This paper is to explore the problems of intelligent connected vehicles(ICVs)autonomous driving decision-making under a 5G-V2X structured road environment.Through literature review and interviews with autonomous drivi...This paper is to explore the problems of intelligent connected vehicles(ICVs)autonomous driving decision-making under a 5G-V2X structured road environment.Through literature review and interviews with autonomous driving practitioners,this paper firstly puts forward a logical framework for designing a cerebrum-like autonomous driving system.Secondly,situated on this framework,it builds a hierarchical finite state machine(HFSM)model as well as a TOPSIS-GRA algorithm for making ICV autonomous driving decisions by employing a data fusion approach between the entropy weight method(EWM)and analytic hierarchy process method(AHP)and by employing a model fusion approach between the technique for order preference by similarity to an ideal solution(TOPSIS)and grey relational analysis(GRA).The HFSM model is composed of two layers:the global FSM model and the local FSM model.The decision of the former acts as partial input information of the latter and the result of the latter is sent forward to the local pathplanning module,meanwhile pulsating feedback to the former as real-time refresh data.To identify different traffic scenarios in a cerebrum-like way,the global FSM model is designed as 7 driving behavior states and 17 driving characteristic events,and the local FSM model is designed as 16 states and 8 characteristic events.In respect to designing a cerebrum-like algorithm for state transition,this paper firstly fuses AHP weight and EWM weight at their output layer to generate a synthetic weight coefficient for each characteristic event;then,it further fuses TOPSIS method and GRA method at the model building layer to obtain the implementable order of state transition.To verify the feasibility,reliability,and safety of theHFSMmodel aswell as its TOPSISGRA state transition algorithm,this paper elaborates on a series of simulative experiments conducted on the PreScan8.50 platform.The results display that the accuracy of obstacle detection gets 98%,lane line prediction is beyond 70 m,the speed of collision avoidance is higher than 45 km/h,the distance of collision avoidance is less than 5 m,path planning time for obstacle avoidance is averagely less than 50 ms,and brake deceleration is controlled under 6 m/s2.These technical indexes support that the driving states set and characteristic events set for the HFSM model as well as its TOPSIS-GRA algorithm may bring about cerebrum-like decision-making effectiveness for ICV autonomous driving under 5G-V2X intelligent road infrastructure.展开更多
Based on the data of daily precipitation in Lianyungang area from 1951 to 2012 and various climate signal data from the National Climate Center website and the NOAA website,a model for predicting whether the number of...Based on the data of daily precipitation in Lianyungang area from 1951 to 2012 and various climate signal data from the National Climate Center website and the NOAA website,a model for predicting whether the number of rainstorm days in summer in Lianyungang area is large was established by the classical C5. 0 decision tree algorithm. The data samples in 48 years( accounting for about 80% of total number of samples)was as the training set of a model,and the training accuracy rate of the model was 95. 83%. The data samples in the remaining 14 years( accounting for about 20% of total number of samples) were used as the test set of the model to test the model,and the test accuracy of the model was 85. 71%. The results showed that the prediction model of number of rainstorm days in summer constructed by C5. 0 algorithm had high accuracy and was easy to explain. Moreover,it is convenient for meteorological staff to use directly. At the same time,this study provides a new idea for short-term climate prediction of number of rainstorm days in summer.展开更多
This paper investigates the Quality of Experience(QoE)oriented channel access anti-jamming problem in 5th Generation Mobile Communication(5G)ultra-dense networks.Firstly,considering that the 5G base station adopts bea...This paper investigates the Quality of Experience(QoE)oriented channel access anti-jamming problem in 5th Generation Mobile Communication(5G)ultra-dense networks.Firstly,considering that the 5G base station adopts beamforming technology,an anti-jamming model under Space Division Multiple Access(SDMA)conditions is proposed.Secondly,the confrontational relationship between users and the jammer is formulated as a Stackelberg game.Besides,to achieve global optimization,we design a local cooperation mechanism for users and formulate the cooperation and competition among users as a local altruistic game.By proving that the local altruistic game is an Exact Potential Game(EPG),we further prove the existence of pure strategy Nash Equilibrium(NE)among users and Stackelberg Equilibrium(SE)between users and jammer.Thirdly,to obtain the equilibrium solutions of the proposed games,we propose an anti-jamming channel selection algorithm and improve its convergence speed through heterogeneous learning parameters.The simulation results validate the convergence and effectiveness of the proposed algorithm.Compared with the throughput optimization scheme,our proposed scheme obtain a greater network satisfaction rate.Finally,we also analyze user fairness changes during the algorithm convergence process and get some interesting conclusions.展开更多
针对有噪声的高维数据引起决策树预测准确率下降的问题,利用容噪主成分分析(Noise-free Principal Component Anlysis,NFPCA)算法思想对C4.5算法改进而形成NFPCA-in-C4.5算法。该算法一方面将高维数据噪声控制问题转化为拟合数据特征与...针对有噪声的高维数据引起决策树预测准确率下降的问题,利用容噪主成分分析(Noise-free Principal Component Anlysis,NFPCA)算法思想对C4.5算法改进而形成NFPCA-in-C4.5算法。该算法一方面将高维数据噪声控制问题转化为拟合数据特征与控制平滑度相结合的最优化问题,从而获得主成分空间;另一方面在决策树自顶向下构建新节点的过程中,再将主成分空间恢复到原始数据空间来避免降维过程中属性特征信息永久消失。实验结果表明NFPCA-in-C4.5算法兼具降维和容噪功能,避免了降维中由特征信息损失和噪声残留造成的预测模型准确率大幅降低的问题。展开更多
基金funded by Chongqing Science and Technology Bureau (No.cstc2021jsyj-yzysbAX0008)Chongqing University of Arts and Sciences (No.P2021JG13)2021 Humanities and Social Sciences Program of Chongqing Education Commission (No.21SKGH227).
文摘This paper is to explore the problems of intelligent connected vehicles(ICVs)autonomous driving decision-making under a 5G-V2X structured road environment.Through literature review and interviews with autonomous driving practitioners,this paper firstly puts forward a logical framework for designing a cerebrum-like autonomous driving system.Secondly,situated on this framework,it builds a hierarchical finite state machine(HFSM)model as well as a TOPSIS-GRA algorithm for making ICV autonomous driving decisions by employing a data fusion approach between the entropy weight method(EWM)and analytic hierarchy process method(AHP)and by employing a model fusion approach between the technique for order preference by similarity to an ideal solution(TOPSIS)and grey relational analysis(GRA).The HFSM model is composed of two layers:the global FSM model and the local FSM model.The decision of the former acts as partial input information of the latter and the result of the latter is sent forward to the local pathplanning module,meanwhile pulsating feedback to the former as real-time refresh data.To identify different traffic scenarios in a cerebrum-like way,the global FSM model is designed as 7 driving behavior states and 17 driving characteristic events,and the local FSM model is designed as 16 states and 8 characteristic events.In respect to designing a cerebrum-like algorithm for state transition,this paper firstly fuses AHP weight and EWM weight at their output layer to generate a synthetic weight coefficient for each characteristic event;then,it further fuses TOPSIS method and GRA method at the model building layer to obtain the implementable order of state transition.To verify the feasibility,reliability,and safety of theHFSMmodel aswell as its TOPSISGRA state transition algorithm,this paper elaborates on a series of simulative experiments conducted on the PreScan8.50 platform.The results display that the accuracy of obstacle detection gets 98%,lane line prediction is beyond 70 m,the speed of collision avoidance is higher than 45 km/h,the distance of collision avoidance is less than 5 m,path planning time for obstacle avoidance is averagely less than 50 ms,and brake deceleration is controlled under 6 m/s2.These technical indexes support that the driving states set and characteristic events set for the HFSM model as well as its TOPSIS-GRA algorithm may bring about cerebrum-like decision-making effectiveness for ICV autonomous driving under 5G-V2X intelligent road infrastructure.
基金Support by Meteorological Open Research Foundation for the Huaihe River Basin(HRM201602)Foundation for Young Scholars of Jiangsu Meteorological Bureau(Q201708,KQ201802)+2 种基金Science and Technology Innovation Team Foundation for Marine Meteorological Forecast Technology of Lianyungang Meteorological BureauKey Technology R&D Program Project of Lianyungang City(SH1634)Special Project for Forecasters of Jiangsu Meteorological Bureau(JSYBY201811,JSYBY201812,JSYBY201810)
文摘Based on the data of daily precipitation in Lianyungang area from 1951 to 2012 and various climate signal data from the National Climate Center website and the NOAA website,a model for predicting whether the number of rainstorm days in summer in Lianyungang area is large was established by the classical C5. 0 decision tree algorithm. The data samples in 48 years( accounting for about 80% of total number of samples)was as the training set of a model,and the training accuracy rate of the model was 95. 83%. The data samples in the remaining 14 years( accounting for about 20% of total number of samples) were used as the test set of the model to test the model,and the test accuracy of the model was 85. 71%. The results showed that the prediction model of number of rainstorm days in summer constructed by C5. 0 algorithm had high accuracy and was easy to explain. Moreover,it is convenient for meteorological staff to use directly. At the same time,this study provides a new idea for short-term climate prediction of number of rainstorm days in summer.
基金supported by the National Natural Science Foundation of China under Grant No.61901523 and No.62071488.
文摘This paper investigates the Quality of Experience(QoE)oriented channel access anti-jamming problem in 5th Generation Mobile Communication(5G)ultra-dense networks.Firstly,considering that the 5G base station adopts beamforming technology,an anti-jamming model under Space Division Multiple Access(SDMA)conditions is proposed.Secondly,the confrontational relationship between users and the jammer is formulated as a Stackelberg game.Besides,to achieve global optimization,we design a local cooperation mechanism for users and formulate the cooperation and competition among users as a local altruistic game.By proving that the local altruistic game is an Exact Potential Game(EPG),we further prove the existence of pure strategy Nash Equilibrium(NE)among users and Stackelberg Equilibrium(SE)between users and jammer.Thirdly,to obtain the equilibrium solutions of the proposed games,we propose an anti-jamming channel selection algorithm and improve its convergence speed through heterogeneous learning parameters.The simulation results validate the convergence and effectiveness of the proposed algorithm.Compared with the throughput optimization scheme,our proposed scheme obtain a greater network satisfaction rate.Finally,we also analyze user fairness changes during the algorithm convergence process and get some interesting conclusions.
文摘针对有噪声的高维数据引起决策树预测准确率下降的问题,利用容噪主成分分析(Noise-free Principal Component Anlysis,NFPCA)算法思想对C4.5算法改进而形成NFPCA-in-C4.5算法。该算法一方面将高维数据噪声控制问题转化为拟合数据特征与控制平滑度相结合的最优化问题,从而获得主成分空间;另一方面在决策树自顶向下构建新节点的过程中,再将主成分空间恢复到原始数据空间来避免降维过程中属性特征信息永久消失。实验结果表明NFPCA-in-C4.5算法兼具降维和容噪功能,避免了降维中由特征信息损失和噪声残留造成的预测模型准确率大幅降低的问题。
