Driver Maneuver Interaction Identification with Anomaly-Aware Federated Learning on Heterogeneous Feature Representations

Abstract

Driver maneuver interaction learning (DMIL) refers to the classification task with the goal of identifying different driver-vehicle maneuver interactions (e.g., left/right turns). Existing conventional studies largely focused on the centralized collection of sensor data from the drivers' smartphones (say, inertial measurement units or IMUs, like accelerometer and gyroscope). Such a centralized mechanism might be precluded by data regulatory constraints. Furthermore, how to enable an adaptive and accurate DMIL framework remains challenging due to (i) complexity in heterogeneous driver maneuver patterns, and (ii) impacts of anomalous driver maneuvers due to, for instance, aggressive driving styles and behaviors. To overcome the above challenges, we propose AF-DMIL, an Anomaly-aware Federated Driver Maneuver Interaction Learning system. We focus on the real-world IMU sensor datasets (e.g., collected by smartphones) for our pilot case study. In particular, we have designed three heterogeneous representations for AF-DMIL regarding spectral, time series, and statistical features that are derived from the IMU sensor readings. We have designed a novel heterogeneous representation attention network (HetRANet) based on spectral channel attention, temporal sequence attention, and statistical feature learning mechanisms, jointly capturing and identifying the complex patterns within driver maneuver behaviors. Furthermore, we have designed a densely-connected convolutional neural network in HetRANet to enable the complex feature extraction and enhance the computational efficiency of HetRANet. In addition, we have designed within AF-DMIL a novel anomaly-aware federated learning approach for decentralized DMIL in response to anomalous maneuver data. To ease extraction of the maneuver patterns and evaluation of their mutual differences, we have designed an embedding projection network that projects the high-dimensional driver maneuver features into low-dimensional space, and further derives the exemplars that represent the driver maneuver patterns for mutual comparison. Then, AF-DMIL further leverages the mutual differences of the exemplars to identify those that exhibit anomalous patterns and deviate from others, and mitigates their impacts upon the federated DMIL. We have conducted extensive driver data analytics and experimental studies on three real-world datasets (one is harvested on our own) to evaluate the prototype of AF-DMIL, demonstrating AF-DMIL's accuracy and effectiveness compared to the state-of-the-art DMIL baselines (on average by more than 13% improvement in terms of DMIL accuracy), as well as fewer communication rounds (on average 29.20% fewer than existing distributed learning mechanisms).