A Simulation System and Speed Guidance Algorithms for Intersection Traffic Control Using Connected Vehicle Technology

In the connected vehicle environment, real-time vehicle-state data can be obtained through vehicle-toinfrastructure communication, and the prediction accuracy of urban traffic conditions can significantly increase.This study uses the C++/Qt programming language and framework to build a simulation platform. A two-way six-lane intersection is set up on the simulation platform. In addition, two speed guidance algorithms based on optimizing the travel time of a single vehicle or multiple vehicles are proposed. The goal of optimization is to minimize the travel time, with common indicators such as average delay of vehicles, average number of stops, and average stop time chosen as indexes of traffic efficiency. When the traffic flow is not saturated, compared with the case of no speed guidance, single-vehicle speed guidance can improve the traffic efficiency by 20%, whereas multi-vehicle speed guidance can improve the traffic efficiency by 50%. When the traffic flow is saturated, the speed guidance algorithms show outstanding performance. The effect of speed guidance gradually enhances with increasing penetration rate, and the most obvious gains are obtained when the penetration rate increases from 10% to 40%. Thus, this study has shown that speed guidance in the connected vehicle environment can significantly improve the traffic efficiency of intersections, and the multi-vehicle speed guidance strategy is more effective than the single-vehicle speed guidance strategy.

Application-Oriented Performance Comparison of 802.11p and LTE-V in a V2V Communication System

In recent years, the Vehicle-to-Vehicle(V2V) communication system has been considered one of the most promising technologies to build a much safer and more efficient transportation system. Both simulation and field test have been extensively performed to evaluate the performance of the V2V communication system. However,most of the evaluation methods are communication-based, and although in a transportation environment, lack a V2V application-oriented analysis. In this study, we conducted real-world tests and built an application-oriented evaluation model. The experiments were classified into four scenarios: static, following, face 2 face, and crossing vertically, which almost covered all the V2V communication patterns on the road. Under these scenarios, we conducted experiments and built a probability model to evaluate the performance of 802.11p and LTE-V in safetyrelated applications. Consequently, we found out that improvements are still needed in Non-Line-of-Sight scenarios.

Spatial-Temporal ConvLSTM for Vehicle Driving Intention Prediction

Driving intention prediction from a bird’s-eye view has always been an active research area. However,existing research, on one hand, has only focused on predicting lane change intention in highway scenarios and, on the other hand, has not modeled the influence and spatiotemporal relationship of surrounding vehicles. This study extends the application scenarios to urban road scenarios. A spatial-temporal convolutional long short-term memory(ConvLSTM) model is proposed to predict the vehicle’s lateral and longitudinal driving intentions simultaneously. This network includes two modules: the first module mines the information of the target vehicle using the long short-term memory(LSTM) network and the second module uses ConvLSTM to capture the spatial interactions and temporal evolution of surrounding vehicles simultaneously when modeling the influence of surrounding vehicles. The model is trained and verified on a real road dataset, and the results show that the spatial-temporal ConvLSTM model is superior to the traditional LSTM in terms of accuracy, precision, and recall, which helps improve the prediction accuracy at different time horizons.

Missing Data Imputation for Traffic Flow Based on Improved Local Least Squares

Complete and reliable field traffic data is vital for the planning, design, and operation of urban traf- fic management systems. However, traffic data is often very incomplete in many traffic information systems, which hinders effective use of the data. Methods are needed for imputing missing traffic data to minimize the effect of incomplete data on the utilization. This paper presents an improved Local Least Squares （LLS） ap- proach to impute the incomplete data. The LLS is an improved version of the K Nearest Neighbor （KNN） method. First, the missing traffic data is replaced by a row average of the known values. Then, the vector angle and Euclidean distance are used to select the nearest neighbors. Finally, a regression step is used to get weights of the nearest neighbors and the imputation results. Traffic flow volume collected in Beijing was analyzed to compare this approach with the Bayesian Principle Component Analysis （BPCA） imputation ap- proach. Tests show that this approach provides slightly better performance than BPCA imputation to impute missing traffic data.

Transportation Mode Identification with GPS Trajectory Data and GIS Information

Global Positioning System(GPS) trajectory data can be used to infer transportation modes at certain times and locations. Such data have important applications in many transportation research fields, for instance,to detect the movement mode of travelers, calculate traffic flow in an area, and predict the traffic flow at a certain time in the future. In this paper, we propose a novel method to infer transportation modes from GPS trajectory data and Geographic Information System(GIS) information. This method is based on feature extraction and machine learning classification algorithms. While using GIS information to improve inference accuracy, we ensure that the algorithm is simple and easy to use on mobile devices. Applied to GeoLife GPS trajectory dataset, our method achieves 91.1% accuracy while inferring transportation modes, such as walking, bike, bus, car, and subway, with random forest classification algorithm. GIS features in our method improved the overall accuracy by 2.5% while raising the recall of the bus and subway transportation mode categories by 3.4% and 18.5%. We believe that many algorithms used in detecting the transportation modes from GPS trajectory data that do not utilize GIS information can improve their inference accuracy by using our GIS features, with a slight increase in the consumption of data storage and computing resources.

Dangerous Driving Behavior Recognition and Prevention Using an Autoregressive Time-Series Model

Time headway is an important index used in characterizing dangerous driving behaviors. This research focuses on the decreasing tendency of time headway and investigates its association with crash occurrence. An autoregressive（AR） time-series model is improved and adopted to describe the dynamic variations of average daily time headway. Based on the model, a simple approach for dangerous driving behavior recognition is proposed with the aim of significantly decreasing headway. The effectivity of the proposed approach is validated by means of empirical data collected from a medium-sized city in northern China. Finally, a practical early-warning strategy focused on both the remaining life and low headway is proposed to remind drivers to pay attention to their driving behaviors and the possible occurrence of crash-related risks.

Will Crash Experience Affect Driver’s Behavior? An Observation and Analysis on Time Headway Variation Before and After a Traffic Crash

Research into the impact of road accidents on drivers is essential to effective post-crash interventions.However,due to limited data and resources,the current research focus is mainly on those who have suffered severe injuries.In this paper,we propose a novel approach to examining the impact that being involved in a crash has on drivers by using traffic surveillance data.In traffic video surveillance systems,the locations of vehicles at different moments in time are captured and their headway,which is an important indicator of driving behavior,can be calculated from this information.It was found that there was a sudden increase in headway when drivers return to the road after being involved in a crash,but that the headway returned to its pre-crash level over time.We further analyzed the duration of the decay using a Cox proportional hazards regression model,which revealed many significant factors(related to the driver,vehicle,and nature of the accident)behind the survival time of the increased headway.Our approach is able to reveal the crash impact on drivers in a convenient and economical way.It can enhance the understanding of the impact of a crash on drivers,and help to devise more effective re-education programs and other interventions to encourage drivers who are involved in crashes to drive more safely in the future.

Autonomous Vehicles Testing Considering Utility-Based Operable Tasks

Virtual simulation testing of Autonomous Vehicles(AVs)is gradually being accepted as a mandatory way to test the feasibility of driving strategies for AVs.Mainstream methods focus on improving testing efficiency by extracting critical scenarios from naturalistic driving datasets.However,the criticalities defined in their testing tasks are based on fixed assumptions,the obtained scenarios cannot pose a challenge to AVs with different strategies.To fill this gap,we propose an intelligent testing method based on operable testing tasks.We found that the driving behavior of Surrounding Vehicles(SVs)has a critical impact on AV,which can be used to adjust the testing task difficulty to find more challenging scenarios.To model different driving behaviors,we utilize behavioral utility functions with binary driving strategies.Further,we construct a vehicle interaction model,based on which we theoretically analyze the impact of changing the driving behaviors on the testing task difficulty.Finally,by adjusting SV’s strategies,we can generate more corner cases when testing different AVs in a finite number of simulations.