ST-SIGMA:Spatio-temporal semantics and interaction graph aggregation for multi-agent perception and trajectory forecasting

Scene perception and trajectory forecasting are two fundamental challenges that are crucial to a safe and reliable autonomous driving(AD)system.However,most proposed methods aim at addressing one of the two challenges mentioned above with a single model.To tackle this dilemma,this paper proposes spatio-temporal semantics and interaction graph aggregation for multi-agent perception and trajectory forecasting(STSIGMA),an efficient end-to-end method to jointly and accurately perceive the AD environment and forecast the trajectories of the surrounding traffic agents within a unified framework.ST-SIGMA adopts a trident encoder-decoder architecture to learn scene semantics and agent interaction information on bird’s-eye view(BEV)maps simultaneously.Specifically,an iterative aggregation network is first employed as the scene semantic encoder(SSE)to learn diverse scene information.To preserve dynamic interactions of traffic agents,ST-SIGMA further exploits a spatio-temporal graph network as the graph interaction encoder.Meanwhile,a simple yet efficient feature fusion method to fuse semantic and interaction features into a unified feature space as the input to a novel hierarchical aggregation decoder for downstream prediction tasks is designed.Extensive experiments on the nuScenes data set have demonstrated that the proposed ST-SIGMA achieves significant improvements compared to the state-of-theart(SOTA)methods in terms of scene perception and trajectory forecasting,respectively.Therefore,the proposed approach outperforms SOTA in terms of model generalisation and robustness and is therefore more feasible for deployment in realworld AD scenarios.

An Intelligent Framework for Resilience Recovery of FANETs with Spatio-Temporal Aggregation and Multi-Head Attention Mechanism

Due to the time-varying topology and possible disturbances in a conflict environment,it is still challenging to maintain the mission performance of flying Ad hoc networks(FANET),which limits the application of Unmanned Aerial Vehicle(UAV)swarms in harsh environments.This paper proposes an intelligent framework to quickly recover the cooperative coveragemission by aggregating the historical spatio-temporal network with the attention mechanism.The mission resilience metric is introduced in conjunction with connectivity and coverage status information to simplify the optimization model.A spatio-temporal node pooling method is proposed to ensure all node location features can be updated after destruction by capturing the temporal network structure.Combined with the corresponding Laplacian matrix as the hyperparameter,a recovery algorithm based on the multi-head attention graph network is designed to achieve rapid recovery.Simulation results showed that the proposed framework can facilitate rapid recovery of the connectivity and coverage more effectively compared to the existing studies.The results demonstrate that the average connectivity and coverage results is improved by 17.92%and 16.96%,respectively compared with the state-of-the-art model.Furthermore,by the ablation study,the contributions of each different improvement are compared.The proposed model can be used to support resilient network design for real-time mission execution.

PGSLM:Edge-Enabled Probabilistic Graph Structure Learning Model for Traffic Forecasting in Internet of Vehicles

With the rapid development of the 5G communications,the edge intelligence enables Internet of Vehicles(IoV)to provide traffic forecasting to alleviate traffic congestion and improve quality of experience of users simultaneously.To enhance the forecasting performance,a novel edge-enabled probabilistic graph structure learning model(PGSLM)is proposed,which learns the graph structure and parameters by the edge sensing information and discrete probability distribution on the edges of the traffic road network.To obtain the spatio-temporal dependencies of traffic data,the learned dynamic graphs are combined with a predefined static graph to generate the graph convolution part of the recurrent graph convolution module.During the training process,a new graph training loss is introduced,which is composed of the K nearest neighbor(KNN)graph constructed by the traffic feature tensors and the graph structure.Detailed experimental results show that,compared with existing models,the proposed PGSLM improves the traffic prediction performance in terms of average absolute error and root mean square error in IoV.

Graph Construction Method for GNN-Based Multivariate Time-Series Forecasting

Multivariate time-series forecasting(MTSF)plays an important role in diverse real-world applications.To achieve better accuracy in MTSF,time-series patterns in each variable and interrelationship patterns between variables should be considered together.Recently,graph neural networks(GNNs)has gained much attention as they can learn both patterns using a graph.For accurate forecasting through GNN,a well-defined graph is required.However,existing GNNs have limitations in reflecting the spectral similarity and time delay between nodes,and consider all nodes with the same weight when constructing graph.In this paper,we propose a novel graph construction method that solves aforementioned limitations.We first calculate the Fourier transform-based spectral similarity and then update this similarity to reflect the time delay.Then,we weight each node according to the number of edge connections to get the final graph and utilize it to train the GNN model.Through experiments on various datasets,we demonstrated that the proposed method enhanced the performance of GNN-based MTSF models,and the proposed forecasting model achieve of up to 18.1%predictive performance improvement over the state-of-the-art model.

Dynamic adaptive spatio-temporal graph network for COVID-19 forecasting

Appropriately characterising the mixed space-time relations of the contagion process caused by hybrid space and time factors remains the primary challenge in COVID-19 forecasting.However,in previous deep learning models for epidemic forecasting,spatial and temporal variations are captured separately.A unified model is developed to cover all spatio-temporal relations.However,this measure is insufficient for modelling the complex spatio-temporal relations of infectious disease transmission.A dynamic adaptive spatio-temporal graph network(DASTGN)is proposed based on attention mechanisms to improve prediction accuracy.In DASTGN,complex spatio-temporal relations are depicted by adaptively fusing the mixed space-time effects and dynamic space-time dependency structure.This dual-scale model considers the time-specific,space-specific,and direct effects of the propagation process at the fine-grained level.Furthermore,the model characterises impacts from various space-time neighbour blocks under time-varying interventions at the coarse-grained level.The performance comparisons on the three COVID-19 datasets reveal that DASTGN achieves state-of-the-art results with a maximum improvement of 17.092%in the root mean-square error and 11.563%in the mean absolute error.Experimental results indicate that the mechanisms of designing DASTGN can effectively detect some spreading characteristics of COVID-19.The spatio-temporal weight matrices learned in each proposed module reveal diffusion patterns in various scenarios.In conclusion,DASTGN has successfully captured the dynamic spatio-temporal variations of COVID-19,and considering multiple dynamic space-time relationships is essential in epidemic forecasting.

Railway Passenger Flow Forecasting by Integrating Passenger Flow Relationship and Spatiotemporal Similarity

Railway passenger flow forecasting can help to develop sensible railway schedules,make full use of railway resources,and meet the travel demand of passengers.The structure of passenger flow in railway networks and the spatiotemporal relationship of passenger flow among stations are two distinctive features of railway passenger flow.Most of the previous studies used only a single feature for prediction and lacked correlations,resulting in suboptimal performance.To address the above-mentioned problem,we proposed the railway passenger flow prediction model called Flow-Similarity Attention Graph Convolutional Network(F-SAGCN).First,we constructed the passenger flow relations graph(RG)based on the Origin-Destination(OD).Second,the Passenger Flow Fluctuation Similarity(PFFS)algorithm is used to measure the similarity of passenger flow between stations,which helps construct the spatiotemporal similarity graph(SG).Then,we determine the weights of the mutual influence of different stations at different times through an attention mechanism and extract spatiotemporal features through graph convolution on the RG and SG.Finally,we fused the spatiotemporal features and the original temporal features of stations for prediction.The comparison experiments on a railway bureau’s accurate railway passenger flow data show that the proposed F-SAGCN method improved the prediction accuracy and reduced the mean absolute percentage error(MAPE)of 46 stations to 7.93%.

The Development of Intelligent Operation Method of Urban Public Infrastructure Driven by Accurate Spatio-temporal Information

Urban public infrastructure is an important basis for urban development.It is of great significance to deepen the research on intelligent management and control of urban public infrastructure.Spatio-temporal information contains the law of state evolution of urban public infrastructure,which is the information base of intelligent control of infrastructure.Due to the needs of operation management and emergency response,efficient sharing and visualization of spatio-temporal information are important research contents of comprehensive management and control of urban public infrastructure.On the basis of summarizing the theoretical research and application in recent years,the basic methods and current situation of the acquisition and analysis of spatio-temporal information,the forecast and early warning,and the intelligent control of urban public infrastructure are reviewed in this paper.

面向交通流量预测的时空Graph-CoordAttention网络

交通预测是城市智能交通系统的一个重要研究组成部分,使人们的出行更加效率和安全。由于复杂的时间和空间依赖性,准确预测交通流量仍然是一个巨大的挑战。近年来,图卷积网络(GCN)在交通预测方面表现出巨大的潜力,但基于GCN的模型往往侧重于单独捕捉时间和空间的依赖性,忽视了时间和空间依赖性之间的动态关联性,不能很好地融合它们。此外,以前的方法使用现实世界的静态交通网络来构建空间邻接矩阵,这可能忽略了动态的空间依赖性。为了克服这些局限性,并提高模型的性能,提出了一种新颖的时空Graph-CoordAttention网络(STGCA)。具体来说,提出了时空同步模块,用来建模不同时刻的时空依赖交融关系。然后,提出了一种动态图学习的方案,基于车流量之间数据关联,挖掘出潜在的图信息。在4个公开的数据集上和现有基线模型进行对比实验,STGCA表现了优异的性能。

混合图神经网络和门控循环网络的短期光伏功率预测

为了能从大量历史光伏发电数据中提取出有效的时序特征以及在非欧几里得域中的关联,建立了基于混合图神经网络以及门控循环网络的短期光伏功率预测模型。该模型首先通过最邻近分类算法生成气象及出力数据的最邻近图,再将其结合图神经网络作为编码器对气象及出力数据进行编码形成时间序列,最后通过门控循环网络以及全连接层解码输出光伏功率预测结果。通过仿真分析验证,该模型具有更优的特征挖掘能力和分析性能,能更好地突出某时间节点的气象及出力数据特征,适应天气突变带来特征变化,从而提升光伏预测整体模型的表达能力。

基于ASTLSTM的地铁乘客流量短时预测

地铁乘客流量预测是智能交通系统的重要环节,当前大多数预测模型较少对地铁乘客流量进行时空相关性建模,且未考虑空气质量等天气因素带来的影响,存在地铁乘客流量预测准确度不高的问题。针对以上问题,提出基于注意力机制的时空长短期记忆(ASTLSTM)网络的地铁乘客流量短时预测模型。首先,对数据进行预处理;然后,利用注意力机制与图卷积网络(GCN)、卷积神经网络(CNN)相融合,挖掘地铁数据中的时空相关性,并通过长短期记忆网络(LSTM)来提取空气质量数据中的外部特征;最后,通过特征融合得到地铁乘客流量预测结果。实验结果表明,ASTLSTM模型与LSTM、Conv LSTM等典型模型相比,在短期的地铁乘客流量预测上都有较高的准确度。

融合知识图谱的矿产资源定量预测

大数据和人工智能极大地促进了矿产勘查的发展,创新了矿产预测研究范式,提升了地质找矿大数据的挖掘与集成能力。在资源定量预测领域,知识-数据联合驱动的综合信息智能预测已逐渐成为行业共识,如何实现数据和知识联合驱动是目前亟待解决的问题。知识图谱可以整合多源、异构的地质找矿大数据,其中蕴含的知识和规则在驱动地球科学领域的知识发现方面具有重要的发展潜力。本文针对大数据和人工智能时代对资源定量预测智能化和自动化的需求,结合知识图谱相关技术的特点,探讨融合知识图谱技术的矿产资源定量预测智能化和自动化的可行性和技术方法路线。重点剖析面向矿产预测的成矿-勘查系统多时序全要素知识图谱构建和基于知识图谱从“求同”和“求异”的角度建立找矿预测模型,知识图谱中的知识嵌入到地物化遥异常信息提取的方法,以及融合知识图谱的资源定量预测工作的机遇和挑战。拟希望将知识图谱中知识表达和推理融入到矿产资源定量预测技术方法流程中,协助地质专家来确定矿产预测模型,提高矿产预测的自动化和智能化。

基于图注意力网络的短期负荷预测模型

现有方法在处理负荷数据的非线性、动态性以及空间和时间依赖性方面存在局限,导致预测精度较低。为解决上述问题,本文提出了一种基于改进变分模态分解(SVMD)、图注意力网络(GAT)和长短期记忆网络(LSTM)的混合模型,并通过白鲸优化算法(BWO)进行参数优化。该模型旨在通过综合各组件的优势,提高短期负荷预测的准确性和鲁棒性。模型首先应用SVMD对负荷数据进行有效分解,提取关键模态分量;接着,GAT网络捕捉负荷波动性和加权空间的相关性,增强模型对负荷数据空间特征的感知;LSTM网络提取和预测时间序列特征;最后,用BWO算法优化模型参数,提高模型的收敛速度和预测性能。试验结果表明,SVMD-GAT-BWO-LSTM模型在平均绝对百分比误差(E_(MAPE))、均方根误差(E_(RMSE))和拟合度(R^(2))等评价指标上均表现最佳,显示出较高的稳定性和鲁棒性。消融试验进一步证实了模型中每个组件的重要性和对提高预测性能的贡献。

基于动态图注意力的风电场组合预测模型

为了实现风电场用能管理的高效调度,充分提取多站点间时空特征的潜在联系,提出一种基于动态图卷积和图注意力的多站点短期风电功率时空组合预测模型。使用图卷积实现多站点间时序特征的邻居聚合,并使用图注意力机制加强其对空间特征的提取能力。同时,针对传统模型无法处理图节点关联性实时变化的问题,先在图卷积过程中依据站点间的相关系数和距离动态构建邻接矩阵,再使用门控循环单元处理动态图卷积输出的上下文信息,最后完成风电功率预测。实验结果表明,所提出的组合模型在预测精度、稳定性和多步预测性能方面均最优。

基于多源城市数据的空气质量预测模型

针对目前空气质量预测研究方法只考虑单一站点时序特性的缺陷问题,提出一种基于多源城市数据的STRGNN模型。将相邻站点之间的空间相关性表示为距离图和相似图,根据领域类别对特征分组;将分组特征与构建的距离图和相似图成对组合输入至模型。通过收集邻近信息捕获空气质量的空间相关性,利用叠加多层的卷积捕获空气质量的时间相关性。仿真结果表明,该模型与GRU、Seq2Seq等4个基准模型相比,在1 h-6 h预测的MAE和RMSE分别降低了3%和1%,预测效果有所提升,验证所提方法与现有方法相比具有优越性。

基于图注意力网络的城市内涝积水预测与研究

极端暴雨天气多发频发造成的城市内涝,严重威胁居民的人身财产安全,准确高效的内涝点积水面积预测在提高城市灾害应急处置能力中发挥着至关重要的作用。为了提高城市内涝点积水预测的准确性和直观性,提出一种基于GAT和LSTM网络的GATLSTM组合预测模型,通过GAT提取积水信息局部空间特征,并通过节点分配权重的方式加强对关键信息序列的记忆,随后采用LSTM提取积水面积序列的时间特征,对内涝点积水面积进行预测。以开封市区某内涝点的积水数据建立模型并评估验证,将GATLSTM模型和LSTM、GAT以及GCNLSTM模型进行对比,结果表明:GATLSTM模型的预测精度优于另外3种模型,能够准确地对内涝点积水面积进行预测,可以为防汛工作和应急响应措施的制定提供科学依据。

基于时空图网络的空中交通流量预测研究

准确的空中交通流量预测对航空运输管理和飞行安全保障有至关重要的意义。然而,空中流量存在复杂时间波动模式,并且不同机场之间存在依赖关系,给空中交通流量的精确预测带来了巨大的挑战。提出基于时空图网络的空中交通流量预测方法,捕获空中流量的时间变化模式和不同机场之间的依赖关系,从而实现精准的空中交通流预测。在空间特征学习模块,通过对机场之间关系进行建模,采用常微分方程提取机场之间的依赖关系。在时间特征学习模块中,引入了高效的重构器表征空中交通流的长程时间相关性。在Airline On-Time Performance Data数据集,该方法在未来6 h、9 h、12 h预测实验的加权平均绝对百分比误差分别为35.51%、36.54%、35.55%,性能明显优于已有预测方法。

基于缺失数据的交通速度预测算法

交通速度预测是智能交通系统的基础,可以缓解交通拥堵,节约公共资源,提高人们的生活质量。在真实情况下,采集到的交通速度数据通常存在缺失,而现有研究成果大多数只考虑了数据相对完整的场景。文章主要针对缺失场景下的交通速度数据进行研究,捕捉其中的时空相关性,并对未来交通速度进行预测。为了充分利用到交通数据的时空特征,提出了一种新的基于深度学习的交通速度预测模型。首先,提出了“还原-预测”算法,先使用自监督学习方法让模型还原缺失数据,再对交通速度进行预测;其次,引入了对比学习的方法,使得速度时间序列的特征表示更鲁棒;最后,模拟了不同数据缺失率的场景,通过实验验证了所提方法在各种缺失率下的预测准确率都优于现有方法,并设计了实验对对比学习方法和不同的还原算法进行分析,证明了所提方法的有效性。

时空图神经网络在交通流预测研究中的构建与应用综述

交通流量预测是城市交通管理和规划中的关键问题,而传统预测方法在面对数据稀疏性、非线性关系和复杂动态性等挑战时表现不佳。图神经网络是一种基于非欧结构数据的深度学习方法,近年来在各种复杂网络建模和预测任务中得到广泛应用。为了应用于交通流量预测领域,提出了时空图神经网络,其能够捕捉空间和时间相关性,相较之前的预测模型有显著进步。对近年来使用时空图神经网络进行交通流量预测的模型进行分析,概述和比较了多种邻接阵的构造方式,然后从空间相关性和时间相关性的角度列举了构建交通流预测模型的常用组件,并对不同的时空融合方式进行了分类和对比;在应用方面,根据时间尺度的不同将时空图神经网络模型分为长期预测、短期预测与兼顾长短期的预测三类,分析了各自的目标与要求,并列举比较了近年来较为突出的新模型。最后,讨论了现有研究的局限性,对相关模型的未来研究做出展望。

基于双路先验自适应图神经常微分方程的交通流预测

准确的交通流量预测是智能交通系统不可或缺的组成部分。近年来,图神经网络在交通流预测任务中取得了较好的预测结果。然而,图神经网络的信息传递是不连续的潜在状态传播,且随着网络层数的增加存在过平滑的问题,这限制了模型捕获远距离节点的空间依赖关系的能力。同时,在表示道路网络的空间关系时,现有方法大多仅使用先验知识构建的预定义图或仅使用路网状况构建的自适应图,忽略了两类图结合的方式。针对上述问题,提出了一种基于双路先验自适应图神经常微分方程的交通流预测模型。利用时间卷积网络捕获序列的时间相关性,使用先验自适应图融合模块表示道路网络的空间关系,并通过基于张量乘法的神经常微分方程以连续的方式传播复杂的时空特征。最后,在美国加利福尼亚州4个公开的高速公路流量数据集上进行对比实验,结果表明所提模型的预测效果优于现有的10种对比方法。

基于图自编码器和GRU网络的分层交通流预测模型

准确的交通流预测信息不仅可以为交通管理人员提供交通决策的坚实基础,还可以减少交通拥堵情况。在交通流预测任务中,获得有效的交通流的时空特性是保证预测效果的前提。现有的方法大多是用未来时刻的数据进行监督学习,提取的特征具有局限性。针对现有预测模型无法充分挖掘交通流的时空特性的问题,提出了基于改进的图自编码器和门控循环单元的分层交通预测模型。首先使用图注意力自编码器以无监督的方式深度挖掘交通流的空间特性,然后使用门控循环单元进行时间特征提取。分层结构采用分开训练的方式进行时空依赖关系的学习,旨在获取路网天然存在的空间拓扑特征,使其可以兼容不同时间步下的交通流预测任务。大量实验证明,所提出的GAE-GRU模型在不同数据集下的交通预测任务中取得了优异的表现,MAE,RMSE和MAPE指标均优于基线模型。