography for muscle strength, electrodermal activity for skin conductance and force-sensing resistor for braking pressure. Findings - This study quantified the psychophysiological responses of the driver who returns to the primary driving task from the secondary nondriving task when an emergency occurs. The results provided a prototype analysis of the time required for making a decision in the context of advanced driver assistance systems or for rebuilding the situational awareness in future automated vehicles when a driver's take-over maneuver is needed. Originality/value - The hypothesis is that the secondary task will result in a higher mental workload and a prolonged reaction time. Therefore, the driver states in distracted driving are significantly different than in regular driving, the physiological signal improves measuring the brake response time and distraction levels and brake intensity can be expressed as functions of driver demographics. To the best of the authors' knowledge, this is the first study using psychophysiological measures to quantify a driver's response to an emergency stop during distracted driving.
{"title":"Revealing driver psychophysiological response to emergency braking in distracted driving based on field experiments","authors":"Ying Li;Li Zhao;Kun Gao;Yisheng An;Jelena Andric","doi":"10.1108/JICV-06-2022-0024","DOIUrl":"https://doi.org/10.1108/JICV-06-2022-0024","url":null,"abstract":"Purpose - The purpose of this paper is to characterize distracted driving by quantifying the response time and response intensity to an emergency stop using the driver's physiological states. Design/methodology/approach - Field tests with 17 participants were conducted in the connected and automated vehicle test field. All participants were required to prioritize their primary driving tasks while a secondary nondriving task was asked to be executed. Demographic data, vehicle trajectory data and various physiological data were recorded through a biosignalsplux signal data acquisition toolkit, such as electrocardiograph for heart rate, electromyography for muscle strength, electrodermal activity for skin conductance and force-sensing resistor for braking pressure. Findings - This study quantified the psychophysiological responses of the driver who returns to the primary driving task from the secondary nondriving task when an emergency occurs. The results provided a prototype analysis of the time required for making a decision in the context of advanced driver assistance systems or for rebuilding the situational awareness in future automated vehicles when a driver's take-over maneuver is needed. Originality/value - The hypothesis is that the secondary task will result in a higher mental workload and a prolonged reaction time. Therefore, the driver states in distracted driving are significantly different than in regular driving, the physiological signal improves measuring the brake response time and distraction levels and brake intensity can be expressed as functions of driver demographics. To the best of the authors' knowledge, this is the first study using psychophysiological measures to quantify a driver's response to an emergency stop during distracted driving.","PeriodicalId":100793,"journal":{"name":"Journal of Intelligent and Connected Vehicles","volume":"5 3","pages":"270-282"},"PeriodicalIF":0.0,"publicationDate":"2022-12-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/iel7/9944931/10004521/10004535.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67856073","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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