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Combining K-means method and complex network analysis to evaluate city mobility 结合k -均值法和复杂网络分析法评价城市交通
Pub Date : 2016-11-01 DOI: 10.1109/ITSC.2016.7795782
Emerson Luiz Chiesse da Silva, M. Rosa, K. Fonseca, R. Lüders, N. P. Kozievitch
Complex networks have been used to model public transportation systems (PTS) considering the relationship between bus lines and bus stops. Previous works focused on statistically characterize either the whole network or their individual bus stops and lines. The present work focused on statistically characterize different regions of a city (Curitiba, Brazil) assuming that a passenger could easily access different unconnected bus stops in a geographic area. K-means algorithm was used to partition the bus stops in (K =) 2 to 40 clusters with similar geographic area. Results showed strong inverse relationship (p < 2 × 10−16 and R2 = 0.74 for K = 40 in a log model) between the degree and the average path length of clustered bus stops. Regarding Curitiba, it revealed well and badly served regions (downtown area, and few suburbs in Southern and Western Curitiba, respectively). Some of these well served regions showed quantitative indication of potential bus congestion. By varying K, city planners could obtained zoomed view of the behavior of their PTS in terms of complex networks metrics.
考虑公交线路和公交站点之间的关系,将复杂网络用于公共交通系统的建模。以前的工作主要集中在统计上描述整个网络或单个公交站点和线路。目前的工作集中在统计特征一个城市(库里蒂巴,巴西)的不同地区,假设乘客可以很容易地到达不同的未连接的公交车站在一个地理区域。采用K-means算法将公交车站划分为(K =) 2 ~ 40个地理区域相似的集群。结果表明,公交站点集成化程度与平均路径长度之间存在明显的负相关关系(p < 2 × 10−16,在对数模型中,当K = 40时,R2 = 0.74)。关于库里蒂巴,它显示了服务良好和服务差的地区(分别是库里蒂巴的市中心和南部和西部的少数郊区)。其中一些交通良好的地区显示出潜在的巴士挤塞情况。通过改变K,城市规划者可以根据复杂的网络指标获得其PTS行为的放大视图。
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引用次数: 10
Goal-Driven Context-Aware Data Filtering in IoT-Based Systems 基于物联网系统中目标驱动的上下文感知数据过滤
Pub Date : 2015-09-15 DOI: 10.1109/ITSC.2015.351
N. Narendra, Karthikeyan Ponnalagu, A. Ghose, Srikanth G. Tamilselvam
One of the crucial research issues in an IoT-based system is how to manage the huge amount of data transmitted by the potentially large number of sensors that form the system. Prior research has focused on centralized cloud-based "Big Data" architectures for collecting, collating and analyzing the data. However, most of these scenarios accumulate thousands of petabytes in a short period of time, increasing the demand for more storage, and also slowing down speed of data analysis. Hence for real-time scenarios, e.g., agricultural crop tracking, traffic management, etc., such an approach would be impractical. Moreover, depending on the context in which the data is generated and is to be used, only a fraction of the data would be needed for analysis. Therefore, the challenges are to determine which data to keep and which to discard for both short term and long term usage, and define the contextual parameters along which this filtering is to be done. Hence one key problem addressed in this paper is how to define what data the user needs so that filtering algorithms can be defined to extract the data needed. To that end, in this paper, we present a goal driven, context-aware data filtering, transforming and integration approach for IoT-based systems. We propose a data warehouse-based data model for specifying the data needed at particular levels of granularity and frequency, that drive data storage and representation (aligned with the Semantic Sensor Network ontology). Throughout our paper, we illustrate our ideas via a realistic running example in the smart city domain, with emphasis on traffic management, and also present a proof of concept prototype.
在基于物联网的系统中,一个关键的研究问题是如何管理组成系统的潜在大量传感器传输的大量数据。先前的研究主要集中在集中的基于云的“大数据”架构上,用于收集、整理和分析数据。然而,这些场景中的大多数在短时间内积累了数千pb,增加了对更多存储的需求,也减慢了数据分析的速度。因此,对于实时场景,例如,农作物跟踪,交通管理等,这种方法是不切实际的。此外,根据生成和使用数据的上下文,分析只需要一小部分数据。因此,挑战在于确定短期和长期使用时保留哪些数据,丢弃哪些数据,并定义进行过滤的上下文参数。因此,本文解决的一个关键问题是如何定义用户需要的数据,以便定义过滤算法来提取所需的数据。为此,在本文中,我们为基于物联网的系统提出了一种目标驱动、上下文感知的数据过滤、转换和集成方法。我们提出了一个基于数据仓库的数据模型,用于指定特定粒度和频率级别所需的数据,这些数据驱动数据存储和表示(与语义传感器网络本体一致)。在本文中,我们通过智能城市领域的一个实际运行示例来说明我们的想法,重点是交通管理,并提出了一个概念验证原型。
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引用次数: 22
Vision-Based Driver Assistance Systems: Survey, Taxonomy and Advances 基于视觉的驾驶辅助系统:调查、分类和进展
Pub Date : 2015-09-15 DOI: 10.1109/ITSC.2015.329
J. Horgan, Ciarán Hughes, J. McDonald, S. Yogamani
Vision-based driver assistance systems is one of the rapidly growing research areas of ITS, due to various factors such as the increased level of safety requirements in automotive, computational power in embedded systems, and desire to get closer to autonomous driving. It is a cross disciplinary area encompassing specialised fields like computer vision, machine learning, robotic navigation, embedded systems, automotive electronics and safety critical software. In this paper, we survey the list of vision based advanced driver assistance systems with a consistent terminology and propose a taxonomy. We also propose an abstract model in an attempt to formalize a top-down view of application development to scale towards autonomous driving system.
基于视觉的驾驶员辅助系统是ITS快速发展的研究领域之一,由于各种因素,如汽车安全要求水平的提高,嵌入式系统的计算能力,以及越来越接近自动驾驶的愿望。这是一个跨学科的领域,包括计算机视觉、机器学习、机器人导航、嵌入式系统、汽车电子和安全关键软件等专业领域。本文对基于视觉的高级驾驶辅助系统进行了综述,并提出了一个分类方法。我们还提出了一个抽象模型,试图形式化自顶向下的应用程序开发视图,以扩展到自动驾驶系统。
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引用次数: 51
An Improved FastSLAM Algorithm for Autonomous Vehicle Based on the Strong Tracking Square Root Central Difference Kalman Filter 基于强跟踪平方根中心差分卡尔曼滤波的自动驾驶汽车FastSLAM改进算法
Pub Date : 2015-09-15 DOI: 10.1109/ITSC.2015.118
Jianmin Duan, Dan Liu, Hongxiao Yu, Hui Shi
Fast simultaneous localization and mapping (FastSLAM), a popular algorithm based on the Rao-Blackwellized Particle Filter, has been used to solve the large-scale simultaneous localization and mapping (SLAM) problem for autonomous vehicle, but it suffers from two serious shortcomings: one is the calculation of Jacobian matrices and the linear approximations of the nonlinear vehicle kinematics model and the nonlinear environment measurement model, the other is particle set degeneracy due to inaccurate proposal distribution of particle filter. Hence an improved FastSLAM algorithm based on the strong tracking square root central difference Kalman filter (STSRCDKF) is proposed in this paper to overcome these problems. In the proposed algorithm, STSRCDKF is based on the combination of a strong tracking filter (STF) and a square root central difference Kalman filter (SRCDKF), STSRCDKF is used to design an adaptive adjustment proposal distribution of the particle filter and to estimate the Gaussian densities of the feature landmarks. The performance of the proposed algorithm is compared with that of UFastSLAM and FastSLAM2.0 in simulations and experimental tests, the results verify that the proposed algorithm has better adaptability and robustness. Furthermore, it reduces computational cost and improves state estimation accuracy and consistency.
快速同时定位与映射(FastSLAM)是一种基于rao - blackwelzed粒子滤波的流行算法,用于解决自动驾驶汽车大规模同时定位与映射(SLAM)问题,但存在两个严重缺陷:一是雅可比矩阵的计算以及非线性车辆运动学模型和非线性环境测量模型的线性逼近问题;二是粒子滤波建议分布不准确导致的粒子集退化问题。为此,本文提出了一种基于强跟踪平方根中心差分卡尔曼滤波(STSRCDKF)的改进FastSLAM算法来克服这些问题。在该算法中,STSRCDKF是基于强跟踪滤波器(STF)和平方根中心差分卡尔曼滤波器(SRCDKF)的组合,STSRCDKF用于设计粒子滤波器的自适应调整建议分布和估计特征地标的高斯密度。通过仿真和实验测试,将所提算法的性能与UFastSLAM和FastSLAM2.0进行了比较,结果验证了所提算法具有更好的自适应性和鲁棒性。降低了计算成本,提高了状态估计的准确性和一致性。
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引用次数: 5
Planning of High-Level Maneuver Sequences on Semantic State Spaces 语义状态空间上高层机动序列的规划
Pub Date : 2015-09-01 DOI: 10.1109/ITSC.2015.338
R. Kohlhaas, Daniel Hammann, T. Schamm, Johann Marius Zöllner
Highly automated driving is addressed more and more by research and also by vehicle manufacturers. In the past few years several demonstrations of automated vehicles driving on highways and even in urban scenarios were performed. In this context several challenges arose. One challenge is the understanding of complex situations and behavior generation within these especially in urban areas. Trajectory planning in these scenarios can be complex and expensive. Semantic scene modeling and planning can provide vital information to generate reliable and safe trajectories for automated vehicles. In this work we present a novel approach for high-level maneuver planning. It is based on a semantic state space that describes possible actions of a vehicle with respect to other scene elements like lane segments and traffic participants. The semantic characteristic of this state space allow for generalized planning even in complex situations. Concepts like heuristics and homotopies are utilized to optimize planning. Therefore, it is possible to efficiently generate high-level maneuver sequences for automated driving. The approach is tested on synthetic data as well as sensor data of a real test drive. and homotopies are utilized to optimize planning. Therefore, it is possible to efficiently generate high-level maneuver sequences for automated driving. The approach is tested on synthetic data as well as sensor data of a real test drive.
越来越多的研究和汽车制造商开始关注高度自动驾驶。在过去的几年里,自动驾驶汽车在高速公路上甚至在城市场景中进行了几次演示。在这方面出现了若干挑战。其中一个挑战是理解复杂的情况和行为的产生,尤其是在城市地区。在这些情况下,轨迹规划可能是复杂和昂贵的。语义场景建模和规划可以为自动驾驶车辆生成可靠和安全的轨迹提供重要信息。在这项工作中,我们提出了一种高层机动规划的新方法。它基于语义状态空间,该空间描述了车辆相对于车道段和交通参与者等其他场景元素的可能动作。这种状态空间的语义特性允许在复杂情况下进行广义规划。像启发式和同伦这样的概念被用来优化规划。因此,有效地生成用于自动驾驶的高级机动序列是可能的。对该方法进行了综合数据和实际试驾的传感器数据的测试。利用同伦优化规划。因此,有效地生成用于自动驾驶的高级机动序列是可能的。对该方法进行了综合数据和实际试驾的传感器数据的测试。
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引用次数: 11
Data analysis of blocked road information based on GIS 基于GIS的道路阻塞信息数据分析
Pub Date : 2014-11-20 DOI: 10.1109/ITSC.2014.6957985
Shu-yun Niu, Jian-Ping Liu, Liang-you Li, H. Sha, Ji-Sheng Zhang
Based on geographic information system (GIS) technology, a spatial data analysis method for blocked road information data is presented in this paper. First, blocked road information data is introduced. Second, based on GIS technology, the blocked road information data analysis process is proposed. In which, simplify the processing of spatial data, isometric transformation based GIS platform, segment split processing, stake assignment, space matching of blocked road information data, and so on, are included. Finally, the method proposed in the paper is validated by blocked road information data of a province in eastern China from 2010 to 2013. The results show that the method is feasible and effectively, the analysis results can provide support for choosing highway network monitoring sites position, emergency material reserves and management.
基于地理信息系统(GIS)技术,提出了一种闭塞道路信息数据的空间数据分析方法。首先,介绍阻塞道路信息数据。其次,提出了基于GIS技术的道路阻塞信息数据分析流程。其中,简化了空间数据的处理,包括基于GIS平台的等距变换、路段分割处理、桩位分配、闭塞道路信息数据的空间匹配等。最后,以2010 - 2013年中国东部某省闭塞道路信息数据为例,对本文方法进行了验证。结果表明,该方法可行有效,分析结果可为路网监测点位置选择、应急物资储备及管理提供支持。
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引用次数: 1
Optimization of traffic lights timing based on Artificial Neural Networks 基于人工神经网络的交通信号灯定时优化
Pub Date : 2014-11-20 DOI: 10.1109/ITSC.2014.6957986
Michel B. W. De Oliveira, A. A. Neto
This paper presents a neural networks based traffic light controller for urban traffic road intersection called EOM-ANN Controller (Environment Observation Method based on Artificial Neural Networks Controller). EOM is a very interesting mathematical method for determining traffic lights timing. However, this method has some implications which artificial neural networks were proposed to improve such problems. To evaluate the proposed traffic control system, an isolated intersection was built in simulation software named SUMO (Simulation of Urban Mobility).
本文提出了一种基于神经网络的城市交通路口红绿灯控制器,称为EOM-ANN控制器(Environment Observation Method based on Artificial neural networks controller)。EOM是一种非常有趣的确定交通灯定时的数学方法。然而,这种方法对人工神经网络的提出也有一定的启示。为了评估所提出的交通控制系统,在仿真软件SUMO (simulation of Urban Mobility)中建立了一个孤立的交叉口。
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引用次数: 13
Online testing of real-time performance in high-speed train control system 高速列车控制系统实时性在线测试
Pub Date : 2014-10-01 DOI: 10.1109/ITSC.2014.6957945
Xiaolin Zhu, Teng Li, Kaicheng Li, J. Lv
As the high-speed train control system is a typical real-time system, it should not only guaranty its functional logic correctness, but also satisfy certain time delay constraints. The traditional offline testing method, which used to be widely used in train control system's functional conformance testing, however, is no longer suitable. Especially with the increasing system complexity and more information interaction to its outer environment, the offline testing is apparently insufficient to describe the non-deterministic latency restrictions. In this paper, the authors proposed an online testing method, which is suitable for generating and executing test case together and solves the problem of real-time performance testing. Firstly, the authors used timed automata theory to model a typical scenario of Radio Block Center (RBC) handover process. Secondly, the above-mentioned TA network is divided by observable message channels into two parts, the environment model part and the equipment model part, which both work as the testing specifications of real implement. Thirdly, the authors used black-box conformance testing tool UPPAAL-TRON to generate and execute “online” test cases automatically. Specifically, this paper studied the case of RBC handover scenario, and concentrated on non-deterministic time delay performance of crossing interlock messages and wireless messages. Finally we analyzed the inconsistencies between the actual system design and its requirement specification, which could be provided as a reference for CTCS-3 train control norm-setting and system development.
高速列车控制系统是典型的实时系统,既要保证其功能逻辑的正确性,又要满足一定的时滞约束。传统的离线测试方法曾广泛应用于列车控制系统的功能一致性测试,但这种方法已不再适用。特别是随着系统复杂性的增加以及与外部环境的信息交互越来越多,离线测试显然不足以描述不确定性的延迟限制。本文提出了一种适合于同时生成和执行测试用例的在线测试方法,解决了实时性能测试的问题。首先,利用时间自动机理论对一个典型的无线块中心(RBC)切换过程进行建模。其次,根据可观察的消息通道将上述TA网络划分为环境模型部分和设备模型部分,作为实际实现的测试规范。第三,作者使用黑盒一致性测试工具UPPAAL-TRON自动生成并执行“在线”测试用例。具体而言,本文研究了RBC切换场景,重点研究了交叉联锁消息和无线消息的非确定性时延性能。最后分析了实际系统设计与需求规范之间的不一致之处,为CTCS-3列控规范的制定和系统开发提供参考。
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引用次数: 2
The influence of time-criticality on Situation Awareness when retrieving human control after automated driving 自动驾驶后恢复人为控制时,时间临界性对态势感知的影响
Pub Date : 2013-10-06 DOI: 10.1109/ITSC.2013.6728523
A. P. V. D. Beukel, M. V. Voort
When applying automated driving as a means for congestion assistance, developers are challenged how to accommodate the transitions between automated and manually driving, especially because these transitions might occur regularly and suddenly. During automated driving, the ability to take over control is also aggravated due to the driver being placed out of the control-loop. To assess then the ability to retrieve human control, we tested within a driver simulator experiment the influence of criticality (available time) on Situation Awareness (SA) gained during time-critical take-overs within a scenario of congested driving. Though one of the applied measurement methods did not show the expected effect of SA on successfulness of taking back control, the results show that drivers are able to successfully retrieve control, also within time-critical situations. Furthermore, the results show that the ability to retrieve control is positively influenced if drivers gain increased levels of SA.
当应用自动驾驶作为缓解拥堵的手段时,开发人员面临着如何适应自动驾驶和手动驾驶之间的转换的挑战,特别是因为这些转换可能会定期和突然发生。在自动驾驶过程中,由于驾驶员被置于控制回路之外,接管控制的能力也会加剧。为了评估恢复人类控制的能力,我们在驾驶员模拟器实验中测试了临界性(可用时间)对拥挤驾驶场景中时间关键接管期间获得的态势感知(SA)的影响。虽然应用的一种测量方法没有显示SA对成功收回控制权的预期影响,但结果表明,驾驶员能够成功地收回控制权,即使在时间关键的情况下也是如此。此外,结果表明,如果驾驶员获得更高水平的SA,则恢复控制的能力将受到积极影响。
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引用次数: 60
Assessment of maturity and efficacy of Toll Collection Ecosystems 收费生态系统的成熟度和有效性评估
Pub Date : 2013-10-01 DOI: 10.1109/ITSC.2013.6728284
A. G. Leal, A. Santos, M. Y. Miyake, C. Marte
Control Objectives for Information and related Technology (CobIT) establish maturity models, the assessment of process capability is an essential part of IT governance implementation. In an analogous manner, the efficacy of operations in Toll Collection Ecosystem could be evaluated using the same approach from CobIT. Maturity models enable managers to identify gaps in key processes and controls. It describes a tool to assess the maturity and effectiveness of all processes associated with the Toll Collection Ecosystem. The Toll Collection processes constitute an ecosystem that involves the quality and maturity of operations, business processes, institutional aspects, equipment maintenance and infrastructure management. The creation of a methodology for effectiveness and maturity analysis of the full Toll Collection Ecosystem allows the establishment of quantitative and qualitative parameters, which may be assessed and monitored, therefore, enabling a useful tool for the operators' and Government Regulatory Agencies' decision-making processes.
信息及相关技术控制目标(CobIT)建立了成熟度模型,过程能力的评估是IT治理实现的重要组成部分。以类似的方式,可以使用CobIT的相同方法来评估收费生态系统的运营效率。成熟度模型使管理人员能够识别关键过程和控制中的差距。它描述了一个评估与收费生态系统相关的所有流程的成熟度和有效性的工具。收费流程构成了一个生态系统,涉及运营的质量和成熟度、业务流程、制度方面、设备维护和基础设施管理。通过建立一种方法,对整个收费生态系统进行有效性和成熟度分析,可以建立定量和定性参数,从而对这些参数进行评估和监测,从而为运营商和政府监管机构的决策过程提供有用的工具。
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引用次数: 1
期刊
International Conference on Intelligent Transportation Systems
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