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Call for Distinguished Lecturer Nominations [Society News] 征集杰出讲师提名 [学会新闻]
IF 3.6 3区 工程技术 Q1 Engineering Pub Date : 2024-01-01 DOI: 10.1109/mits.2023.3332462
Matthew Barth
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引用次数: 0
Human-Like Decision Making at Unsignalized Intersections Using Social Value Orientation 利用社会价值取向在无信号交叉路口做出与人类相似的决策
IF 3.6 3区 工程技术 Q1 Engineering Pub Date : 2023-12-27 DOI: 10.1109/mits.2023.3342308
Yan Tong, Licheng Wen, Pinlong Cai, Daocheng Fu, Song Mao, Botian Shi, Yikang Li
With the commercial application of automated vehicles (AVs), the sharing of roads between AVs and human-driven vehicles (HVs) will become a common occurrence in the future. While research has focused on improving the safety and reliability of autonomous driving, it’s also crucial to consider collaboration between AVs and HVs. Human-like interaction is a required capability for AVs, especially at common unsignalized intersections, as human drivers of HVs expect to maintain their driving habits for intervehicle interactions. This article uses the social value orientation (SVO) in the decision making of vehicles to describe the social interaction among multiple vehicles. Specifically, we define the quantitative calculation of the conflict-involved SVO at unsignalized intersections to enhance decision making based on the reinforcement learning method. We use naturalistic driving scenarios with highly interactive motions for the performance evaluation of the proposed method. The experimental results show that SVO is more effective in characterizing intervehicle interactions than conventional motion-state parameters like velocity, and the proposed method can accurately reproduce naturalistic driving trajectories compared to behavior cloning.
随着自动驾驶汽车(AV)的商业化应用,AV 和人类驾驶汽车(HV)共用道路在未来将成为一种普遍现象。虽然研究的重点是提高自动驾驶的安全性和可靠性,但考虑自动驾驶汽车和人类驾驶汽车之间的合作也至关重要。类似人类的互动是自动驾驶汽车所需的能力,尤其是在常见的无信号交叉路口,因为自动驾驶汽车的人类驾驶员希望在进行车辆间互动时保持自己的驾驶习惯。本文利用车辆决策中的社会价值取向(SVO)来描述多辆车之间的社会互动。具体来说,我们定义了在无信号交叉路口发生冲突时社会价值取向的定量计算,以基于强化学习方法提高决策水平。我们使用具有高度交互运动的自然驾驶场景来评估所提出方法的性能。实验结果表明,与传统的运动状态参数(如速度)相比,SVO 能更有效地表征车辆间的相互作用,而且与行为克隆相比,所提出的方法能准确地再现自然驾驶轨迹。
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引用次数: 0
Brain-Inspired Driver Emotion Detection for Intelligent Cockpits Based on Real Driving Data 基于真实驾驶数据的智能驾驶舱大脑启发式驾驶员情绪检测
IF 3.6 3区 工程技术 Q1 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2023-12-22 DOI: 10.1109/mits.2023.3339758
Wenbo Li, Yingzhang Wu, Huafei Xiao, Shen Li, Ruichen Tan, Zejian Deng, Wen Hu, Dongpu Cao, Gang Guo
Affective human–vehicle interaction of intelligent cockpits is a key factor affecting the acceptance, trust, and experience for intelligent connected vehicles. Driver emotion detection is the premise of realizing affective human–machine interaction. To achieve accurate and robust driver emotion detection, we propose a novel brain-inspired framework for on-road driver emotion detection using facial expressions. Then, we conduct driver emotion data collection in an on-road context. We develop a data annotation tool, annotate the collected data, and obtain the RoadEmo dataset, a dataset of facial expressions and road scenarios under the driver’s emotional driving. Finally, we validate the detection accuracy of the proposed framework. The experiment results show that our proposed framework achieves excellent detection performance in the on-road driver emotion detection task and outperforms existing frameworks.
智能驾驶舱的情感化人车交互是影响智能网联汽车接受度、信任度和体验的关键因素。驾驶员情绪检测是实现情感化人机交互的前提。为了实现准确、鲁棒性的驾驶员情绪检测,我们提出了一种利用面部表情进行路面驾驶员情绪检测的新型大脑启发框架。然后,我们在道路环境中进行了驾驶员情绪数据收集。我们开发了一个数据注释工具,对收集到的数据进行注释,并获得了 RoadEmo 数据集,这是一个包含驾驶员情绪驾驶下的面部表情和道路场景的数据集。最后,我们验证了所提框架的检测准确性。实验结果表明,我们提出的框架在道路驾驶员情绪检测任务中取得了优异的检测性能,优于现有框架。
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引用次数: 0
A Survey of Integrated Simulation Environments for Connected Automated Vehicles: Requirements, Tools, and Architecture 互联自动车辆综合仿真环境调查:需求、工具和架构
IF 3.6 3区 工程技术 Q1 Engineering Pub Date : 2023-12-21 DOI: 10.1109/mits.2023.3335126
Vitaly G. Stepanyants, Aleksandr Y. Romanov
Automated and connected vehicles are emerging in the market. Currently, solutions are being proposed to use these technologies for cooperative driving, which can significantly improve road safety. Vehicular safety applications must be tested before deployment. It is challenging to verify and validate them in the real world. Therefore, simulation is used for this purpose. Modeling this technology necessitates coupled use of traffic flow, vehicle dynamics, and communication network simulators. State-of-the-art tools exist in these domains; however, they are difficult to integrate or lack full domain coverage. This article analyzes the requirements for an integrated connected and automated vehicle simulation environment for simulating vehicular cooperative driving automation with consideration of surrounding objects’ influence. For this purpose, we have assessed the existing challenges and practices. Vehicular simulation tools, signal propagation, and cooperative perception models are reviewed and analyzed. In our review, we focus mainly on autonomous driving simulators with 3D graphical environments as they have not yet been assessed for cooperative driving task fitness. Further, the current state of connected and automated vehicle simulation studies using these tools is surveyed, including single-tool and co-simulation approaches. We discuss the shortcomings of existing methods and propose an architecture for an integrated simulation environment (ISE) with full domain coverage using open source tools. The obtained conclusions can be further used in the development of connected and automated vehicle ISEs.
自动驾驶和联网汽车正在市场上兴起。目前,正在提出利用这些技术实现协同驾驶的解决方案,这可以大大提高道路安全。车辆安全应用在部署前必须经过测试。在现实世界中对其进行验证和确认具有挑战性。因此,模拟技术被用于这一目的。对这项技术进行建模需要结合使用交通流、车辆动力学和通信网络模拟器。这些领域都有最先进的工具,但它们难以集成或缺乏全领域覆盖。本文分析了集成互联和自动驾驶车辆模拟环境的要求,以模拟考虑到周围物体影响的车辆协同自动驾驶。为此,我们对现有的挑战和实践进行了评估。我们对车辆仿真工具、信号传播和合作感知模型进行了回顾和分析。在综述中,我们主要关注具有三维图形环境的自动驾驶模拟器,因为这些模拟器尚未针对合作驾驶任务的适配性进行评估。此外,我们还调查了使用这些工具进行互联和自动驾驶汽车模拟研究的现状,包括单一工具和协同模拟方法。我们讨论了现有方法的不足之处,并提出了使用开源工具的全领域覆盖集成仿真环境(ISE)架构。获得的结论可进一步用于互联和自动驾驶汽车 ISE 的开发。
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引用次数: 0
A Multimodal Trajectory Prediction Method for Pedestrian Crossing Considering Pedestrian Motion State 考虑行人运动状态的行人过街多模式轨迹预测方法
IF 3.6 3区 工程技术 Q1 Engineering Pub Date : 2023-12-13 DOI: 10.1109/mits.2023.3331817
Zhuping Zhou, Bowen Liu, Changji Yuan, Ping Zhang
Predicting pedestrian crossing trajectories has become a primary task in aiding autonomous vehicles to assess risks in pedestrian–vehicle interactions. As agile participants with changeable behavior, pedestrians are often capable of choosing from multiple possible crossing trajectories. Current research lacks the ability to predict multimodal trajectories with interpretability, and it also struggles to capture low-probability trajectories effectively. Addressing this gap, this article proposes a multimodal trajectory prediction model that operates by first estimating potential motion trends to prompt the generation of corresponding trajectories. It encompasses three sequential stages. First, pedestrian motion characteristics are analyzed, and prior knowledge of pedestrian motion states is obtained using the Gaussian mixture clustering method. Second, a long short-term memory model is employed to predict future pedestrian motion states, utilizing the acquired prior knowledge as input. Finally, the predicted motion states are discretized into various potential motion patterns, which are then introduced as prompts to the Spatio-Temporal Graph Transformer model for trajectory prediction. Experimental results on the Euro-PVI and BPI datasets demonstrate that the proposed model achieves cutting-edge performance in predicting pedestrian crossing trajectories. Notably, it significantly enhances the diversity, accuracy, and interpretability of pedestrian crossing trajectory predictions.
预测行人过街轨迹已成为协助自动驾驶汽车评估行人与车辆互动风险的一项首要任务。作为行为多变的敏捷参与者,行人通常能够从多种可能的过街轨迹中做出选择。目前的研究缺乏预测多模态轨迹的能力,也难以有效捕捉低概率轨迹。针对这一不足,本文提出了一种多模态轨迹预测模型,该模型首先通过估计潜在的运动趋势来生成相应的轨迹。该模型包括三个连续阶段。首先,分析行人的运动特征,并利用高斯混合聚类法获得行人运动状态的先验知识。其次,利用获得的先验知识作为输入,采用长短期记忆模型预测未来行人的运动状态。最后,将预测的运动状态离散化为各种潜在的运动模式,然后将其作为提示引入时空图变换器模型进行轨迹预测。在 Euro-PVI 和 BPI 数据集上的实验结果表明,所提出的模型在预测行人过街轨迹方面达到了最先进的性能。值得注意的是,它大大提高了行人过街轨迹预测的多样性、准确性和可解释性。
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引用次数: 0
Sight Distance of Automated Vehicles Considering Highway Vertical Alignments and Its Implications for Speed Limits 自动驾驶车辆的视距(考虑公路垂直排列)及其对速度限制的影响
IF 3.6 3区 工程技术 Q1 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2023-12-08 DOI: 10.1109/mits.2023.3334769
Shuyi Wang, Yang Ma, Said M. Easa, Hao Zhou, Yuanwen Lai, Weijie Chen
Most existing road infrastructures were constructed before the emergence of automated vehicles (AVs) without considering their operational needs. Whether and how AVs could safely adapt to as-built highway geometry are questions that remain inconclusive, and a plausible concern is a challenge from vertical alignments. To fill this gap, this study uses a virtual simulation to investigate the available sight distance (ASD) of AVs on vertical alignments subject to the current highway geometric design specification and its implications for speed limits. According to the scenario generation framework, several scenarios featuring vertical geometric elements and lidar sensors were created and tested. Moreover, the maximum speed for adequate ASD is calculated to determine the AV speed limit, considering safe sight distance and speed consistency requirements. The results indicate that crest curves are not disadvantaged in ASD compared with either sag curves or tangent grades. Only equipped with multichannel lidar and advanced perception algorithms enabling a lower detection threshold would a level 4 AV be compatible with the as-built vertical alignment with a design speed (Vd) of 100 km/h. However, a level 3 AV can only adapt to the vertical profile with Vd = 60 km/h. The findings of this study should be of interest to the road-oriented operational design domain and support road administrators in regulating AV safe speeds.
大多数现有的道路基础设施都是在自动驾驶汽车(AV)出现之前建造的,没有考虑到自动驾驶汽车的运行需求。自动驾驶汽车能否以及如何安全地适应现有公路的几何形状,这些问题仍无定论,其中一个合理的担忧是垂直排列带来的挑战。为了填补这一空白,本研究采用虚拟仿真技术,研究了在当前公路几何设计规范下,垂直排列的自动驾驶汽车的可用视距(ASD)及其对速度限制的影响。根据情景生成框架,创建并测试了几种具有垂直几何元素和激光雷达传感器的情景。此外,考虑到安全视距和速度一致性要求,还计算了足够的 ASD 的最大速度,以确定视距限速。结果表明,与下垂曲线或切线坡度相比,坡顶曲线在自动减速方面并不处于劣势。只有配备了多通道激光雷达和先进的感知算法,使检测阈值降低,4 级反车辆雷达才能与设计速度(Vd)为 100 公里/小时的竣工纵向线形相匹配。然而,3 级反车辆地雷只能适应 Vd = 60 公里/小时的垂直剖面。这项研究的结果对面向道路的运行设计领域很有意义,有助于道路管理者规范自动驾驶汽车的安全速度。
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引用次数: 0
DERNet: Driver Emotion Recognition Using Onboard Camera DERNet:使用车载摄像头识别驾驶员情绪
IF 3.6 3区 工程技术 Q1 Engineering Pub Date : 2023-12-07 DOI: 10.1109/mits.2023.3333882
Dingyu Wang, Shaocheng Jia, Xin Pei, Chunyang Han, Danya Yao, Dezhi Liu
Driver emotion is considered an essential factor associated with driving behaviors and thus influences traffic safety. Dynamically and accurately recognizing the emotions of drivers plays an important role in road safety, especially for professional drivers, e.g., the drivers of passenger service vehicles. However, there is a lack of a benchmark to quantitatively evaluate the performance of driver emotion recognition performance, especially for various application situations. In this article, we propose an emotion recognition benchmark based on the driver emotion facial expression (DEFE) dataset, which consists of two splits: training and testing on the same set (split 1) and different sets (split 2) of drivers. These two splits correspond to various application scenarios and have diverse challenges. For the former, a driver emotion recognition network is proposed to provide a competitive baseline for the benchmark. For the latter, a novel driver representation difference minimization loss is proposed to enhance the learning of common representations for emotion recognition over different drivers. Moreover, the minimum required information for achieving a satisfactory performance is also explored on split 2. Comprehensive experiments on the DEFE dataset clearly demonstrate the superiority of the proposed methods compared to other state-of-the-art methods. An example application of applying the proposed methods and a voting mechanism to real-world data collected in a naturalistic environment reveals the strong practicality and readiness of the proposed methods. The codes and dataset splits are publicly available at https://github.com/wdy806/CDERNet/.
驾驶员的情绪被认为是与驾驶行为相关的重要因素,从而影响交通安全。动态、准确地识别驾驶员的情绪在道路安全中发挥着重要作用,尤其是对于职业驾驶员,如客运服务车辆的驾驶员。然而,目前还缺乏一个基准来定量评估驾驶员情绪识别的性能,尤其是在各种应用情况下。在本文中,我们提出了一种基于驾驶员情绪面部表情(DEFE)数据集的情绪识别基准,该数据集由两部分组成:对同一组(第一部分)和不同一组(第二部分)驾驶员的训练和测试。这两组数据分别对应不同的应用场景和挑战。对于前者,提出了一个驾驶员情绪识别网络,为基准提供了一个有竞争力的基线。对于后者,提出了一种新颖的驾驶员表征差异最小化损失,以加强对不同驾驶员情感识别通用表征的学习。此外,还探讨了在分裂 2 上取得令人满意的性能所需的最低信息量。在 DEFE 数据集上进行的综合实验清楚地表明,与其他最先进的方法相比,所提出的方法更具优势。在自然环境中收集的真实世界数据中应用所提出的方法和投票机制的示例应用,揭示了所提出的方法具有很强的实用性和就绪性。代码和数据集拆分可在 https://github.com/wdy806/CDERNet/ 上公开获取。
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引用次数: 0
When Blockchain Meets Urban Rail Transit: Current Prospects, Case Studies, and Future Challenges 当区块链遇上城市轨道交通:当前前景、案例研究和未来挑战
IF 3.6 3区 工程技术 Q1 Engineering Pub Date : 2023-11-01 DOI: 10.1109/mits.2023.3294590
Hao Liang, Li Zhu, Fei Yu
Thanks to the vigorous development of artificial intelligence, urban rail transit (URT) is undergoing a new round of intelligent upgrades. While its intelligence level is improving, URT suffers from a weak trust foundation, high data sharing costs, and low collaboration efficiency. Driven by outstanding features of decentralization, resilience against tampering, and traceability, blockchain can provide a safe and efficient value-trust exchange infrastructure for URT. This article focuses on the current prospects, case studies, and future challenges of blockchain-empowered URT. We first introduce blockchain fundamentals and mainstream blockchain platforms, comparing the technology’s advantages and highlighting the motivation of using it in URT. The prospects of using blockchain in the lifecycle of URT, which includes planning and construction, operation and management, control and security, and upgrading and transformation, are explored. Furthermore, a concrete case study of using blockchain in a distributed authentication scheme for URT is described. Extensive testing results show that the proposed blockchain-based distributed authentication scheme can enhance the security of the train control system without sacrificing communication performance. Finally, we summarize the challenges and problems when using blockchain in future URT systems.
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引用次数: 0
ITS Applications That Prioritize Human Interaction [President’s Message] 优先考虑人际互动的智能交通应用[总统致辞]
3区 工程技术 Q1 Engineering Pub Date : 2023-11-01 DOI: 10.1109/mits.2023.3314849
Cristina Olaverri-Monreal
As we navigate toward the future, the integration of human awareness, interaction, and user-friendliness within intelligent transportation systems (ITS) becomes increasingly vital. Designing ITS technologies to prioritize the well-being and preferences of individuals and communities is paramount, ensuring transportation experiences that are safe, convenient, and enjoyable. By embracing human-centric factors during the development of ITS solutions, we can elevate the overall user experience and effectively address the evolving challenges posed by modern transportation. The successful adoption of ITS technologies depends on incorporating aspects that facilitate seamless interaction between humans and systems. This involves various dimensions, such as creating intuitive and user-friendly interfaces that accommodate diverse user needs, assessing the perceptions and trust levels that road users hold toward automated systems, understanding their decision-making processes as influenced by vehicle messages or road signs, and exploring the societal impacts of emerging technologies on mobility patterns, transportation access, and social equity. In addition, addressing concerns related to personal data collection and usage, promoting eco-conscious driving habits through educational endeavors, and navigating the intricate legal and ethical frameworks also play a crucial role in this adoption.
随着我们走向未来,在智能交通系统(ITS)中整合人类意识、互动和用户友好性变得越来越重要。在设计智能交通技术时,优先考虑个人和社区的福祉和偏好是至关重要的,这将确保交通体验的安全、便利和愉快。通过在ITS解决方案的开发过程中融入以人为本的因素,我们可以提升整体用户体验,并有效应对现代交通带来的不断变化的挑战。智能交通系统技术的成功采用取决于纳入促进人与系统之间无缝交互的方面。这涉及多个方面,例如创建直观和用户友好的界面,以满足不同的用户需求,评估道路使用者对自动化系统的看法和信任程度,了解他们的决策过程受到车辆信息或道路标志的影响,以及探索新兴技术对移动模式、交通通道和社会公平的社会影响。此外,解决与个人数据收集和使用相关的问题,通过教育努力促进环保驾驶习惯,以及驾驭复杂的法律和道德框架,也在采用自动驾驶汽车方面发挥着至关重要的作用。
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引用次数: 0
A Semi-“Smart Predict, Then Optimize” Method for Traffic Signal Control 交通信号控制的半“智能预测再优化”方法
IF 3.6 3区 工程技术 Q1 Engineering Pub Date : 2023-11-01 DOI: 10.1109/mits.2023.3284059
Cheng-Fu Yang, Sheng Jin, Jérémie A. Alagbé, Congcong Bai
An efficient intersection signal scheme is of vital significance to urban traffic operation. At present, multiperiod fixed-timing control is still the traffic signal control method adopted by many urban intersections. For the optimization problem of signal scheme selection at signalized intersections, we proposed three two-step prediction optimization methods that match the traffic arrival in different periods with the corresponding optimal signal scheme, aimed at reducing the total delay of vehicles at signalized intersections. The first method predicts the traffic flow in each entrance direction of the intersection by minimizing the mean square error (MSE), then obtains the total vehicle delay of each scheme in the signal scheme set through the Highway Capacity Manual 2010 delay formula, and finally substitutes it into the signal optimization model to obtain the optimal scheme combination. The second method directly predicts the total vehicle delay at intersections of all signal schemes by minimizing the MSE and then substitutes it into the signal optimization model to obtain the optimal scheme combination. The third method directly predicts the total vehicle delay at intersections of all signal schemes by minimizing both the MSE and the prediction error between every two schemes and then substitutes it into the signal optimization model to obtain the optimal scheme combination. Verification based on actual intersection shows that better optimization results can be obtained by integrating optimization objectives into the prediction process. Besides, some practical insights can be drawn through applicability analysis and sensitivity analysis. First, the proposed model is more suitable for intersections where traffic arrivals vary greatly. Second, with the increase of scheme differences within a certain range, the advantages of the proposed method become more obvious. Finally, it is necessary to balance the flexibility of traffic control with control effectiveness in practical applications.
{"title":"A Semi-“Smart Predict, Then Optimize” Method for Traffic Signal Control","authors":"Cheng-Fu Yang, Sheng Jin, Jérémie A. Alagbé, Congcong Bai","doi":"10.1109/mits.2023.3284059","DOIUrl":"https://doi.org/10.1109/mits.2023.3284059","url":null,"abstract":"An efficient intersection signal scheme is of vital significance to urban traffic operation. At present, multiperiod fixed-timing control is still the traffic signal control method adopted by many urban intersections. For the optimization problem of signal scheme selection at signalized intersections, we proposed three two-step prediction optimization methods that match the traffic arrival in different periods with the corresponding optimal signal scheme, aimed at reducing the total delay of vehicles at signalized intersections. The first method predicts the traffic flow in each entrance direction of the intersection by minimizing the mean square error (MSE), then obtains the total vehicle delay of each scheme in the signal scheme set through the Highway Capacity Manual 2010 delay formula, and finally substitutes it into the signal optimization model to obtain the optimal scheme combination. The second method directly predicts the total vehicle delay at intersections of all signal schemes by minimizing the MSE and then substitutes it into the signal optimization model to obtain the optimal scheme combination. The third method directly predicts the total vehicle delay at intersections of all signal schemes by minimizing both the MSE and the prediction error between every two schemes and then substitutes it into the signal optimization model to obtain the optimal scheme combination. Verification based on actual intersection shows that better optimization results can be obtained by integrating optimization objectives into the prediction process. Besides, some practical insights can be drawn through applicability analysis and sensitivity analysis. First, the proposed model is more suitable for intersections where traffic arrivals vary greatly. Second, with the increase of scheme differences within a certain range, the advantages of the proposed method become more obvious. Finally, it is necessary to balance the flexibility of traffic control with control effectiveness in practical applications.","PeriodicalId":48826,"journal":{"name":"IEEE Intelligent Transportation Systems Magazine","volume":null,"pages":null},"PeriodicalIF":3.6,"publicationDate":"2023-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"62345785","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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IEEE Intelligent Transportation Systems Magazine
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