SAE International Journal of Connected and Automated Vehicles最新文献

{"title":"Deep Learning Algorithms for Longitudinal Driving Behavior\u0000 Prediction: A Comparative Analysis of Convolutional Neural Network and\u0000 Long–Short-Term Memory Models","authors":"Giovanni Lucente, Mikkel Skov Maarssoe, Iris Kahl, Julian Schindler","doi":"10.4271/12-07-04-0025","DOIUrl":"https://doi.org/10.4271/12-07-04-0025","url":null,"abstract":"In the realm of transportation science, the advent of deep learning has propelled\u0000 advancements in predicting longitudinal driving behavior. This study explores\u0000 the application of deep neural network architectures, specifically\u0000 long–short-term memory (LSTM) and convolutional neural networks (CNNs),\u0000 recognized for their effectiveness in handling sequential data. Using a 3-s\u0000 temporal window that includes past vehicle progress, speed, and acceleration,\u0000 the proposed model, a hybrid LSTM–CNN architecture, predicts the vehicle’s speed\u0000 and progress for the next 6 s. The approach achieves state-of-the-art\u0000 performance, particularly within a 4 s horizon, but remains competitive even for\u0000 longer-term predictions. This is achieved despite the simplicity of its input\u0000 space, which does not include information about vehicles other than the target\u0000 vehicle. As a result, while its performance may decrease slightly for\u0000 longer-term predictions due to the lack of environmental information, it still\u0000 offers reliable predictions and can be applied effectively in scenarios with\u0000 partial observability. The comparative analysis of multilayer perceptron (MLP),\u0000 LSTM, and one-dimensional CNN architectures highlights the challenges faced by\u0000 MLP in capturing the complex nonlinearity of driving behavior. LSTM and CNN\u0000 demonstrate superior performance, with model complexity influencing outcomes. No\u0000 statistically significant difference is observed in the performance between LSTM\u0000 and CNN models.","PeriodicalId":417451,"journal":{"name":"SAE International Journal of Connected and Automated Vehicles","volume":"14 9","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141346351","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A Tutorial on V2I Communication: Evaluating the LTE-V2X for Day-1 V2I and V2V Integration in Congested Scenarios","authors":"Abolfazl Hajisami, Ralf Weber, Jim Misener, Vishnu Vardhan Chetlur, Michael Ruder, Shuping Chen","doi":"10.4271/12-06-04-0027","DOIUrl":"https://doi.org/10.4271/12-06-04-0027","url":null,"abstract":"Because of the growing interest in LTE-V2X, there is a need to describe its performance under various conditions and scenarios. This article explores the deployment of long-term evolution vehicle-to-everything (LTE-V2X) technology for vehicle-to-infrastructure (V2I) communication and delves into the deployment of LTE-V2X communication in three major global regions: the United States, Europe, and China. We begin with an overview of the functionality of LTE-V2X and highlight the objectives of V2I communication in terms of safety and mobility applications—and describe why it will be the predominant type of V2X in the first few years of deployment. We also examine the specific Day-1 V2I message sets standardized in each region, along with their potential applications and benefits. The technical details and use cases using these messages are discussed, along with the benefits they offer in improving the accuracy, reliability, and safety for surface transportation. Additionally, our field trial and simulation results demonstrate why, from a technical basis, LTEV2X is the technology of choice in North America and China. In particular, the performance of V2I and vehicle-to-vehicle (V2V) communication in a single 20 MHz channel (Channel 183) is highlighted. The results show that LTE-V2X technology can support both V2V and V2I communication and that Day-1 V2I messages can be effectively transmitted and received in a congested urban environment. Overall, we highlight the potential of LTE-V2X technology for V2V and V2I communication in enabling safety and efficiency in the current and next generation of transportation systems.","PeriodicalId":417451,"journal":{"name":"SAE International Journal of Connected and Automated Vehicles","volume":"29 5","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-11-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139213866","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Power-Efficient and Trustworthy Data Dissemination for Social Vehicle Associations in the Internet of Vehicles","authors":"Dhananjay Kumar Singh, Diwakar Bhardwaj","doi":"10.4271/12-07-02-0014","DOIUrl":"https://doi.org/10.4271/12-07-02-0014","url":null,"abstract":"In modern era, with the global spread of massive devices, connecting, controlling, and managing a significant amount of data in the IoT environment, especially in the Internet of vehicles (IoV) is a great challenge. There is a big problem of high-energy consumption due to overhead-unwanted data communication to the non-participatory vehicles, at high enduring connection rate. Therefore, this article proposed a social vehicle association-based data dissemination approach, which was segregated into three parts: First, develop an improved power evaluation approach for discovering power-efficient vehicles. Second, using the Fokker–Planck equation, the connection likelihood of these vehicles is calculated in the second phase to find trustworthy and steady connections. Last, develop an evaluation approach for vehicles community association using convolutional neural network (CNN). It filtered most likely vehicles to form a community for data dissemination by considering temporal, spatial, and social attributes of vehicles. The proposed approach has evaluated using widespread simulation tests in a highway environment. It verified the efficacy of proposed approach regarding power, linking, and community score of vehicles. The finding of experiment shows that, with advancement of power, connectivity, and community score of vehicles, data dissemination also enhanced. Furthermore; it guarantees that data will be shared efficiently with great reliability.","PeriodicalId":417451,"journal":{"name":"SAE International Journal of Connected and Automated Vehicles","volume":"13 ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139250928","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A Global Survey of Standardization and Industry Practices of Automotive Cybersecurity Validation and Verification Testing Processes and Tools","authors":"Andrew Roberts, Stefan Marksteiner, M. Soyturk, Berkay Yaman, Yi Yang","doi":"10.4271/12-07-02-0013","DOIUrl":"https://doi.org/10.4271/12-07-02-0013","url":null,"abstract":"The United Nation Economic Commission for Europe (UNECE) Regulation 155—Cybersecurity and Cybersecurity Management System (UN R155) mandates the development of cybersecurity management systems (CSMS) as part of a vehicle’s lifecycle. An inherent component of the CSMS is cybersecurity risk management and assessment. Validation and verification testing is a key activity for measuring the effectiveness of risk management, and it is mandated by UN R155 for type approval. Due to the focus of R155 and its suggested implementation guideline, ISO/SAE 21434:2021—Road Vehicle Cybersecurity Engineering, mainly centering on the alignment of cybersecurity risk management to the vehicle development lifecycle, there is a gap in knowledge of proscribed activities for validation and verification testing. This research provides guidance on automotive cybersecurity testing and verification by providing an overview of the state-of-the-art in relevant automotive standards, outlining their transposition into national regulation and the currently used processes and tools in the automotive industry. Through engagement with state-of-the-art literature and workshops and surveys with industry groups, our study found that national regulatory authorities are moving to enshrine UN R155 as part of their vehicle regulations, with differences of implementation based on regulatory culture and pre-existing approaches to vehicle regulation. Validation and verification testing is developing aligned to UN R155 and ISO21434:2021; however, the testing approaches currently used within industry utilize elements of traditional enterprise information technology methods for penetration testing and toolsets. Electrical/electronic (E/E) components such as embedded control units (ECUs) are considered the primary testing target; however, connected and autonomous vehicle technologies are increasingly attracting more focus for testing.","PeriodicalId":417451,"journal":{"name":"SAE International Journal of Connected and Automated Vehicles","volume":"5 2","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-11-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139269097","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Pedestrian Intention Prediction and Style Recognition in Bird’s-Eye View","authors":"Wenli Li, Mengxin Wang, Xiaohao Gong, Yuanhang Tang","doi":"10.4271/12-07-01-0008","DOIUrl":"https://doi.org/10.4271/12-07-01-0008","url":null,"abstract":"In this article, pedestrian crossing intention and pedestrian crossing style are studied by means of statistical theory and artificial neural network. Feature parameters such as the average speed of pedestrians, pedestrian attention to vehicles, and vehicle arrival speed are extracted before and during the time pedestrians cross the street from a bird’s-eye view. Based on these parameters, an artificial neural network is used to predict the pedestrian crossing intention. K-means statistical method was used to cluster the pedestrian crossing styles, and the results showed that clustering the crossing styles into three categories, conservative, cautious, and adventurous, has a better classification effect, and the crossing behaviors of different types of pedestrians were analyzed. A random forest-based model is used to identify pedestrian crossing styles, the prediction accuracy reaches 91.83% and the recognition accuracy reaches 93.3%. The research content of this article can provide the foundation for intelligent driving pedestrian prediction, pedestrian crossing scene simulation, and traffic management.","PeriodicalId":417451,"journal":{"name":"SAE International Journal of Connected and Automated Vehicles","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-11-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139267284","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A Comparative Study of Longitudinal Vehicle Control Systems in Vehicle-to-Infrastructure Connected Corridor","authors":"Brian King, Jordan Olson, Kayla Hamilton, Benjamin Fitzpatrick, Hwan-Sik Yoon, Paul Puzinauskas","doi":"10.4271/12-06-04-0025","DOIUrl":"https://doi.org/10.4271/12-06-04-0025","url":null,"abstract":"Vehicle-to-infrastructure (V2I) connectivity technology presents the opportunity for vehicles to perform autonomous longitudinal control to navigate safely and efficiently through sequences of V2I-enabled intersections, known as connected corridors. Existing research has proposed several control systems to navigate these corridors while minimizing energy consumption and travel time. This article analyzes and compares the simulated performance of three different autonomous navigation systems in connected corridors: a V2I-informed constant acceleration kinematic controller (V2I-K), a V2I-informed model predictive controller (V2I-MPC), and a V2I-informed reinforcement learning (V2I-RL) agent. A rules-based controller that does not use V2I information is implemented to simulate a human driver and is used as a baseline. The performance metrics analyzed are net energy consumption, travel time, and root-mean-square (RMS) acceleration. Two connected corridor scenarios are created to evaluate these metrics, including one scenario reconstructed from real-world traffic signal data. A sensitivity analysis is also performed to quantitatively identify key parameters that have the highest impact on the three metrics of interest.","PeriodicalId":417451,"journal":{"name":"SAE International Journal of Connected and Automated Vehicles","volume":"34 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-11-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139270092","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Performance Analysis of Cooperative Truck Platooning under Commercial Operation during Canadian Winter Season","authors":"Luo Jiang, Javad Kheyrollahi, Charles Robert Koch, Mahdi Shahbakhti","doi":"10.4271/12-07-02-0012","DOIUrl":"https://doi.org/10.4271/12-07-02-0012","url":null,"abstract":"The cooperative platoon of multiple trucks with definite proximity has the potential to enhance traffic safety, improve roadway capacity, and reduce fuel consumption of the platoon. To investigate the truck platooning performance in a real-world environment, two Peterbilt class-8 trucks equipped with cooperative truck platooning systems (CTPS) were deployed to conduct the first-of-its-kind on-road commercial trial in Canada. A total of 41 CTPS trips were carried out on Alberta Highway 2 between Calgary and Edmonton during the winter season in 2022, 25 of which were platooning trips with 3 to 5 sec time gaps. The platooning trips were performed at ambient temperatures from −24 to 8°C, and the total truck weights ranged from 16 to 39 tons. The experimental results show that the average time gap error was 0.8 sec for all the platooning trips, and the trips with the commanded time gap of 5 sec generally had the highest variations. The average number of disengagements increased when the time gap rose from 3 to 5 sec, and the average engagement distance of all platooning trips was 1.92 km. In the review of the platooning effect on the powertrain system, it was observed that fluctuations in the follower truck’s engine power were generally larger compared to those of the lead truck. Furthermore, when trucks performed platooning on the flat road segments, the follower truck saved fuel; however, on the road segments with grade changes, the freight transportation specific fuel consumption (kg/(ton·100 km)) of the follower truck increased. Moreover, the freight transportation specific fuel consumption of the follower truck was 25.8% more than that of the lead truck when cut-ins and cut-outs occurred. Test results show that the frequency of cut-ins increased from 1.6 to 5 times per hour when time gap increased from 3 to 5 sec. Overall, beyond successful and safe commercial truck platooning operations during the cold winter season, no substantial benefit of fuel saving was observed in the investigated platform.","PeriodicalId":417451,"journal":{"name":"SAE International Journal of Connected and Automated Vehicles","volume":"7 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139276610","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Conceptualizing an Urban Operations Vehicle within a Comprehensive\u0000 Research and Development Program","authors":"Peter Hofer, Charles Knight","doi":"10.4271/12-07-01-0005","DOIUrl":"https://doi.org/10.4271/12-07-01-0005","url":null,"abstract":"In the last decades we have witnessed an increasing number of military operations\u0000 in urban environments. Complex urban operations require high standards of\u0000 training, equipment, and personnel. Emergency forces on the ground will need\u0000 specialized vehicles to support them in all parts and levels of this extremely\u0000 demanding environment including the subterranean and interior of infrastructure.\u0000 The development of vehicles for this environment has lagged but offers a high\u0000 payoff. This article describes the method for developing a concept for an urban\u0000 operations vehicle by characterization of the urban environment, deduction of\u0000 key issues, evaluation of related prototyping, science fiction story-typing of\u0000 the requirements for such a vehicle, and comparison with field-proven and\u0000 scalable solutions. Embedding these thoughts into a comprehensive research and\u0000 development program provides lines of development, setting the stage for further\u0000 research.","PeriodicalId":417451,"journal":{"name":"SAE International Journal of Connected and Automated Vehicles","volume":"06 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129686260","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A Hybrid Trajectory Planning Approach for Autonomous Rule-Compliant\u0000 Multi-Vehicle Oval Racing","authors":"Levent Ögretmen, Matthias Rowold, Tobias Betz, Alexander Langmann, Boris Lohmann","doi":"10.4271/12-07-01-0007","DOIUrl":"https://doi.org/10.4271/12-07-01-0007","url":null,"abstract":"Motion planning for autonomous vehicles remains challenging, especially in\u0000 environments with multiple vehicles and high speeds. Autonomous racing offers an\u0000 opportunity to develop algorithms that can deal with such situations and adds\u0000 the requirement of following race rules. We propose a hybrid local planning\u0000 approach capable of generating rule-compliant trajectories at the dynamic limits\u0000 for multi-vehicle oval racing. The planning method is based on a spatiotemporal\u0000 graph, which is searched in a two-step process to exploit the dynamic limits on\u0000 the one hand and achieve a long planning horizon on the other. We introduce a\u0000 soft-checking procedure that can handle cases where no collision-free, feasible,\u0000 or rule-compliant solutions are found to restore an admissible state as quickly\u0000 as possible. We also present a state machine explicitly designed for fully\u0000 autonomous operation on a racetrack, acting on a higher level of the planning\u0000 algorithm. It contains the interface to a race control entity and translates the\u0000 current race rules and conditions into interpretable requests for the local\u0000 planning algorithm. We present the results of experiments with a full-scale\u0000 prototype, including overtaking maneuvers at speeds of up to 74 m/s.","PeriodicalId":417451,"journal":{"name":"SAE International Journal of Connected and Automated Vehicles","volume":"88 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126778468","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Cuckoo Search Optimization-Based Bilateral Filter for Multiplicative\u0000 Noise Reduction in Satellite Images","authors":"D. Abdus Subhahan, C. V. Kumar","doi":"10.4271/12-07-01-0004","DOIUrl":"https://doi.org/10.4271/12-07-01-0004","url":null,"abstract":"Speckle noise degrades the visual appearance and the quality of a synthetic\u0000 aperture radar (SAR) image. The reduction of speckle noise is the first step in\u0000 any remote-sensing device. To improve the noisy SAR images, a variety of\u0000 adaptive and nonadaptive noise reduction filters were used. In order to\u0000 eliminate speckle noise present in SAR images, an adaptive cuckoo search\u0000 optimization-based speckle reduction bilateral filter has been designed in this\u0000 article. To test the ability to eliminate multiplicative noise, the suggested\u0000 filter’s effectiveness was compared to that of several de-speckling approaches.\u0000 It has been measured with different assessment metrics such as PSNR, EPI, SSIM,\u0000 and ENL. When compared to conventional de-noising filters, the proposed filter\u0000 shows promising results for lowering speckle noise and retaining edge\u0000 properties. In addition, the PSNR value has increased as compared to the PMD\u0000 method and this method has been shown to be efficient in reducing speckle noise\u0000 in SAR images.","PeriodicalId":417451,"journal":{"name":"SAE International Journal of Connected and Automated Vehicles","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125994122","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}