| 1. |
- Martinsson, John, et al.
(författare)
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Clustering Vehicle Maneuver Trajectories Using Mixtures of Hidden Markov Models
- 2018
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Ingår i: 2018 21st International Conference on Intelligent Transportation Systems (ITSC). - : IEEE. - 2153-0017. - 9781728103235 ; 2018-November, s. 3698-3705
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Konferensbidrag (refereegranskat)abstract
- The safety of autonomous vehicles needs to be verified and validated by rigorous testing. It is expensive to test autonomous vehicles in the field, and therefore virtual testing methods are needed. Generative models of maneuvers such as cut-ins, overtakes, and lane-keeping are needed to thoroughly test the autonomous vehicle in a virtual environment. To train such models we need ground truth maneuver labels and obtaining such labels can be time-consuming and costly. In this work, we use a mixture of hidden Markov models to find clusters in maneuver trajectories, which can be used to speed up the labeling process. The maneuver trajectories are noisy, asynchronous and of uneven length, which make hidden Markov models a good fit for the data. The method is evaluated on labeled data from a test track consisting of cut-ins and overtakes with favorable results. Further, it is applied to natural data where many of the clusters found can be interpreted as driver maneuvers under reasonable assumptions. We show that mixtures of hidden Markov models can be used to find motion patterns in driver maneuver data from highways and country roads.
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| 2. |
- Berger, Christian, 1980, et al.
(författare)
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Systematic Evaluation of Applying Space-Filling Curves to Automotive Maneuver Detection
- 2023
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Ingår i: IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC. - 2153-0009 .- 2153-0017. - 9798350399462
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Konferensbidrag (refereegranskat)abstract
- Identifying driving maneuvers plays an essential role on-board vehicles to monitor driving and driver states, as well as off-board to train and evaluate machine learning algorithms for automated driving for example. Maneuvers can be characterized by vehicle kinematics or data from its surroundings including other traffic participants. Extracting relevant maneuvers therefore requires analyzing time-series of (i) structured, multi-dimensional kinematic data, and (ii) unstructured, large data samples for video, radar, or LiDAR sensors. However, such data analysis requires scalable and computationally efficient approaches, especially for non-annotated data. In this paper, we are presenting a maneuver detection approach based on two variants of space-filling curves (Z-order and Hilbert) to detect maneuvers when passing roundabouts that do not use GPS data. We systematically evaluate their respective performance by including permutations of selections of kinematic signals at varying frequencies and compare them with two alternative baselines: All manually identified roundabouts, and roundabouts that are marked by geofences. We find that encoding just longitudinal and lateral accelerations sampled at 10 Hz using a Hilbert space-filling curve is already successfully identifying roundabout maneuvers, which allows to avoid the use of potentially sensitive signals such as GPS locations to comply with data protection and privacy regulations like GDPR.
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| 3. |
- Chen, Mo, et al.
(författare)
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Energy-Efficient and Safe-Separation Operation for Successive Trains
- 2023
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Ingår i: IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC. - 2153-0017 .- 2153-0009. ; , s. 845-851
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Konferensbidrag (refereegranskat)abstract
- Energy-efficient and safe-separation during train operation is of great significance for urban rail transit systems, particularly on lines with high traffic density. This paper integrates the two issues and proposes a general cooperative operation method for successive trains with no limit on the number of trains. The cooperation problem is formulated as an optimal control problem and then solved as a nonlinear program. By simultaneously optimizing the speed profiles of each train, the total traction energy of the multi-train system can be minimized, ensuring safety by imposing dynamic time headway constraints among adjacent trains throughout the entire distance horizon. Moreover, a dynamic programming method is developed for comparative study, to verify the effectiveness of the proposed method.
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| 4. |
- Dolins, Sigma, 1985, et al.
(författare)
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AVs Have a Sharing Problem: Examining User Acceptance of Shared, Autonomous Public Transport in Sweden
- 2023
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Ingår i: IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC. - 2153-0017 .- 2153-0009. ; , s. 6102-6107
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Konferensbidrag (refereegranskat)abstract
- This paper investigates the acceptance of shared, autonomous vehicles (SAVs) with participants who have been exposed to AV pilots in Sweden, with a specific focus on shared mobility and public transport contexts. The study aims to gain insights into individuals' attitudes, acceptance levels, and willingness to use autonomous vehicles (AVs) in shared mobility scenarios, particularly in the context of public transportation. The research methodology employed focus groups to gather qualitative insights from participants. The findings provide valuable insights into user perceptions and preferences, offering guidance for promoting SAVs and integrating them into public transport systems in Sweden.
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| 5. |
- Gaetan, Elisa, et al.
(författare)
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Modelling Traffic Scenarios via Markovian Opinion Dynamics
- 2023
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Ingår i: IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC. - 2153-0017 .- 2153-0009. ; , s. 1072-1077
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Konferensbidrag (refereegranskat)abstract
- We address the question of whether opinion dynamics models can be exploited in novel scenarios, such as traffic flow on highway lanes. In this paper, we design a Markovian model and compare its predictions with those obtained from the widely recognized Cell Transmission Model (CTM) for the same traffic scenario. We identify potential challenges that may arise and propose strategies to address them. Furthermore, we present a concise demonstration showcasing the predictive capabilities of our proposed model through a small-scale example.
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| 6. |
- Grimm, Daniel, et al.
(författare)
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Gap analysis of ISO/SAE 21434 – Improving the automotive cybersecurity engineering life cycle
- 2023
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Ingår i: IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC. - 2153-0017 .- 2153-0009. ; , s. 1904-1911
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Konferensbidrag (refereegranskat)abstract
- Due to the ongoing legislative shift towards mandated cybersecurity for road vehicles, the automotive cybersecurity engineering standard ISO/SAE 21434 is seeing fast adoption throughout the industry. Early efforts are focusing on threat analysis and risk assessment (TARA) in the concept and development phases, exposing the challenge of managing TARA results coherently throughout the supply chain and life cycle. While the industry focuses on TARA, other aspects such as vulnerability or incident handling are receiving less attention. However, the increasing threat landscape makes these processes increasingly important, posing another industry challenge. In order to better address these two challenges, we analyze the cybersecurity engineering framework of ISO/SAE 21434 for gaps or deficiencies regarding TARA management and vulnerability and incident handling, as well as similar processes for incident handling in IT security. The result is a proposal for modifications and augmentations of the ISO/SAE 21434 cybersecurity engineering framework. In particular, we propose a TARA management process to facilitate the coordination and information exchange between different systems and life cycle phases, and we propose improvements to the vulnerability and incident handling processes in ISO/SAE 21434 so that they are more aligned with established standards. This amounts to 13 new terminology definitions, 4 new process steps, 2 modified process steps and 1 entirely new process.
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| 7. |
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| 8. |
- Cebecauer, Matej, et al.
(författare)
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Spatio-Temporal Partitioning of Large Urban Networks for Travel Time Prediction
- 2018
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Ingår i: 2018 21ST INTERNATIONAL CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEMS (ITSC). - : IEEE. - 9781728103235 ; , s. 1390-1395
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Konferensbidrag (refereegranskat)abstract
- The paper explores the potential of spatiotemporal network partitioning for travel time prediction accuracy and computational costs in the context of large-scale urban road networks (including motorways/freeways, arterials and urban streets). Forecasting in this context is challenging due to the complexity, heterogeneity, noisy data, unexpected events and the size of the traffic network. The proposed spatio-temporal network partitioning methodology is versatile, and can be applied for any source of travel time data and multivariate travel time prediction method. A case study of Stockholm, Sweden considers a network exceeding 11,000 links and uses taxi probe data as the source of travel times data. To predict the travel times the Probabilistic Principal Component Analysis (PPCA) is used. Results show that the spatio-temporal network partitioning provides a more appropriate bias-variance tradeoff, and that prediction accuracy and computational costs are improved by considering the proper number of clusters towards robust large-scale travel time prediction.
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| 9. |
- Chugh, Tushar, 1989, et al.
(författare)
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Design of Haptic Feedback Control for Steer-by-Wire
- 2018
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Ingår i: IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC. - : Institute of Electrical and Electronics Engineers Inc.. - 9781728103235 ; 21, s. 1737-1744
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Konferensbidrag (refereegranskat)abstract
- This paper illustrates a comparison of different haptic feedback control strategies; primarily focusing on open and closed-loop methods for a Force-Feedback Steer-by-Wire system. Due to shortcomings caused by the feedback motor impedance in the open loop architecture, the tracking performance is deteriorated. Consequently it is shown that the closed-loop solutions provide an improved response within the desired steering excitation range. The closed-loop possibilities, torque and position control, are designed and objectively compared in terms of performance and stability. The controller objectives are inertia compensation and reference tracking. For a given reference, the stability constraint between the controller gains responsible for the two objectives is contrasting in both the methods. Higher bandwidth is achieved for torque controller, whereas the driver arm inertia limits the position control performance. The linear system analysis is supported by the experimental results.
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| 10. |
- Čičić, Mladen, 1991-, et al.
(författare)
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Traffic regulation via individually controlled automated vehicles : a cell transmission model approach
- 2018
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Ingår i: 2018 21ST INTERNATIONAL CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEMS (ITSC). - : IEEE. - 9781728103235 ; , s. 766-771
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Konferensbidrag (refereegranskat)abstract
- The advent of automated, infrastructure-controlled vehicles offers new opportunities for traffic control. Even when the number of controlled vehicles is small, they can significantly affect the surrounding traffic. One way of regulating traffic is by using the automated vehicles as controlled moving bottlenecks. We present an extension of the cell transmission model that includes the influence of moving bottlenecks, consistently with the corresponding PDE traffic model. Based on this model, a control strategy is derived for traffic jam resolution. The strategy is tested in simulations, and shown to reduce the average travel time of surrounding vehicles, while also helping dissipate the traffic jam faster and ensuring the controlled vehicle avoids it.
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