Comparison of Estimated Cycle Split Failures from High-Resolution Controller Event and Connected Vehicle Trajectory Data

Current traffic signal split failure (SF) estimations derived from high-resolution controller event data rely on detector occupancy ratios and preset thresholds. The reliability of these techniques depends on the selected thresholds, detector lengths, and vehicle arrival patterns. Connected vehicle (CV) trajectory data can more definitively show when a vehicle split fails by evaluating the number of stops it experiences as it approaches an intersection, but it has limited market penetration. This paper compares cycle-by-cycle SF estimations from both high-resolution controller event data and CV trajectory data, and evaluates the effect of data aggregation on SF agreement between the two techniques. Results indicate that, in general, split failure events identified from CV data are likely to also be captured from high-resolution data, but split failure events identified from high-resolution data are less likely to be captured from CV data. This is due to the CV market penetration rate (MPR) of ~5% being too low to capture representative data for every controller cycle. However, data aggregation can increase the ratio in which CV data captures split failure events. For example, day-of-week data aggregation increased the percentage of split failures identified with high-resolution data that were also captured with CV data from 35% to 56%. It is recommended that aggregated CV data be used to estimate SF as it provides conservative and actionable results without the limitations of intersection and detector configuration. As the CV MPR increases, the accuracy of CV-based SF estimation will also improve.

A Differential Privacy Based (k-Ψ)-Anonymity Method for Trajectory Data Publishing

In recent years,mobile Internet technology and location based services have wide application.Application providers and users have accumulated huge amount of trajectory data.While publishing and analyzing user trajectory data have brought great convenience for people,the disclosure risks of user privacy caused by the trajectory data publishing are also becoming more and more prominent.Traditional k-anonymous trajectory data publishing technologies cannot effectively protect user privacy against attackers with strong background knowledge.For privacy preserving trajectory data publishing,we propose a differential privacy based(k-Ψ)-anonymity method to defend against re-identification and probabilistic inference attack.The proposed method is divided into two phases:in the first phase,a dummy-based(k-Ψ)-anonymous trajectory data publishing algorithm is given,which improves(k-δ)-anonymity by considering changes of thresholdδon different road segments and constructing an adaptive threshold setΨthat takes into account road network information.In the second phase,Laplace noise regarding distance of anonymous locations under differential privacy is used for trajectory perturbation of the anonymous trajectory dataset outputted by the first phase.Experiments on real road network dataset are performed and the results show that the proposed method improves the trajectory indistinguishability and achieves good data utility in condition of preserving user privacy.

Investigating distance halo effect of fixed automated speed camera based on taxi GPS trajectory data

Background:The deterrence effect of automated speed camera(ASC)is still inconclusive.Moreover,it is pointed out that ASC may have varying deterrence effects on different types of road users(e.g.,taxis).Objective:This study intends to investigate the distance halo effect of fixed ASC(hereafter called ASC)on taxis.Method:More than 1.34 million taxis’GPS trajectory data were collected.A novel indicator,the delta speed(defined as the difference between the traveling speed and the speed limit),was proposed to continuously describe the variations in traveling speeds.The upstream and downstream critical delta speeds during each time period on weekdays and weekends were obtained by using K-means clustering method,respectively.Based on the critical delta speeds,the ranges of upstream and downstream distance halo effects of ASC during different time periods on weekdays and weekends were determined separately and compared.Results:The downstream critical delta speed is smaller than the upstream one.The upstream and downstream distance halo effects of ASC on taxis are within a range of 8-2180 m and an area of 10-580 m to the ASC location,respectively.There are no obvious difference in the ranges of upstream and downstream distance halo effects of ASC on taxis between different time periods or between weekdays and weekends.Conclusion:The present study confirms that the upstream and downstream distance halo effects of ASC on taxis have different ranges and the stabilities of time-of-day and day-of-week.Practical application:The findings of this study can provide a basic reference for reasonably deploying ASCs within a region.

Deriving average delay of traffic flow around intersections from vehicle trajectory data

Advances of positioning and wireless commu- nication technologies make it possible to collect a large number of trajectory data of moving vehicles in a fast and convenient fashion. The data can be applied to various fields such as traffic study. In derive average delay of traffic and verify the results with this paper, we attempt to flow arotmd intersections changes of time. The intersection zone is delineated first. Positioning points geographically located within this zone are selected, and then outliers are removed. Turn trips are extracted from selected trajectory data. Each trip, physically consisting of time-series positioning points, is identified with entry road segment and turning direction, i.e. target road segment. Turn trips are grouped into different categories according to their time attributes. Then, delay of each trip during a turn is calculated with its recorded speed. Delays of all trips in the same period of time are plotted to observe the change pattern of traffic conditions. Compared to conven- tional approaches, the proposed method can be applied to those intersections without fixed data collection devices such as loop detectors since a large number of trajectory data can always provide a more complete spatio-temporal picture of a road network. With respect to data availability, taxi trajectory data and an intersection in Shanghai are employed to test the proposed methodology. Results demonstrate its applicability.

Capturing driving behavior Heterogeneity based on trajectory data

Driving behavior is heterogeneous for various drivers due to the different influencing factors as reaction time,gender,driving years and so on.Some existing works tried to reproduce some of the complex characteristics of real traffic flow by taking into account the heterogeneous driving behavior,and the drivers are generally divided into two classes(including aggressive drivers and careful drivers)or three classes(including aggressive drivers,normal drivers and careful drivers).Nevertheless,the classification approaches have not been verified,and the rationality of the classifications has not been confirmed as well.In this study,the trajectory data of drivers is extracted from the NGSIM datasets.By combining the K-Means method and Silhouette measure index,the drivers are classified into four clusters(named as clusters A,B,C and D,respectively)in accordance with the acceleration and time headway.The two-dimensional approach is applied to analyze the characteristics of different clusters.Here,one dimension consists of“Cautious”and“Aggressive”behaviors in terms of velocity and acceleration,and the other dimension consists of“Sensitive”and“Insensitive”behaviors in terms of reaction time.Finally,the fuel consumption and emissions for different clusters are calculated by using the VT-Micro model.A surprising result indicates that overly“cautious”and“sensitive”behaviors may result in more fuel consumption and emissions.Therefore,it is necessary to find the balance between the driving characteristics.

A novel spatio-temporal trajectory data-driven development approach for autonomous vehicles

Nowadays,autonomous driving has been attracted widespread attention from academia and industry.As we all know,deep learning is effective and essential for the development of AI components of Autonomous Vehicles(AVs).However,it is challenging to adopt multi-source heterogenous data in deep learning.Therefore,we propose a novel data-driven approach for the delivery of high-quality Spatio-Temporal Trajectory Data(STTD)to AVs,which can be deployed to assist the development of AI components with deep learning.The novelty of our work is that the meta-model of STTD is constructed based on the domain knowledge of autonomous driving.Our approach,including collection,preprocessing,storage and modeling of STTD as well as the training of AI components,helps to process and utilize huge amount of STTD efficiently.To further demonstrate the usability of our approach,a case study of vehicle behavior prediction using Long Short-Term Memory(LSTM)networks is discussed.Experimental results show that our approach facilitates the training process of AI components with the STTD.

A pyramid-based approach to visual exploration of a large volume of vehicle trajectory data

Advances in positioning and wireless commu- nicating technologies make it possible to collect large volumes of trajectory data of moving vehicles in a fast and convenient fashion. These data can be applied to traffic studies. Behind this application, a methodological issue that still requires particular attention is the way these data should be spatially visualized. Trajectory data physically consists of a large number of positioning points. With the dramatic increase of data volume, it becomes a challenge to display and explore these data. Existing commercial software often employs vector-based indexing structures to facilitate the display of a large volume of points, but their performance downgrades quickly when the number of points is very large, for example, tens of millions. In this paper, a pyramid-based approach is proposed. A pyramid method initially is invented to facilitate the display of raster images through the tradeoff between storage space and display time. A pyramid is a set of images at different levels with different resolutions. In this paper, we convert vector-based point data into raster data, and build a grid- based indexing structure in a 2D plane. Then, an image pyramid is built. Moreover, at the same level of a pyramid, image is segmented into mosaics with respect to the requirements of data storage and management. Algorithms or procedures on grid-based indexing structure, image pyramid, image segmentation, and visualization operations are given in this paper. A case study with taxi trajectory data in Shanghai is conducted. Results demonstrate that the proposed method outperforms the existing commercial software.

Multi-UAV Route Re-Generation Method Based on Trajectory Data

A large quantity of unmanned aerial vehicle(UAV)trajectory data related to air traffic information has important value in engineering fields.However,the cost of data and trajectory processing limits the applications,and as the number of UAVs increases rapidly,future UAVs'path data will be very large.Therefore,this paper designs a multi-UAV route re-generation method based on trajectory data,which can realize the UAVs'path data compression,de-aggregation,and regeneration tasks.Based on the trajectory data,the three-dimensional Douglas-Peucker algorithm is used to compress the trajectory data to reduce the storage space.The improved B-spline path smoothing algorithm based on the reversing control point is used to depolymerize and smooth the path.Simulation experiments show that the above multi-UAV route re-generation algorithm can obtain a more optimized path while maintaining the important characteristics of the original path.

Robust multifocus deep neural network for progression prediction on patient trajectory data

Purpose-Patient treatment trajectory data are used to predict the outcome of the treatment to particular disease that has been carried out in the research.In order to determine the evolving disease on the patient and changes in the health due to treatment has not considered existing methodologies.Hence deep learning models to trajectory data mining can be employed to identify disease prediction with high accuracy and less computation cost.Design/methodology/approach-Multifocus deep neural network classifiers has been utilized to detect the novel disease class and comorbidity class to the changes in the genome pattern of the patient trajectory data can be identified on the layers of the architecture.Classifier is employed to learn extracted feature set with activation and weight function and then merged on many aspects to classify the undetermined sequence of diseases as a new variant.The performance of disease progression learning progress utilizes the precision of the constituent classifiers,which usually has larger generalization benefits than those optimized classifiers.Findings-Deep learning architecture uses weight function,bias function on input layers and max pooling.Outcome of the input layer has applied to hidden layer to generate the multifocus characteristics of the disease,and multifocus characterized disease is processed in activation function using ReLu function along hyper parameter tuning which produces the effective outcome in the output layer of a fully connected network.Experimental results have proved using cross validation that proposed model outperforms methodologies in terms of computation time and accuracy.Originality/value-Proposed evolving classifier represented as a robust architecture on using objective function to map the data sequence into a class distribution of the evolving disease class to the patient trajectory.Then,the generative output layer of the proposed model produces the progression outcome of the disease of the particular patient trajectory.The model tries to produce the accurate prognosis outcomes by employing data conditional probability function.The originality of the work defines 70%and comparisons of the previous methods the method of values are accurate and increased analysis of the predictions.

Visualization and visual analysis of vessel trajectory data: A survey

Maritime transports play a critical role in international trade and commerce.Massive vessels sailing around the world continuously generate vessel trajectory data that contain rich spatial–temporal patterns of vessel navigations.Analyzing and understanding these patterns are valuable for maritime traffic surveillance and management.As essential techniques in complex data analysis and understanding,visualization and visual analysis have been widely used in vessel trajectory data analysis.This paper presents a literature review on the visualization and visual analysis of vessel trajectory data.First,we introduce commonly used vessel trajectory data sets and summarize main operations in vessel trajectory data preprocessing.Then,we provide a taxonomy of visualization and visual analysis of vessel trajectory data based on existing approaches and introduce representative works in details.Finally,we expound on the prospects of the remaining challenges and directions for future research.

Interactive Trajectory Star Coordinates i-tStar and Its Extension i-tStar(3D)

There are many sources of geographic big data,and most of them come from heterogeneous environments.The data sources obtained in this case contain attribute information of different spatial scales,different time scales and different complexity levels.It is worth noting that the emergence of new high-dimensional trajectory data types and the increasing number of details are becoming more difficult.In this case,visualizing high-dimensional spatiotemporal trajectory data is extremely challenging.Therefore,i-tStar and its extension i-tStar(3D)proposed,a trajectory behavior feature formoving objects that are integrated into a view with less effort to display and extract spatiotemporal conditions,and evaluate our approach through case studies of an open-pit mine truck dataset.The experimental results show that this method is easier to mine the interaction behavior of multi-attribute trajectory data and the correlation and influence of various indicators of moving objects.

Evaluation of Arterial Signal Coordination with Commercial Connected Vehicle Data: Empirical Traffic Flow Visualization and Performance Measurement

Emerging connected vehicle (CV) data sets have recently become commercially available, enabling analysts to develop a variety of powerful performance measures without deploying any field infrastructure. This paper presents several tools using CV data to evaluate traffic progression quality along a signalized corridor. These include both performance measures for high-level analysis as well as visualizations to examine details of the coordinated operation. With the use of CV data, it is possible to assess not only the movement of traffic on the corridor but also to consider its origin-destination (O-D) path through the corridor. Results for the real-world operation of an eight-intersection signalized arterial are presented. A series of high-level performance measures are used to evaluate overall performance by time of day, with differing results by metric. Next, the details of the operation are examined with the use of two visualization tools: a cyclic time-space diagram (TSD) and an empirical platoon progression diagram (PPD). Comparing flow visualizations developed with different included O-D paths reveals several features, such as the presence of secondary and tertiary platoons on certain sections that cannot be seen when only end-to-end journeys are included. In addition, speed heat maps are generated, providing both speed performance along the corridor and locations and the extent of the queue. The proposed visualization tools portray the corridor’s performance holistically instead of combining individual signal performance metrics. The techniques exhibited in this study are compelling for identifying locations where engineering solutions such as access management or timing plan change are required. The recent progress in infrastructure-free sensing technology has significantly increased the scope of CV data-based traffic management systems, enhancing the significance of this study. The study demonstrates the utility of CV trajectory data for obtaining high-level details of the corridor performance as well as drilling down into the minute specifics.

Big data-driven automatic generation of ship route planning in complex maritime environments

With the rapid development of the global economy, maritime transportation has become much more convenient due to large capacities and low freight. However, this means the sea lanes are becoming more and more crowded,leading to high probabilities of marine accidents in complex maritime environments. According to relevant historical statistics, a large number of accidents have happened in water areas that lack high precision navigation data, which can be utilized to enhance navigation safety. The purpose of this work was to carry out ship route planning automatically, by mining historical big automatic identification system(AIS) data. It is well-known that experiential navigation information hidden in maritime big data could be automatically extracted using advanced data mining techniques;assisting in the generation of safe and reliable ship planning routes for complex maritime environments. In this paper, a novel method is proposed to construct a big data-driven framework for generating ship planning routes automatically, under varying navigation conditions. The method performs density-based spatial clustering of applications with noise first on a large number of ship trajectories to form different trajectory vector clusters. Then, it iteratively calculates its centerline in the trajectory vector cluster, and constructs the waterway network from the node-arc topology relationship among these centerlines. The generation of shipping route could be based on the waterway network and conducted by rasterizing the marine environment risks for the sea area not covered by the waterway network. Numerous experiments have been conducted on different AIS data sets in different water areas, and the experimental results have demonstrated the effectiveness of the framework of the ship route planning proposed in this paper.

A Method of Road Data Aided Inertial Navigation by Using Learning to Rank and ICCP Algorithm

As an independent navigation method,inertial navigation system(INS)has played a huge advantage in a lot of special conditions.But its positioning error will accumulate with time,so it is difficult to work independently for a long time.The vehicle loaded with the inertial navigation system usually drives on the road,so the high precision road data based on geographic information system(GIS)can be used as a bind of auxiliary information,which could correct INS errors by the correlation matching algorithm.The existing road matching methods rely on mathematical models,mostly for global positioning system(GPS)trajectory data,and are limited to model parameters.Therefore,based on the features of inertial navigation trajectory and road,this paper proposes a road data aided vehicle inertial navigation method based on the learning to rank and iterative closest contour point(ICCP)algorithm.Firstly,according to the geometric and directional features of inertial navigation trajectory and road,the combined feature vector is constructed as the input value;Furthermore,the scoring function and RankNet neural network based on the features of vehicle trajectory data and road data are constructed,which can learn and extract the features;Then,the nearest point of each track point and its corresponding road data set to be matched is calculated.The average translation between the two data sets is calculated by using the position relationship between each group of track points to be matched and road points;Finally,the trajectory data set is iteratively translated according to the translation amount,and the matching track point set is obtained when the trajectory error converges to complete the matching.During experiments,it is compared with other algorithms including the hidden Markov model(HMM)matching method.The experimental results show that the algorithm can effectively suppress the divergence of trajectory error.The matching accuracy is close to HMM algorithm,and the computational efficiency can meet the requirements of the traditional matching algorithm.

Time Synchronized Velocity Error for Trajectory Compression

Nowadays,distance is usually used to evaluate the error of trajectory compression.These methods can effectively indicate the level of geometric similarity between the compressed and the raw trajectory,but it ignores the velocity error in the compression.To fill the gap of these methods,assuming the velocity changes linearly,a mathematical model called SVE(Time Synchronized Velocity Error)for evaluating compression error is designed,which can evaluate the velocity error effectively,conveniently and accurately.Based on this model,an innovative algorithm called SW-MSVE(Minimum Time Synchronized Velocity Error Based on Sliding Window)is proposed,which can minimize the velocity error in trajectory compression under the premise of local optimization.Two elaborate experiments are designed to demonstrate the advancements of the SVE and the SW-MSVE respectively.In the first experiment,we use the PED,the SED and the SVE to evaluate the error under four compression algorithms,one of which is the SW-MSVE algorithm.The results show that the SVE is less influenced by noise with stronger performance and more applicability.In the second experiment,by marking the raw trajectory,we compare the SW-MSVE algorithm with three others algorithms at information retention.The results show that the SW-MSVE algorithm can take into account both velocity and geometric structure constraints and retains more information of the raw trajectory at the same compression ratio.

A Semantically Sensitive Privacy Protection Method for Trajectory Publishing

Trajectory data set is the indispensable foundation for constructing reliable Internet of Vehicles (IoV) service and location-based service (LBS), while it is likely to be abused by malicious attackers to infer user’s privacy. In this paper, we propose a trajectory protection method based on stop points obfuscation, which can confront various privacy attacks and preserve the semantic information to achieve adequate utility. Two strategies for stop point selection are designed, including category-distance priority method and Markov matrix method. Our new method was analyzed and evaluated on a real-world trajectory data set. The experiment result shows that our method can improve the utility of the data set and provide multi-level privacy protection.

Using Anonymous Connected Vehicle Data to Evaluate Impact of Speed Feedback Displays, Speed Limit Signs and Roadway Features on Interstate Work Zones Speeds

Annually, there are over 120,000 crashes in work zones in the United States. High speeds in construction zones are a well-documented risk factor that increases the frequency and severity of crashes. This study used connected vehicle data to evaluate the spatial and temporal impact that regulatory signs, speed feedback displays, and construction site geometry had on vehicle speed. Over 27,000 unique trips over 2 weeks on a 15-mile interstate construction work zone near Lebanon, IN were analyzed. Spatial analysis over a 0.2-mi segment before and after the posted speed limit signs showed that the regulatory signs had no statistical impact on reducing speeds. A before/after analysis was also conducted to study the impact of radar-based speed feedback that displays the motorists’ speed on a sign below a regulatory speed limit sign. Results showed a maximum drop in median speeds of approximately 5 mph. Speeds greater than 15 mph above the speed limit dropped by 10% - 15%. The reduction in speeds began approximately 1000 feet ahead of the sign and results were found to be statistically significant. The analysis also revealed that larger speed drops inside the work zone were due to geometric constraints that required additional driver workloads, especially during shoulder width changes and lane shifts. The results from this study will be helpful for agencies to understand driver behavior in the work zones and to identify proper speed limit compliance techniques that significantly reduce driver speeds in and around work zones.

Geospatial Area Embedding Based on the Movement Purpose Hypothesis Using Large-Scale Mobility Data from Smart Card

With the deployment of modern infrastructure for public transportation, several studies have analyzed movement patterns of people using smart card data and have characterized different areas. In this paper, we propose the “movement purpose hypothesis” that each movement occurs from two causes: where the person is and what the person wants to do at a given moment. We formulate this hypothesis to a synthesis model in which two network graphs generate a movement network graph. Then we develop two novel-embedding models to assess the hypothesis, and demonstrate that the models obtain a vector representation of a geospatial area using movement patterns of people from large-scale smart card data. We conducted an experiment using smart card data for a large network of railroads in the Kansai region of Japan. We obtained a vector representation of each railroad station and each purpose using the developed embedding models. Results show that network embedding methods are suitable for a large-scale movement of data, and the developed models perform better than existing embedding methods in the task of multi-label classification for train stations on the purpose of use data set. Our proposed models can contribute to the prediction of people flows by discovering underlying representations of geospatial areas from mobility data.

Fusing Spatio-Temporal Contexts into DeepFM for Taxi Pick-Up Area Recommendation

Short-term GPS data based taxi pick-up area recommendation can improve the efficiency and reduce the overheads.But how to alleviate sparsity and further enhance accuracy is still challenging.Addressing at these issues,we propose to fuse spatio-temporal contexts into deep factorization machine(STC_DeepFM)offline for pick-up area recommendation,and within the area to recommend pick-up points online using factorization machine(FM).Firstly,we divide the urban area into several grids with equal size.Spatio-temporal contexts are destilled from pick-up points or points-of-interest(POIs)belonged to the preceding grids.Secondly,the contexts are integrated into deep factorization machine(DeepFM)to mine high-order interaction relationships from grids.And a novel algorithm named STC_DeepFM is presented for offline pick-up area recommendation.Thirdly,we devise the architecture of offline-to-online(O2O)recommendation respectively based on DeepFM and FM model in order to tradeoff the accuracy and efficiency.Some experiments are designed on the DiDi dataset to evaluate step by step the performance of spatio-temporal contexts,different recommendation models,and the O2O architecture.The results show that the proposed STC_DeepFM algorithm exceeds several state-of-the-art methods,and the O2O architecture achieves excellent real-time performance.

A Local Differential Privacy Trajectory Protection Method Based on Temporal and Spatial Restrictions for Staying Detection

The widespread availability of GPS has opened up a whole new market that provides a plethora of location-based services.Location-based social networks have become very popular as they provide end users like us with several such services utilizing GPS through our devices.However,when users utilize these services,they inevitably expose personal information such as their ID and sensitive location to the servers.Due to untrustworthy servers and malicious attackers with colossal background knowledge,users'personal information is at risk on these servers.Unfortunately,many privacy-preserving solutions for protecting trajectories have significantly decreased utility after deployment.We have come up with a new trajectory privacy protection solution that contraposes the area of interest for users.Firstly,Staying Points Detection Method based on Temporal-Spatial Restrictions(SPDM-TSR)is an interest area mining method based on temporal-spatial restrictions,which can clearly distinguish between staying and moving points.Additionally,our privacy protection mechanism focuses on the user's areas of interest rather than the entire trajectory.Furthermore,our proposed mechanism does not rely on third-party service providers and the attackers'background knowledge settings.We test our models on real datasets,and the results indicate that our proposed algorithm can provide a high standard privacy guarantee as well as data availability.