yassermohmmed / autonomous_and_adaptive_system

autonomous_and_adaptive_system

https://dl.acm.org/journal/taas/editorial-board?fbclid=IwAR31KCWNs-_UzZQr5JPlyImXJOxlsVYVQZ8vGab3u6VfnCGLDJitkj0md-A

I shall post a peper with my colleagues, such as Kazuo Kashiwabara, Kouji Kodera and some other people.

The provisional title of the paper will be Road Safety, the autonomous and adaptive system.

I make a reference at arxive, searching road safety.

arXiv:2106.10197 [pdf, other] cs.CV cs.AI A Dynamic Spatial-temporal Attention Network for Early Anticipation of Traffic Accidents Authors: Muhammad Monjurul Karim, Yu Li, Ruwen Qin, Zhaozheng Yin Abstract: Recently, autonomous vehicles and those equipped with an Advanced Driver Assistance System (ADAS) are emerging. They share the road with regular ones operated by human drivers entirely. To ensure guaranteed safety for passengers and other road users, it becomes essential for auto… ▽ More Submitted 18 June, 2021; originally announced June 2021. Comments: 10 pages, 4 figures, submitted to a journal

arXiv:2106.09826 [pdf, other] eess.SY Intrusion Detection and Localization for Networked Embedded Control Systems Authors: Vuk Lesi, Marcio Juliato, Shabbir Ahmed, Christopher Gutierrez, Qian Wang, Manoj Sastry Abstract: …system output. Intentional disturbances in the system, such as in the case of cyberattacks, can compromise reachability of control goals, and in several cases jeopardize safety. The increasing connectivity and exposure of networked control to external networks has enabled attackers to compromise these systems by exploiting security vulnerabilities. Attacks a… ▽ More Submitted 17 June, 2021; originally announced June 2021. Comments: Embedded Security in Cars (ESCAR) USA 2021

arXiv:2106.02984 [pdf] cs.RO
doi 10.31838/jcr.07.19.693 Design of hazard based model and collision avoidance system Authors: Md Faysal Kabir, Sahadev Roy Abstract: …were used to collect data and design an overall overtaking period model. The possibility of death during an attempt to overtake is maximum for people walking on rural roads, mainly identified by a scarcity of pathways and higher speeds of vehicles. It is important to recognize and prototype driver actions during the overtaking moves to set up collision avoid… ▽ More Submitted 5 June, 2021; originally announced June 2021. Journal ref: Journal of Critical Reviews,2020, 7(9):5979-5989

arXiv:2106.02567 [pdf] cs.CV cs.AI cs.LG AI Driven Road Maintenance Inspection Authors: Ratnajit Mukherjee, Haris Iqbal, Shabbir Marzban, Ahmed Badar, Terence Brouns, Shruthi Gowda, Elahe Arani, Bahram Zonooz Abstract: Road infrastructure maintenance inspection is typically a labour-intensive and critical task to ensure the… ▽ More Submitted 4 June, 2021; originally announced June 2021. Comments: accepted at 27th ITS World Congress, 2021

arXiv:2106.02268 [pdf, other] eess.SP A C-V2X Platform Using Transportation Data and Spectrum-Aware Sidelink Access Authors: Lin Chia-Hung, Lin Shih-Chun, Wang Chien-Yuan, Chase Thomas Abstract: Intelligent transportation systems and autonomous vehicles are expected to bring new experiences with enhanced efficiency and safety to road users in the near future. However, an efficient and robust vehicular communication system should act as a strong backbone to offer the needed infrastructure connectivity. Deep lea… ▽ More Submitted 4 June, 2021; originally announced June 2021.

arXiv:2105.10842 [pdf] cs.RO
doi 10.22260/ISARC2020/0112 Toolbox Spotter: A Computer Vision System for Real World Situational Awareness in Heavy Industries Authors: Stuart Eiffert, Alexander Wendel, Peter Colborne-Veel, Nicholas Leong, John Gardenier, Nathan Kirchner Abstract: …additional devices on all workers and obstacles. Whilst computer vision detection systems have previously been deployed in structured applications such as manufacturing and on-road vehicles, there does not yet exist a robust and portable solution for use in unstructured environments like construction that effectively communicates risks to relevant workers. T… ▽ More Submitted 22 May, 2021; originally announced May 2021. Comments: Published in the 37th International Symposium on Automation and Robotics in Construction (ISARC 2020)

arXiv:2105.09446 [pdf] cs.RO cs.LG eess.SY A Review of Autonomous Road Vehicle Integrated Approaches to an Emergency Obstacle Avoidance Maneuver Authors: Evan Lowe, Levent Guvenç Abstract: As passenger vehicle technologies have advanced, so have their capabilities to avoid obstacles, especially with developments in tires, suspensions, steering, as well as safety technologies like ABS, ESC, and more recently, ADAS systems. However, environments around passenger vehicles have also become more complex, and dangerous. There have previously been st… ▽ More Submitted 18 June, 2021; v1 submitted 19 May, 2021; originally announced May 2021. Comments: (Bookmarks for section headings included) 59 pages of text, 14 pages of references, 60 figures, 3 tables

arXiv:2105.08169 [pdf, other] cs.RO eess.SY Safe Occlusion-aware Autonomous Driving via Game-Theoretic Active Perception Authors: Zixu Zhang, Jaime F. Fisac Abstract: …vehicle is guaranteed to avoid collisions. We leverage this theoretical result to develop a novel trajectory planning framework for autonomous driving that provides worst-case safety guarantees while minimizing conservativeness by accounting for the vehicle's ability to actively avoid other road users as soon as th… ▽ More Submitted 17 May, 2021; originally announced May 2021. Comments: To be appeared in Robotics: Science and Systems (RSS), 2021

arXiv:2105.06105 [pdf] cs.CR cs.NI Trusted Authentication using hybrid security algorithm in VANET Authors: Prasanna Venkatesan E, Kristen Titus W Abstract: Vehicular Ad Hoc Networks (VANETs) improves traffic management and reduce the amount of road accidents by providing… ▽ More Submitted 13 May, 2021; originally announced May 2021. Comments: arXiv admin note: text overlap with arXiv:2105.05751

arXiv:2105.05751 cs.NI Prevention Of Attack In Vehicular Adhoc Network Using Trust Model Authors: Revanth V S, Suthan L Abstract: Vehicular ad hoc networks is a modern technology that holds an important aspect in the transportation domain due to its abilities to increase traffic efficiency and safety. It is a another variant of Mobile ad-hoc networks that provides Vehicles to Vehicles (V2V), Rode-side Unit to… ▽ More Submitted 19 May, 2021; v1 submitted 12 May, 2021; originally announced May 2021. Comments: i have to modify the contents of the paper

arXiv:2105.05689 [pdf, other] eess.SP Situational Coverage and Rate Distribution Maps for 5G V2X Systems Using Ray-Tracing Authors: Elyes Balti Abstract: …(V2X) communications. This enables the future autonomous vehicles to exchange big data with the base stations (BSs) such as the velocity, and the location to enhance the safety for the advanced driving assistance system (ADAS). To achieve this goal, we propose to develop a situational rate map to characterize the distribution of the rates achieved between th… ▽ More Submitted 18 May, 2021; v1 submitted 3 May, 2021; originally announced May 2021.

arXiv:2105.04756 [pdf, other] eess.SY HAPS-ITS: Enabling Future ITS Services in Trans-Continental Highways Authors: Wael Jaafar, Halim Yanikomeroglu Abstract: …highways need particular attention due to their important role in sustaining globalization. In this context, intelligent transportation systems (ITS) can actively enhance the safety, mobility, productivity, and comfort of trans-continental highways. However, ITS efficiency depends greatly on the roads where they are de… ▽ More Submitted 10 May, 2021; originally announced May 2021. Comments: 7 pages, 5 figures, 1 table, submitted to IEEE Communications Magazine

arXiv:2105.04472 [pdf, other] cs.RO cs.AI eess.SY doi 10.1109/IV47402.2020.9304588 Safety of the Intended Driving Behavior Using Rulebooks Authors: Anne Collin, Artur Bilka, Scott Pendleton, Radboud Duintjer Tebbens Abstract: Autonomous Vehicles (AVs) are complex systems that drive in uncertain environments and potentially navigate unforeseeable situations. Safety of these systems requires not only an absence of malfunctions but also high performance of functions in many different scenarios. The ISO/PAS 21448 [1] guidance recommends a process to ensure the… ▽ More Submitted 10 May, 2021; originally announced May 2021. Journal ref: 2020 IEEE Intelligent Vehicles Symposium (IV)

arXiv:2105.04196 [pdf, other] eess.SP cs.LG cs.MA AoI-Aware Resource Allocation for Platoon-Based C-V2X Networks via Multi-Agent Multi-Task Reinforcement Learning Authors: Mohammad Parvini, Mohammad Reza Javan, Nader Mokari, Bijan Abbasi, Eduard A. Jorswieck Abstract: …wireless vehicle-to-everything (C-V2X) communication technology to disseminate the cooperative awareness messages (CAMs) to their followers while ensuring timely delivery of safety-critical messages to the Road-Side Unit (RSU). Due to the challenges of dynamic channel conditions, centralized resource management schemes… ▽ More Submitted 10 May, 2021; originally announced May 2021.

arXiv:2105.03891 [pdf, other] cs.CV Interaction Detection Between Vehicles and Vulnerable Road Users: A Deep Generative Approach with Attention Authors: Hao Cheng, Li Feng, Hailong Liu, Takatsugu Hirayama, Hiroshi Murase, Monika Sester Abstract: Intersections where vehicles are permitted to turn and interact with vulnerable road users (VRUs) like pedestrians and cyclists are among some of the most challenging locations for automated and accurate recognition of… ▽ More Submitted 9 May, 2021; originally announced May 2021.

arXiv:2105.03517 [pdf] cs.NI Applicability of overlay non-delay tolerant position-based protocols in highways and urban environments for vanet Authors: Mahmoud Ali Al Shugran Abstract: …Ad hoc Network (VANET) is a new sort of wireless ad-hoc network. Vehicle-to-Vehicle (V2V) communication is one of the main communication paradigms that provide a level of safety and convenience to drivers and passengers on the road. In such an environment, routing data packets is challenging due to frequent changes of… ▽ More Submitted 7 May, 2021; originally announced May 2021. Comments: 16 pages

arXiv:2105.02664 [pdf, other] cs.CR Exploiting Partial Order of Keys to Verify Security of a Vehicular Group Protocol Authors: Felipe Boeira, Mikael Asplund Abstract: Vehicular networks will enable a range of novel applications to enhance road traffic efficiency, safety, and reduce fuel consumption. As for other cyber-physical systems, security is essential to the deployment of these applications and standardisation efforts are ongoing. In this paper, we perform a systematic securit… ▽ More Submitted 6 May, 2021; originally announced May 2021.

arXiv:2105.02582 [pdf] cs.CV Vision based Pedestrian Potential Risk Analysis based on Automated Behavior Feature Extraction for Smart and Safe City Authors: Byeongjoon Noh, Dongho Ka, David Lee, Hwasoo Yeo Abstract: Despite recent advances in vehicle safety technologies,… ▽ More Submitted 27 May, 2021; v1 submitted 6 May, 2021; originally announced May 2021. Comments: 26 pages, 15 figures, 5 tables

arXiv:2105.01764 [pdf, other] cs.CY cs.CV Surveilling Surveillance: Estimating the Prevalence of Surveillance Cameras with Street View Data Authors: Hao Sheng, Keniel Yao, Sharad Goel Abstract: …But it has been difficult to systematically measure the prevalence and placement of cameras, hampering efforts to assess the implications of surveillance on privacy and public safety. Here we present a novel approach for estimating the spatial distribution of surveillance cameras: applying computer vision algorithms to large-scale street view image data. Sp… ▽ More Submitted 4 May, 2021; originally announced May 2021. Comments: Proceedings of the 2021 AAAI/ACM Conference on AI, Ethics, and Society (AIES)

arXiv:2105.01151 [pdf, other] cs.CV Pedestrian Detection in 3D Point Clouds using Deep Neural Networks Authors: Òscar Lorente, Josep R. Casas, Santiago Royo, Ivan Caminal Abstract: Detecting pedestrians is a crucial task in autonomous driving systems to ensure the safety of drivers and pedestrians. The technologies involved in these algorithms must be precise and reliable, regardless of environment conditions. Relying solely on RGB cameras may not be enough to recognize road environments in situa… ▽ More Submitted 3 May, 2021; originally announced May 2021. ACM Class: I.4.8

arXiv:2104.14928 [pdf, other] cs.RO cs.CV Certifying Emergency Landing for Safe Urban UAV Authors: Joris Guerin, Kevin Delmas, Jérémie Guiochet Abstract: …Vehicles (UAVs) have the potential to be used for many applications in urban environments. However, allowing UAVs to fly above densely populated areas raises concerns regarding safety. One of the main… ▽ More Submitted 30 April, 2021; originally announced April 2021. Comments: 8 pages, 4 figure, 4 tables To appear in the proceedings of the 7th international workshop on Safety and Security of Intelligent Vehicles (SSIV 2021) at DSN 2021

arXiv:2104.14812 [pdf, other] cs.CV SegmentMeIfYouCan: A Benchmark for Anomaly Segmentation Authors: Robin Chan, Krzysztof Lis, Svenja Uhlemeyer, Hermann Blum, Sina Honari, Roland Siegwart, Mathieu Salzmann, Pascal Fua, Matthias Rottmann Abstract: …trained on a closed set of semantic classes. As such, they are ill-equipped to handle previously-unseen objects. However, detecting and localizing such objects is crucial for safety-critical applications such as perception for automated driving, especially if they appear on the… ▽ More Submitted 30 April, 2021; originally announced April 2021. Comments: 10 pages, 13 figures, website http://www.segmentmeifyoucan.com/ MSC Class: 68T45; 62-07 ACM Class: I.4.6; I.4.9

arXiv:2104.13889 [pdf, other] cs.HC Driver State and Behavior Detection Through Smart Wearables Authors: Arash Tavakoli, Shashwat Kumar, Mehdi Boukhechba, Arsalan Heydarian Abstract: Integrating driver, in-cabin, and outside environment's contextual cues into the vehicle's decision making is the centerpiece of semi-automated vehicle safety. Multiple systems have been developed for providing context to the vehicle, which often rely on video streams capturing drivers' physical and environmental states. While video streams are a… ▽ More Submitted 28 April, 2021; originally announced April 2021. Comments: Accepted in IEEE Intelligent Vehicles Symposium 2021

arXiv:2104.13729 [pdf, other] cs.SE eess.SY A Functional Safety Assessment Method for Cooperative Automotive Architecture Authors: Sangeeth Kochanthara, Niels Rood, Arash Khabbaz Saberi, Loek Cleophas, Yanja Dajsuren, Mark van den Brand Abstract: …automotive functions has grown from a single-vehicle as an entity to multiple vehicles working together as an entity, referred to as cooperative driving. The current automotive safety standard, ISO 26262, is designed for single vehicles. With the increasing number of cooperative driving capable vehicles on the… ▽ More Submitted 2 May, 2021; v1 submitted 28 April, 2021; originally announced April 2021.

arXiv:2104.13149 [pdf, other] cs.RO Real-time safety assessment of trajectories for autonomous driving Authors: Hoang Tung Dinh, Danilo Romano, Patrick Abrahao Menani, Victor Vaquero, Quentin De Clercq, Ramanujan Venkatadri, Nelson Quintana, Mario Torres Abstract: …compute such a trajectory at run-time, taking into account the perception information about the environment, the dynamics of the vehicles, the predicted future states of other road users and a number of… ▽ More Submitted 5 May, 2021; v1 submitted 27 April, 2021; originally announced April 2021.

arXiv:2104.12878 [pdf] cs.CR cs.NI Security, Privacy and Trust: Cognitive Internet of Vehicles Authors: Khondokar Fida Hasan, Anthony Overall, Keyvan Ansari, Gowri Ramachandran, Raja Jurdak Abstract: The recent advancement of cloud technology offers unparallel strength to support intelligent computations and advanced services to assist with automated decisions to improve road transportation… ▽ More Submitted 26 April, 2021; originally announced April 2021. Comments: 19 pages, book chapter

arXiv:2104.12417 [pdf, other] cs.CV cs.AI Model Guided Road Intersection Classification Authors: Augusto Luis Ballardini, Álvaro Hernández, Miguel Ángel Sotelo Abstract: …Detecting and understanding the scene configuration of these usually crowded areas is then of extreme importance for both autonomous vehicles and modern ADAS aimed at preventing road crashes and increasing the safety of vulnerable road users. This work investigates inter-section… ▽ More Submitted 26 April, 2021; originally announced April 2021. Comments: To be presented at the 2021 32nd IEEE Intelligent Vehicles Symposium (IV) (IV 2021)

arXiv:2104.11461 [pdf] stat.AP q-fin.CP q-fin.MF Extending the Heston Model to Forecast Motor Vehicle Collision Rates Authors: Darren Shannon, Grigorios Fountas Abstract: …rates. We incorporate the temporally-unstable and non-deterministic nature of collision rate fluctuations, and introduce a parameter to account for periods of accelerated safety. We also adjust estimates to account for the seasonality of collision patterns. Using these parameters, we perform a short-term forecast of collision rates and explore a number of pl… ▽ More Submitted 23 May, 2021; v1 submitted 23 April, 2021; originally announced April 2021. Comments: 25 pages (excl. Ref, Appendices). 11 figures, 7 tables, 3 appendices

arXiv:2104.11135 [pdf, other] cs.NI doi 10.1109/MCOMSTD.001.2000070 V2X in 3GPP Standardization: NR Sidelink in Rel-16 and Beyond Authors: Mehdi Harounabadi, Dariush Mohammad Soleymani, Shubhangi Bhadauria, Martin Leyh, Elke Roth-Mandutz Abstract: …applications. High reliability, low latency, and high data rate are some of the features which fulfill the requirements of vehicular networks. Vehicular networks aim to provide safety for road users and several additional advantages such as enhanced traffic efficiency and in-vehicle infotainment services. This paper su… ▽ More Submitted 22 April, 2021; originally announced April 2021.

arXiv:2104.10780 [pdf, other] cs.CV BEVDetNet: Bird's Eye View LiDAR Point Cloud based Real-time 3D Object Detection for Autonomous Driving Authors: Sambit Mohapatra, Senthil Yogamani, Heinrich Gotzig, Stefan Milz, Patrick Mader Abstract: …they are not suitable for efficient parallelization. Secondly, they have a variable runtime due to level of sparsity of the scene which is against the determinism needed in a safety system. In this work, we aim to develop a very low latency algorithm with fixed runtime. We propose a novel semantic segmentation architecture as a single unified model for objec… ▽ More Submitted 21 April, 2021; originally announced April 2021.

arXiv:2104.07538 [pdf, other] cs.CV cs.AI Street-Map Based Validation of Semantic Segmentation in Autonomous Driving Authors: Laura von Rueden, Tim Wirtz, Fabian Hueger, Jan David Schneider, Nico Piatkowski, Christian Bauckhage Abstract: Artificial intelligence for autonomous driving must meet strict requirements on safety and robustness, which motivates the thorough validation of learned models. However, current validation approaches mostly require ground truth data and are thus both cost-intensive and limited in their applicability. We propose to overcome these limitations by a model agnos… ▽ More Submitted 15 April, 2021; originally announced April 2021. Comments: Final version accepted at the International Conference on Pattern Recognition (ICPR). arXiv admin note: substantial text overlap with arXiv:2011.08008

arXiv:2104.06916 [pdf, other] cs.HC Autonomous Vehicles Drive into Shared Spaces: eHMI Design Concept Focusing on Vulnerable Road Users Authors: Yang Li, Hao Cheng, Zhe Zeng, Hailong Liu, Monika Sester Abstract: …motorized movement, smoother traffic, and less congestion. In the foreseeable future, shared spaces will be populated with a mixture of autonomous vehicles (AVs) and vulnerable road users (VRUs) like pedestrians and cyclists. However, a driver-less AV lacks a way to communicate with the VRUs when they have to reach an agreement of a negotiation, which brings… ▽ More Submitted 20 April, 2021; v1 submitted 14 April, 2021; originally announced April 2021.

arXiv:2104.06795 [pdf, other] eess.SY Systems-Theoretic Safety Assessment of Teleoperated Road Vehicles Authors: Simon Hoffmann, Dr. Frank Diermeyer Abstract: …for concepts with no backup driver inside the vehicle. While teleoperation resolves certain issues an automated vehicle will face, it introduces new challenges in terms of safety requirements. While… ▽ More Submitted 14 April, 2021; originally announced April 2021. Comments: Accepted in 7th International Conference on Vehicle Technology and Intelligent Transport Systems (VEHITS) 2021

arXiv:2104.06561 [pdf] cs.CY Impact of risk factors on work zone crashes using logistic models and Random Forest Authors: Huthaifa I Ashqar, Qadri H Shaheen, Suleiman A Ashur, Hesham A Rakha Abstract: Work zone safety is influenced by many risk factors. Consequently, a comprehensive knowledge of the risk factors identified from crash data analysis becomes critical in reducing risk levels and preventing severe crashes in work zones. This study focuses on the 2016 severe crashes that occurred in the State of Michigan (USA) in work zones along highway I-94.… ▽ More Submitted 13 April, 2021; originally announced April 2021.

arXiv:2104.06147 [pdf, other] cs.RO What is the appropriate speed for an autonomous vehicle? Designing a Pedestrian Aware Contextual Speed Controller Authors: Daniel Jiang, Stewart Worrall, Mao Shan Abstract: …a major hurdle for autonomous vehicle technology, central to which is ensuring both passengers and nearby pedestrians feel safe. This idea of `feeling safe' and perceived safety is highly subjective and rooted in human intuition. As such, traditional analytical approaches to autonomous navigation often fail to cater for the social expectations of individ… ▽ More Submitted 13 April, 2021; originally announced April 2021. Comments: 8 pages

arXiv:2104.04153 [pdf, other] physics.soc-ph nlin.AO A flock-like two-dimensional cooperative vehicle formation model based on potential functions Authors: Ruochen Hao, Meiqi Liu, Wanjing Ma, Bart van Arem, Meng Wang Abstract: …while how to mange and coordinate platoons in urban networks remains largely an open question. This scientific gap mainly results from the maneuver complexity on urban roads, making it difficult to model the platoon formation process. Inspired by flocking behaviors in nature, this paper proposed a two-dimensional model to describe CAV group dynamics. The mo… ▽ More Submitted 19 March, 2021; originally announced April 2021.

arXiv:2104.03801 [pdf, other] eess.SY Detection of Cyber-Attacks in Collaborative Intersection Control Authors: Twan Keijzer, Fabian Jarmolowitz, Riccardo M. G. Ferrari Abstract: Road intersections are widely recognized as a lead cause for accidents and traffic delays. In a future scenario with a significant adoption of Cooperative Autonomous Vehicles, solutions based on fully automatic, signage-less Intersection Control would become viable. Such a solution, however, requires communication between vehicles and, possibly, the infrastr… ▽ More Submitted 8 April, 2021; originally announced April 2021. Comments: 6 page conference paper accepted to 19th European Control Conference 2021, Rotterdam, The Netherlands

arXiv:2104.01804 [pdf, other] cs.NI Adaptive Semi-Persistent Scheduling for Enhanced On-road Safety in Decentralized V2X Networks Authors: Avik Dayal, Vijay K. Shah, Biplav Choudhury, Vuk Marojevic, Carl Dietrich, Jeffrey H. Reed Abstract: Decentralized vehicle-to-everything (V2X) networks (i.e., Mode-4 C-V2X and Mode 2a NR-V2X), rely on periodic Basic Safety Messages (BSMs) to disseminate time-sensitive information (e.g., vehicle position) and has the potential to improve on-road safety. For BSM scheduling, decent… ▽ More Submitted 5 April, 2021; originally announced April 2021. Comments: 9 pages, 16 figures, To be published in IFIP Networking 2021

arXiv:2104.01022 [pdf, other] cs.HC Human Biases Preventing The Widespread Adoption Of Self-Driving Cars Authors: Benjamin Kahl Abstract: Self-driving cars offer a plethora of safety advantages over our accustomed human-driven ones, yet many individuals feel uneasy sharing the road with these machines and entrusting their lives to their driving capabilities. Thus, bringing about a widespread adoption of autonomous cars requires overcoming these compulsio… ▽ More Submitted 2 April, 2021; originally announced April 2021. Comments: 7 pages, 8 figures

arXiv:2104.00859 [pdf, other] cs.RO cs.AI An NCAP-like Safety Indicator for Self-Driving Cars Authors: Jimy Cai Huang, Hanna Kurniawati Abstract: This paper proposes a mechanism to assess the safety of autonomous cars. It assesses the car's… ▽ More Submitted 1 April, 2021; originally announced April 2021.

arXiv:2103.17119 [pdf, other] cs.CV cs.RO Topo-boundary: A Benchmark Dataset on Topological Road-boundary Detection Using Aerial Images for Autonomous Driving Authors: Zhenhua Xu, Yuxiang Sun, Ming Liu Abstract: Road-boundary detection is important for autonomous driving. For example, it can be used to constrain vehicles running on… ▽ More Submitted 31 March, 2021; originally announced March 2021.

arXiv:2103.16273 [pdf, other] cs.CV cs.RO Multi-modal Trajectory Prediction for Autonomous Driving with Semantic Map and Dynamic Graph Attention Network Authors: Bo Dong, Hao Liu, Yu Bai, Jinbiao Lin, Zhuoran Xu, Xinyu Xu, Qi Kong Abstract: Predicting future trajectories of surrounding obstacles is a crucial task for autonomous driving cars to achieve a high degree of road safety. There are several challenges in trajectory prediction in real-world traffic scenarios, including obeying traffic rules, dealing with social interactions, handling traffic of mul… ▽ More Submitted 30 March, 2021; originally announced March 2021. Comments: NIPS2020 Workshop on Machine Learning for Autonomous Driving

arXiv:2103.15484 [pdf, other] cs.RO eess.SY A hybrid controller for safe and efficient collision avoidance control Authors: Qiang Wang, Xinlei Zheng, Jiyong Zhang, Joseph Sifakis Abstract: …respectively. We present design principles for both the adaptive and the safe controller and show how each one can contribute in the hybrid architecture to improve performance, road occupancy and passenger comfort while preserving safety. The experimental results confirm the feasibility of the approach and the practic… ▽ More Submitted 29 March, 2021; originally announced March 2021.

arXiv:2103.14142 [pdf, other] eess.SY Vehicle Following On A Ring Road Under Safety Constraints: Role of Connectivity and Coordination Authors: Milad Pooladsanj, Ketan Savla, Petros A. Ioannou Abstract: A fundamental problem in traffic networks is driving under safety and limited physical space constraints. In this paper, we design longitudinal vehicle controllers and study the dynamics of a system of homogeneous vehicles on a single-lane ring… ▽ More Submitted 25 March, 2021; originally announced March 2021. Comments: 17 pages, 13 figures; submitted to IEEE IV

arXiv:2103.14118 [pdf, other] eess.SY Flexible MPC-based Conflict Resolution Using Online Adaptive ADMM Authors: Jerry An, Giulia Giordano, Changliu Liu Abstract: Decentralized conflict resolution for autonomous vehicles is needed in many places where a centralized method is not feasible, e.g., parking lots, rural roads, merge lanes, etc. However, existing methods generally do not fully utilize optimization in decentralized conflict resolution. We propose a decentralized conflict resolution method for autonomous vehic… ▽ More Submitted 25 March, 2021; originally announced March 2021. Comments: 7 pages, 5 figures, to be published in ECC 2021

arXiv:2103.13826 [pdf] eess.SY
doi 10.1109/TITS.2021.3061085 Prototyping and Evaluation of Infrastructure-Assisted Transition of Control for Cooperative Automated Vehicles Authors: Baldomero Coll-Perales, Joschua Schulte-Tigges, Michele Rondinone, Javier Gozalvez, Michael Reke, Dominik Matheis, Thomas Walter Abstract: Automated driving is now possible in diverse road and traffic conditions. However, there are still situations that automated vehicles cannot handle safely and efficiently. In this case, a Transition of Control (ToC) is necessary so that the driver takes control of the driving. Executing a ToC requires the driver to get full situation awareness of the driving… ▽ More Submitted 24 March, 2021; originally announced March 2021. Comments: 16 pages, 15 figures, 3 tables. in IEEE Transactions on Intelligent Transportation Systems, 04 March 2021 (Early Access)

arXiv:2103.10533 [pdf, other] cs.CR cs.RO eess.SY Resilient Cooperative Adaptive Cruise Control for Autonomous Vehicles Using Machine Learning Authors: Srivalli Boddupalli, Akash Someshwar Rao, Sandip Ray Abstract: …vehicle functionalities including platooning, distributed route management, etc. Unfortunately, malicious V2V communications can subvert CACC, leading to string instability and road accidents. In this paper, we develop a novel resiliency infrastructure, RACCON, for detecting and mitigating V2V attacks on CACC. RACCON uses machine learning to develop an on-bo… ▽ More Submitted 18 March, 2021; originally announced March 2021.

arXiv:2103.10290 [pdf, other] cs.LG cs.RO Integrated Decision and Control: Towards Interpretable and Computationally Efficient Driving Intelligence Authors: Yang Guan, Yangang Ren, Qi Sun, Shengbo Eben Li, Haitong Ma, Jingliang Duan, Yifan Dai, Bo Cheng Abstract: …that compared with baseline methods IDC has an order of magnitude higher online computing efficiency, as well as better driving performance including traffic efficiency and safety. In addition, it yields great interpretability and adaptability among different driving tasks. The effectiveness of the proposed method is also demonstrated in real… ▽ More Submitted 11 May, 2021; v1 submitted 18 March, 2021; originally announced March 2021.

arXiv:2103.10287 [pdf, other] eess.SY Formation Control for Connected and Automated Vehicles on Multi-lane Roads: Relative Motion Planning and Conflict Resolution Authors: Mengchi Cai, Qing Xu, Chaoyi Chen, Jiawei Wang, Keqiang Li, Jianqiang Wang, Qianying Zhu Abstract: Multi-vehicle coordinated decision making and control can improve traffic efficiency while guaranteeing driving safety. Formation control is a typical multi-vehicle coordination method in the multi-lane scenario. Among the existing formation control methods, the formation switching process is predefined and the collision-free behavior of vehicles has not bee… ▽ More Submitted 30 April, 2021; v1 submitted 18 March, 2021; originally announced March 2021.

arXiv:2103.08102 [pdf, other] cs.CV Classifying Cycling Hazards in Egocentric Data Authors: Jayson Haebich, Christian Sandor, Alvaro Cassinelli Abstract: This proposal is for the creation and annotation of an egocentric video data set of hazardous cycling situations. The resulting data set will facilitate projects to improve the safety and experience of cyclists. Since cyclists are highly sensitive to… ▽ More Submitted 14 March, 2021; originally announced March 2021.

arXiv:2103.07118 [pdf, other] cs.CR eess.SY Evaluation Framework for Performance Limitation of Autonomous Systems under Sensor Attack Authors: Koichi Shimizu, Daisuke Suzuki, Ryo Muramatsu, Hisashi Mori, Tomoyuki Nagatsuka, Tsutomu Matsumoto Abstract: …sensor attacks affect the system, i.e. which part or whole of the system will fail if some of the built-in sensors are compromised, or will keep safe, etc. Among the relevant safety standards, ISO/PAS 21448 addresses the… ▽ More Submitted 12 March, 2021; originally announced March 2021.

arXiv:2103.05325 [pdf] stat.AP An analysis of European crash data and scenario specification for heavy truck safety system development within the AEROFLEX project Authors: Ron Schindler, Michael Jänsch, Heiko Johannsen, András Bálint Abstract: Heavy goods vehicles (HGVs) are involved in 4.5% of police-reported road crashes in Europe and 14.2% of fatal… ▽ More Submitted 9 March, 2021; originally announced March 2021. Comments: Proceedings of 8th Transport Research Arena TRA 2020, April 27-30, 2020, Helsinki, Finland

arXiv:2103.04364 [pdf] cs.AI cs.RO cs.SE doi 10.1109/AITEST49225.2020.00011 Coverage based testing for V&V and Safety Assurance of Self-driving Autonomous Vehicles: A Systematic Literature Review Authors: Zaid Tahir, Rob Alexander Abstract: …in research and development of SAVs to make sure they have a head start in the SAV market in the future. One of the major hurdles in the way of SAVs making it to the public roads is the lack of confidence of public in the… ▽ More Submitted 7 March, 2021; originally announced March 2021. Journal ref: IEEE International Conference On Artificial Intelligence Testing (AITest), Oxford, UK, 2020

arXiv:2103.01882 [pdf, other] cs.RO Exploring Imitation Learning for Autonomous Driving with Feedback Synthesizer and Differentiable Rasterization Authors: Jinyun Zhou, Rui Wang, Xu Liu, Yifei Jiang, Shu Jiang, Jiaming Tao, Jinghao Miao, Shiyu Song Abstract: …rely purely on random synthesizers. Furthermore, rather than completely commit to imitating, we introduce task losses that penalize undesirable behaviors, such as collision, off-road, and so on. Unlike prior works, this is done by introducing a differentiable vehicle rasterizer that directly converts the waypoints output by the network into images. This effe… ▽ More Submitted 2 March, 2021; originally announced March 2021. Comments: 8 pages, 10 figures

arXiv:2103.01791 [pdf, other] eess.SY cs.RO Set-Membership Estimation in Shared Situational Awareness for Automated Vehicles in Occluded Scenarios Authors: Vandana Narri, Amr Alanwar, Jonas Mårtensson, Christoffer Norén, Laura Dal Col, Karl Henrik Johansson Abstract: …to the information gathered by the sensors mounted on the ego-vehicle, and it might be severely affected by occlusion caused by other vehicles or fixed obstacles along the road. Situational awareness is the ability to perceive and comprehend a traffic situation and to predict the intent of vehicles and… ▽ More Submitted 2 March, 2021; originally announced March 2021. Comments: This paper is submitted to IEEE Intelligent Vehicles Symposium 2021

arXiv:2103.01644 [pdf, other] cs.CV cs.AI Exploiting latent representation of sparse semantic layers for improved short-term motion prediction with Capsule Networks Authors: Albert Dulian, John C. Murray Abstract: As urban environments manifest high levels of complexity it is of vital importance that safety systems embedded within autonomous vehicles (AVs) are able to accurately anticipate short-term future motion of nearby agents. This problem can be further understood as generating a sequence of coordinates describing the future motion of the tracked agent. Various… ▽ More Submitted 25 March, 2021; v1 submitted 2 March, 2021; originally announced March 2021.

arXiv:2103.00663 [pdf, other] cs.CV Model-Agnostic Defense for Lane Detection against Adversarial Attack Authors: Henry Xu, An Ju, David Wagner Abstract: Susceptibility of neural networks to adversarial attack prompts serious safety concerns for lane detection efforts, a domain where such models have been widely applied. Recent work on adversarial road patches have successfully induced perception of lane lines with arbitrary form, presenting an avenue for rogue control… ▽ More Submitted 28 February, 2021; originally announced March 2021. Comments: 6 pages, 6 figures, 3 tables. Part of AutoSec 2021 proceedings

arXiv:2103.00145 [pdf] cs.CV cs.RO doi 10.1109/IV47402.2020.9304784 Pedestrian Motion State Estimation From 2D Pose Authors: Fei Li, Shiwei Fan, Pengzhen Chen, Xiangxu Li Abstract: Traffic violation and the flexible and changeable nature of pedestrians make it more difficult to predict pedestrian behavior or intention, which might be a potential safety hazard on the road. Pedestrian motion state (such as walking and standing) directly affects or reflects its intention. In combination with pedestr… ▽ More Submitted 27 February, 2021; originally announced March 2021. Journal ref: 2020 IEEE Intelligent Vehicles Symposium (IV). IEEE, 1682-1687

arXiv:2102.12045 [pdf, other] eess.SY cs.RO Contingency Model Predictive Control for Linear Time-Varying Systems Authors: John P. Alsterda, J. Christian Gerdes Abstract: …We accomplish this by adding an additional prediction horizon in parallel to the typical Model Predictive Control (MPC) horizon. This extra horizon is constrained to guarantee safety from the contingent threat and is coupled to the nominal horizon at its first command. Thus, the two horizons negotiate to compute commands that are both optimized for performa… ▽ More Submitted 26 February, 2021; v1 submitted 23 February, 2021; originally announced February 2021. Comments: Preprint of manuscript submitted for peer review to Transactions on Control Systems Technology. 12 pages, 14 figures, 1 table

arXiv:2102.11462 [pdf, other] cs.RO eess.SY An Interaction-aware Evaluation Method for Highly Automated Vehicles Authors: Xinpeng Wang, Songan Zhang, Kuan-Hui Lee, Huei Peng Abstract: It is important to build a rigorous verification and validation (V&V) process to evaluate the safety of highly automated vehicles (HAVs) before their wide deployment on public roads. In this paper, we propose an interaction-aware framework for HAV safety evaluation which is s… ▽ More Submitted 22 February, 2021; originally announced February 2021. Comments: 8 pages, 9 figures

arXiv:2102.11149 [pdf, other] cs.CV Phase Space Reconstruction Network for Lane Intrusion Action Recognition Authors: Ruiwen Zhang, Zhidong Deng, Hongsen Lin, Hongchao Lu Abstract: In a complex road traffic scene, illegal lane intrusion of pedestrians or cyclists constitutes one of the main… ▽ More Submitted 22 February, 2021; originally announced February 2021.

arXiv:2102.10130 [pdf, other] cs.CV cs.AI Image Classification using CNN for Traffic Signs in Pakistan Authors: Abdul Azeem Sikander, Hamza Ali Abstract: …industry is one of the largest and most conventional projects worldwide, with many technology companies effectively designing and orienting their products towards automobile safety and accuracy. These products are performing very well over the… ▽ More Submitted 19 February, 2021; originally announced February 2021. Comments: Image classification, Convolutional Neural networks, Traffic Signs, Pakistan, CNN, Traffic Signs in Pakistan

arXiv:2102.10128 [pdf, other] cs.CR Two-Point Voltage Fingerprinting: Increasing Detectability of ECU Masquerading Attacks Authors: Shabbir Ahmed, Marcio Juliato, Christopher Gutierrez, Manoj Sastry Abstract: Automotive systems continuously increase their dependency on Electronic Control Units (ECUs) and become more interconnected to improve safety, comfort and Advanced Driving Assistance Systems (ADAS) functions to passengers and drivers. As a consequence of that trend, there is an expanding attack surface which may potentially expose vehicle's critical func… ▽ More Submitted 19 February, 2021; originally announced February 2021.

arXiv:2102.09735 [pdf] physics.app-ph Theoretical Study on Recognition of Icy Road Surface Condition by Low-THz Frequencies Authors: Xiangzhu Meng, Peian Li, Yuning Hu, Fei Song, Jianjun Ma Abstract: Recognition of road surface conditions should always be at the forefront of intelligent transportation systems for the enhancement of transportation… ▽ More Submitted 2 June, 2021; v1 submitted 18 February, 2021; originally announced February 2021.

arXiv:2102.09027 [pdf, other] eess.SY math.OC doi 10.1109/LRA.2021.3057563 Robust Model Predictive Path Integral Control: Analysis and Performance Guarantees Authors: Manan Gandhi, Bogdan Vlahov, Jason Gibson, Grady Williams, Evangelos A. Theodorou Abstract: …we propose a novel decision making architecture for Robust Model Predictive Path Integral control (RMPPI) and investigate its performance guarantees and applicability to off-road navigation. Key building blocks of the proposed architecture are an augmented state space representation of the system consisting of nominal and actual dynamics, a placeholder for d… ▽ More Submitted 17 February, 2021; originally announced February 2021. Comments: To be published in Robotics and Automation Letters

arXiv:2102.07306 [pdf] cs.CY cs.LG Vehicle to Vehicle (V2V) Communication Protocol: Components, Benefits, Challenges, Safety and Machine Learning Applications Authors: Ramya Daddanala, Vekata Mannava, Lo'ai Tawlbeh, Mohammad Al-Ramahi Abstract: Vehicle to vehicle communication is a new technology that enables vehicles on roads to communicate with each other to reduce traffic, accidents and ensure the… ▽ More Submitted 14 February, 2021; originally announced February 2021.

arXiv:2102.07023 [pdf, other] cs.NI Performance Analysis and Improvement on DSRC Application for V2V Communication Authors: Liu Cao, Hao Yin, Jie Hu, Lyutianyang Zhang Abstract: …increases more than 10% compared with IEEE 802.11p in heavy vehicle load scenarios. Meanwhile, the mean reception delay decreases more than 50%, which provides more reliable road safety. ▽ More Submitted 13 February, 2021; originally announced February 2021.

arXiv:2102.03327 [pdf, other] eess.SY Symbolic Models for Infinite Networks of Control Systems: A Compositional Approach Authors: Siyuan Liu, Navid Noroozi, Majid Zamani Abstract: …us a guideline for constructing an overall symbolic model with any desired approximation accuracy. A compositional controller synthesis scheme is also provided to enforce safety properties on the infinite network in a decentralized fashion. The effectiveness of our result is illustrated through a… ▽ More Submitted 5 February, 2021; originally announced February 2021.

arXiv:2102.02783 [pdf, other] cs.HC cs.AI cs.GR Comparing State-of-the-Art and Emerging Augmented Reality Interfaces for Autonomous Vehicle-to-Pedestrian Communication Authors: F. Gabriele Pratticò, Fabrizio Lamberti, Alberto Cannavò, Lia Morra, Paolo Montuschi Abstract: Providing pedestrians and other vulnerable road users with a clear indication about a fully autonomous vehicle status and intentions is crucial to make them coexist. In the last few years, a variety of external interfaces have been proposed, leveraging different paradigms and technologies including vehicle-mounted devices (like LED panels), short-range on-… ▽ More Submitted 4 February, 2021; originally announced February 2021. Comments: Accepted for publication in IEEE Transactions on Vehicular Technology

arXiv:2102.01749 [pdf] cs.CV cs.LG Vehicle trajectory prediction in top-view image sequences based on deep learning method Authors: Zahra Salahshoori Nejad, Hamed Heravi, Ali Rahimpour Jounghani, Abdollah Shahrezaie, Afshin Ebrahimi Abstract: …systems) can play a crucial role in reducing this number. Estimating and predicting surrounding vehicles' movement is essential for an automated vehicle and advanced safety systems. Moreover, predicting the trajectory is influenced by numerous factors, such as drivers' behavior during accidents, history of the vehicle's movement and the surroundi… ▽ More Submitted 16 May, 2021; v1 submitted 2 February, 2021; originally announced February 2021.

arXiv:2102.01590 [pdf, other] eess.SY cs.NI cs.RO Development and Simulation-based Testing of a 5G-Connected Intersection AEB System Authors: Michael Khayyat, Stefano Arrigoni, Federico Cheli Abstract: In Europe, 20% of road crashes occur at intersections. In recent years, evolving communication technologies are making V2V and V2I faster and more reliable; with such advancements, these crashes, as well as their economic cost, can be partially reduced. In this work, we concentrate on straight path intersection collisions. Connectivity-based algorithms relyi… ▽ More Submitted 2 February, 2021; originally announced February 2021.

arXiv:2102.00839 [pdf, other] cs.NI doi 10.1109/GLOBECOM42002.2020.9322131 F-RouND: Fog-based Rogue Nodes Detection in Vehicular Ad hoc Networks Authors: Anirudh Paranjothi, Mohammed Atiquzzaman, Mohammad S. Khan Abstract: Vehicular ad hoc networks (VANETs) facilitate vehicles to broadcast beacon messages to ensure road safety. The rogue nodes in VANETs broadcast malicious information leading to potential hazards, including the collision of vehicles. Previous researchers used either cryptography, trust values, or past vehicle data to det… ▽ More Submitted 1 February, 2021; originally announced February 2021.

arXiv:2102.00565 [pdf] cs.CV cs.AI CyclingNet: Detecting cycling near misses from video streams in complex urban scenes with deep learning Authors: Mohamed R. Ibrahim, James Haworth, Nicola Christie, Tao Cheng Abstract: …that can draw significant conclusions regarding cycling behaviour in cities and elsewhere, which could help planners and policy-makers to better understand the requirement of safety measures when designing infrastructure or drawing policies. As for future work, the model can be pipelined with other state-of-the-art classifiers and object detectors simultaneo… ▽ More Submitted 31 January, 2021; originally announced February 2021. Comments: 13 Pages, 5 figures

arXiv:2101.12616 [pdf, other] cs.CV cs.LG cs.RO Polynomial Trajectory Predictions for Improved Learning Performance Authors: Ido Freeman, Kun Zhao, Anton Kummert Abstract: The rising demand for Active Safety systems in automotive applications stresses the need for a reliable short to mid-term trajectory prediction. Anticipating the unfolding path of road users, one can act to increase the overall safety. In this work, we propose to train artificial… ▽ More Submitted 16 June, 2021; v1 submitted 29 January, 2021; originally announced January 2021. Comments: To appear in IEEE ICIP 2021

arXiv:2101.11267 [pdf] eess.SY ViaPPS: A Mobile Pavement Profiling System Authors: H. Giudici, B. Mocialov, A. Myklatun Abstract: Ensuring safety levels on… ▽ More Submitted 28 January, 2021; v1 submitted 27 January, 2021; originally announced January 2021. Comments: 12 pages, 8 figures

arXiv:2101.09539 [pdf, other] cs.SI A Social IoT-driven Pedestrian Routing Approach during Epidemic Time Authors: Abdullah Khanfor, Hamdi Friji, Hakim Ghazzai, Yehia Massoud Abstract: …are clustered into communities according to two SIoT relations that consider the devices' locations and the friendship levels among their owners. Accordingly, the city map roads are assigned weights representing their safety levels. Afterward, a navigation algorithm, namely the Dijkstra algorithm, is applied to rec… ▽ More Submitted 23 January, 2021; originally announced January 2021. Comments: 7 pages, 5 figures, conference

arXiv:2101.06974 [pdf, other] cs.AI cs.GT On the Generalizability of Motion Models for Road Users in Heterogeneous Shared Traffic Spaces Authors: Fatema T. Johora, Dongfang Yang, Jörg P. Müller, Ümit Özgüner Abstract: Modeling mixed-traffic motion and interactions is crucial to assess safety, efficiency, and feasibility of future urban areas. The lack of traffic regulations, diverse transport modes, and the dynamic nature of mixed-traffic zones like shared spaces make realistic modeling of such environments challenging. This paper focuses on the generalizability of the mo… ▽ More Submitted 18 January, 2021; originally announced January 2021.

arXiv:2101.06159 [pdf, other] cs.CV cs.AI cs.RO doi 10.1049/itr2.12079 Vision-based Vehicle Speed Estimation: A Survey Authors: David Fernández Llorca, Antonio Hernández Martínez, Iván García Daza Abstract: The need to accurately estimate the speed of road vehicles is becoming increasingly important for at least two main reasons. First, the number of speed cameras installed worldwide has been growing in recent years, as the introduction and enforcement of appropriate speed limits is considered one of the most effective means to increase the… ▽ More Submitted 26 May, 2021; v1 submitted 15 January, 2021; originally announced January 2021. Comments: Manuscript published in the IET Intelligent Transport Systems journal Journal ref: IET Intelligent Transport Systems 2021

arXiv:2101.06106 [pdf] cs.CY
doi 10.13140/RG.2.2.22542.18246 Big Data Generated by Connected and Automated Vehicles for Safety Monitoring, Assessment and Improvement, Final Report (Year 3) Authors: Asad J. Khattak, Iman Mahdinia, Sevin Mohammadi, Amin Mohammadnazar, Behram Wali Abstract: This report focuses on safety aspects of connected and automated vehicles (CAVs). The fundamental question to be answered is how can CAVs improve… ▽ More Submitted 9 January, 2021; originally announced January 2021. Comments: 47 pages, 21 figures, http://ctr.utk.edu/STC-wordpress-docs/MRI-finals/Khattak-MRI4-Year-3-Final.pdf Report number: STC-2019-M4.UTK

arXiv:2101.06096 [pdf] cs.CY
doi 10.38124/ijisrt20jun314 Motorcycle System for Optimum Road Safety with Anti-theft Capability Authors: Carlo H Godoy Jr Abstract: Due to road traffic accidents, 6941 Filipinos died in 2010, and thousands more were wounded or disabled. Head and neck injuries are the main cause of death, severe injury, and motorcycle users disabilities. Motorcycle users make up a large proportion of those on the… ▽ More Submitted 13 January, 2021; originally announced January 2021. Comments: 10 pages. International Journal of Innovative Science and Research Technology 2020 MSC Class: 94A04 ACM Class: B.1

arXiv:2101.06092 [pdf, other] cs.CV cs.AI Black-box Adversarial Attacks in Autonomous Vehicle Technology Authors: K Naveen Kumar, C Vishnu, Reshmi Mitra, C Krishna Mohan Abstract: …of adversarial attacks. This is mostly undetectable to human vision. The impact of such attacks has become extremely detrimental in autonomous vehicles with real-time "safety" concerns. The black-box adversarial attacks cause drastic misclassification in critical scene elements such as road signs and traffic li… ▽ More Submitted 15 January, 2021; originally announced January 2021. Comments: 7 pages, 10 figures, published in 49th Annual IEEE AIPR 2020: Trusted Computing, Privacy, and Securing Multimedia Washington, D.C. October 13-15, 2020

arXiv:2101.04539 [pdf] cs.NI Vehicular Ad-hoc Networks: Architecture, Applications and Challenges Authors: Taoufik Yeferny, Sofian Hamad Abstract: …sensing devices into modern vehicles, Intelligent Transport System (ITS) becomes a reality and an indispensable component of smart cities. The purpose of ITS is to improve road… ▽ More Submitted 12 January, 2021; originally announced January 2021. Journal ref: IJCSNS International Journal of Computer Science and Network Security, VOL.20 No.2, February 2020

arXiv:2101.01373 [pdf] cs.CV cs.CY An Automatic System to Monitor the Physical Distance and Face Mask Wearing of Construction Workers in COVID-19 Pandemic Authors: Moein Razavi, Hamed Alikhani, Vahid Janfaza, Benyamin Sadeghi, Ehsan Alikhani Abstract: …This paper developed a computer vision system to automatically detect the violation of face mask wearing and physical distancing among construction workers to assure their safety on infrastructure projects during the pandemic. For the face mask detection, the paper collected and annotated 1,000 images, including different types of face mask wearing, and add… ▽ More Submitted 29 January, 2021; v1 submitted 5 January, 2021; originally announced January 2021. Comments: 7 pages, 5 figures, 1 table

arXiv:2101.00191 [pdf, other] cs.NI cs.LG Dynamic Federated Learning-Based Economic Framework for Internet-of-Vehicles Authors: Yuris Mulya Saputra, Dinh Thai Hoang, Diep N. Nguyen, Le-Nam Tran, Shimin Gong, Eryk Dutkiewicz Abstract: …data exchanges and privacy disclosure. The collected data and learned knowledge can help the vehicular service provider (VSP) improve the global model accuracy, e.g., for road… ▽ More Submitted 11 March, 2021; v1 submitted 1 January, 2021; originally announced January 2021. Comments: 18 pages, 12 figures, submitted to an IEEE journal

arXiv:2101.00165 [pdf] eess.SP cs.LG cs.NE ECG-Based Driver Stress Levels Detection System Using Hyperparameter Optimization Authors: Mohammad Naim Rastgoo, Bahareh Nakisa, Andry Rakotonirainy, Frederic Maire, Vinod Chandran Abstract: Stress and driving are a dangerous combination which can lead to crashes, as evidenced by the large number of road traffic crashes that involve stress. Motivated by the need to address the significant costs of driver stress, it is essential to build a practical system that can classify driver stress level with high accuracy. However, the performance of an ac… ▽ More Submitted 1 January, 2021; originally announced January 2021. Comments: 17 pages

arXiv:2012.13817 [pdf, other] cs.AI eess.SP Deep Learning Based Intelligent Inter-Vehicle Distance Control for 6G Enabled Cooperative Autonomous Driving Authors: Xiaosha Chen, Supeng Leng, Jianhua He, Longyu Zhou Abstract: …huge momentum to achieve ubiquitous wireless connectivity. Connected autonomous driving (CAV) is a critical vertical envisioned for 6G, holding great potentials of improving road… ▽ More Submitted 26 December, 2020; originally announced December 2020.

arXiv:2012.13681 [pdf, other] cs.RO cs.CV cs.LG Improving the Generalization of End-to-End Driving through Procedural Generation Authors: Quanyi Li, Zhenghao Peng, Qihang Zhang, Chunxiao Liu, Bolei Zhou Abstract: Over the past few years there is a growing interest in the learning-based self driving system. To ensure safety, such systems are first developed and validated in simulators before being deployed in the real world. However, most of the existing driving simulators only contain a fixed set of scenes and a limited number of configurable settings. That might eas… ▽ More Submitted 12 March, 2021; v1 submitted 26 December, 2020; originally announced December 2020. Comments: Website: https://decisionforce.github.io/pgdrive

arXiv:2012.13586 [pdf, other] cs.RO eess.SY doi 10.1109/TIV.2020.3047858 Real-Time Adaptive Velocity Optimization for Autonomous Electric Cars at the Limits of Handling Authors: Thomas Herrmann, Alexander Wischnewski, Leonhard Hermansdorfer, Johannes Betz, Markus Lienkamp Abstract: …in these competitions hope to subsequently transfer their developed functionality to passenger vehicles, in order to improve self-driving technology for reasons of safety, and due to environmental and social benefits. The race track has the advantage of being a safe environment where challenging situations for the algorithms are permanently created. To achie… ▽ More Submitted 25 December, 2020; originally announced December 2020.

arXiv:2012.10802 [pdf, other] cs.CV cs.RO Rethinking Road Surface 3D Reconstruction and Pothole Detection: From Perspective Transformation to Disparity Map Segmentation Authors: Rui Fan, Umar Ozgunalp, Yuan Wang, Ming Liu, Ioannis Pitas Abstract: Potholes are one of the most common forms of road damage, which can severely affect driving comfort,… ▽ More Submitted 30 December, 2020; v1 submitted 19 December, 2020; originally announced December 2020.

arXiv:2012.10252 [pdf, other] cs.NI cs.AI eess.SY LiveMap: Real-Time Dynamic Map in Automotive Edge Computing Authors: Qiang Liu, Tao Han, Jiang, Xie, BaekGyu Kim Abstract: …line-of-sight sensors to perceive surroundings that could be impaired under diverse environment uncertainties such as visual occlusion and extreme weather. To improve driving safety, we explore to wirelessly share perception information among connected vehicles within automotive edge computing networks. Sharing massive perception data in real time, however,… ▽ More Submitted 16 December, 2020; originally announced December 2020. Comments: This paper is accepted by INFOCOM 2021

arXiv:2012.08031 [pdf] eess.SY Preventive and Active Safety Applications Authors: Levent Guvenc Abstract: Road vehicle… ▽ More Submitted 14 December, 2020; originally announced December 2020. Comments: 12 pages, 7 figures

arXiv:2012.07753 [pdf, other] cs.IT cs.NI 6G for Vehicle-to-Everything (V2X) Communications: Enabling Technologies, Challenges, and Opportunities Authors: Md. Noor-A-Rahim, Zilong Liu, Haeyoung Lee, M. Omar Khyam, Jianhua He, Dirk Pesch, Klaus Moessner, Walid Saad, H. Vincent Poor Abstract: We are on the cusp of a new era of connected autonomous vehicles with unprecedented user experiences, tremendously improved road safety and air quality, highly diverse transportation environments and use cases, as well as a plethora of advanced applications. Realizing this grand vision requires a significantly enhanced… ▽ More Submitted 14 December, 2020; originally announced December 2020.

arXiv:2012.06822 [pdf, other] cs.SE cs.AI Digital Twins Are Not Monozygotic -- Cross-Replicating ADAS Testing in Two Industry-Grade Automotive Simulators Authors: Markus Borg, Raja Ben Abdessalem, Shiva Nejati, Francois-Xavier Jegeden, Donghwan Shin Abstract: …call for an evolution of automotive software testing. As a recommended practice of the Verification and Validation (V&V) process of ISO/PAS 21448, a candidate standard for safety of the intended functionality for… ▽ More Submitted 28 January, 2021; v1 submitted 12 December, 2020; originally announced December 2020. Comments: To appear in the Proc. of the IEEE International Conference on Software Testing, Verification and Validation (ICST) 2021

arXiv:2012.06666 [pdf, other] cs.CR
doi 10.1109/JIOT.2020.3043640 Cooperative Location Privacy in Vehicular Networks: Why Simple Mix-zones are not Enough Authors: Mohammad Khodaei, Panos Papadimitratos Abstract: …before and after a cryptographically protected mix-zone. Our experimental results show that an eavesdropper, leveraging standardized vehicular communication messages and road layout, could successfully link 73% of pseudonyms during non-rush hours and 62% of pseudonyms during rush hours after vehicles change their pseudonyms in a mix-zone. To mitigate such in… ▽ More Submitted 11 December, 2020; originally announced December 2020. Comments: 19 pages, 15 Figures, IEEE Internet of Things Journal Journal ref: IEEE Internet of Things Journal, 2021

arXiv:2012.06319 [pdf, other] cs.OH cs.AI cs.SE 6-Layer Model for a Structured Description and Categorization of Urban Traffic and Environment Authors: Maike Scholtes, Lukas Westhofen, Lara Ruth Turner, Katrin Lotto, Michael Schuldes, Hendrik Weber, Nicolas Wagener, Christian Neurohr, Martin Bollmann, Franziska Körtke, Johannes Hiller, Michael Hoss, Julian Bock, Lutz Eckstein Abstract: …functions impose large challenges. Currently, scenario-based approaches are investigated in research and industry, aiming at a reduction of testing efforts by specifying safety relevant scenarios. To define those scenarios and operate in a complex real-world design domain, a structured description of the environment is needed. Within the PEGASUS research pro… ▽ More Submitted 2 February, 2021; v1 submitted 9 December, 2020; originally announced December 2020. Comments: 16 pages, 7 figures, submitted to IEEE Access

arXiv:2012.04774 [pdf, other] cs.NI Joint Age of Information and Self Risk Assessment for Safer 802.11p based V2V Networks Authors: Biplav Choudhury, Vijay K. Shah, Avik Dayal, Jeffrey H. Reed Abstract: Emerging 802.11p vehicle-to-vehicle (V2V) networks rely on periodic Basic Safety Messages (BSMs) to disseminate time-sensitive… ▽ More Submitted 10 December, 2020; v1 submitted 8 December, 2020; originally announced December 2020.

arXiv:2012.04028 [pdf, other] cs.RO On-Road Motion Planning for Automated Vehicles at Ulm University Authors: Maximilian Graf, Oliver Speidel, Jona Ruof, Klaus Dietmayer Abstract: …in large parts on autonomous driving. It is well known that motion planning is a key technology for autonomous driving. It is first and foremost responsible for the safety of the vehicle passengers as well as of all surrounding traffic participants. However, a further task consists in providing a smooth and comfortable driving behavior. In Ulm, we have the g… ▽ More Submitted 2 June, 2021; v1 submitted 7 December, 2020; originally announced December 2020. Comments: Maximilian Graf and Oliver Speidel contributed equally

arXiv:2012.03390 [pdf, other] cs.RO eess.SY On Infusing Reachability-Based Safety Assurance within Planning Frameworks for Human-Robot Vehicle Interactions Authors: Karen Leung, Edward Schmerling, Mengxuan Zhang, Mo Chen, John Talbot, J. Christian Gerdes, Marco Pavone Abstract: …intent prediction, and proactive behavior are all desirable characteristics for autonomous driving policies in interactive scenarios. Paramount, however, is ensuring safety on the… ▽ More Submitted 6 December, 2020; originally announced December 2020. Comments: arXiv admin note: text overlap with arXiv:1812.11315 Journal ref: International Journal of Robotics Research, vol. 39, no. 10-11, pp. 1326--1345, 2020

arXiv:2012.02675 [pdf, other] cs.CR A Minimax Game for Resilient-by-design Adaptive Traffic Control Systems Authors: Ranwa Al Mallah, Talal Halabi, Bilal Farooq Abstract: Connected and Autonomous Vehicles (CAVs) with their evolving data gathering capabilities will play a significant role in road safety and efficiency applications supported by Intelligent Transport Systems (ITS), such as Adaptive Traffic Signal Control (ATSC) for urban traffic congestion management. However, their involv… ▽ More Submitted 26 December, 2020; v1 submitted 4 December, 2020; originally announced December 2020.

arXiv:2012.02647 [pdf, other] cs.CV cs.LG eess.IV Detecting 32 Pedestrian Attributes for Autonomous Vehicles Authors: Taylor Mordan, Matthieu Cord, Patrick Pérez, Alexandre Alahi Abstract: Pedestrians are arguably one of the most safety-critical… ▽ More Submitted 4 December, 2020; originally announced December 2020. Comments: Submission to IEEE Transactions on Intelligent Transportation Systems (T-ITS)

arXiv:2012.01081 [pdf, other] cs.RO Tagging Real-World Scenarios for the Assessment of Autonomous Vehicles Authors: Erwin de Gelder, Olaf Op den Camp Abstract: …(AVs) has made significant progress in the last years. An essential aspect in the development of AVs is the assessment of quality and performance aspects of the AVs, such as safety, comfort, and efficiency. Among other methods, a scenario-based approach has been proposed. With scenario-based testing, the AV is subjected to a collection of scenarios that repr… ▽ More Submitted 2 December, 2020; originally announced December 2020. Comments: Accepted for publication in the proceedings of the FISITA 2020 conference Report number: F2020-PIF-048

arXiv:2012.00643 [pdf, other] cs.RO Procedure for the Safety Assessment of an Autonomous Vehicle Using Real-World Scenarios Authors: Erwin de Gelder, Olaf Op den Camp Abstract: The development of Autonomous Vehicles (AVs) has made significant progress in the last years. An important aspect in the development of AVs is the assessment of their safety. New approaches need to be worked out. Among these, real-world scenario-based assessment is widely supported by many players in the automotive field. Scenario-based assessment allows for… ▽ More Submitted 2 December, 2020; v1 submitted 1 December, 2020; originally announced December 2020. Comments: Accepted for publication in the proceedings of the FISITA 2020 conference Report number: F2020-VES-014

arXiv:2012.00500 [pdf, other] cs.AI eess.SY A Multi-intersection Vehicular Cooperative Control based on End-Edge-Cloud Computing Authors: Mingzhi Jiang, Tianhao Wu, Zhe Wang, Yi Gong, Lin Zhang, Ren Ping Liu Abstract: Cooperative Intelligent Transportation Systems (C-ITS) will change the modes of road safety and traffic management, especially at intersections without traffic lights, namely unsignalized intersections. Existing researches focus on vehicle control within a small area around an unsignalized intersection. In this paper,… ▽ More Submitted 1 December, 2020; originally announced December 2020.

arXiv:2011.14399 [pdf, other] eess.SY cs.GT A Socially-Efficient Emerging Mobility Market Authors: Ioannis Vasileios Chremos, Andreas A. Malikopoulos Abstract: Connected and automated vehicles (CAVs) provide the most intriguing opportunity for enabling users to significantly improve safety and transportation efficiency by monitoring transportation network conditions and making better operating decisions. CAVs, however, could alter tendency-to-travel, which would eventually lead to a high traffic demand causing rebo… ▽ More Submitted 29 November, 2020; originally announced November 2020.

arXiv:2011.14148 [pdf, other] cs.MA Rules of the Road: Safety and Liveness Guarantees for Autonomous Vehicles Authors: Karena X. Cai, Tung Phan-Minh, Soon-Jo Chung, Richard M. Murray Abstract: The ability to guarantee safety and progress for all vehicles is vital to the success of the autonomous vehicle industry. We present a framework for designing autonomous vehicle behavior in a way that is safe and guarantees progress for all agents. In this paper, we first introduce a new game paradigm which we term the quasi-simultaneous game. We then define… ▽ More Submitted 23 March, 2021; v1 submitted 28 November, 2020; originally announced November 2020. Comments: 20 pages, 10 figures

arXiv:2011.12595 [pdf, ps, other] stat.AP Multivariate hierarchical analysis of car crashes data considering a spatial network lattice Authors: Andrea Gilardi, Jorge Mateu, Riccardo Borgoni, Robin Lovelace Abstract: Road traffic casualties represent a hidden global epidemic, demanding evidence-based interventions. This paper demonstrates a network lattice approach for identifying… ▽ More Submitted 25 November, 2020; originally announced November 2020. Comments: 26 pages, 7 tables, 8 figures

arXiv:2011.11995 [pdf, other] cs.NI InTAS -- The Ingolstadt Traffic Scenario for SUMO Authors: Silas C. Lobo, Stefan Neumeier, Evelio M. G. Fernandez, Christian Facchi Abstract: Vehicular Ad Hoc Networks (VANETs) are expected to be the next big step towards safer road transport, supporting applications to exchange information between vehicles. To develop novel applications for this area a high number of tests, considering all traffic situations, are demanded. However, it is unfeasible to reproduce these tests in real life, by the fa… ▽ More Submitted 24 November, 2020; originally announced November 2020. Comments: Paper presented on SUMO User Conference 2020 The scenario is freely available at https://github.com/silaslobo/InTAS

arXiv:2011.11991 [pdf, ps, other] cs.LG cs.RO Discovering Avoidable Planner Failures of Autonomous Vehicles using Counterfactual Analysis in Behaviorally Diverse Simulation Authors: Daisuke Nishiyama, Mario Ynocente Castro, Shirou Maruyama, Shinya Shiroshita, Karim Hamzaoui, Yi Ouyang, Guy Rosman, Jonathan DeCastro, Kuan-Hui Lee, Adrien Gaidon Abstract: Automated Vehicles require exhaustive testing in simulation to detect as many safety-critical failures as possible before deployment on public roads. In this work, we focus on the core decision-making component of autonomous robots: their planning algorithm. We introduce a planner testing framework that leverages recen… ▽ More Submitted 24 November, 2020; originally announced November 2020. Comments: 8 pages, 8 figures Journal ref: The 23rd IEEE International Conference on Intelligent Transportation Systems (ITSC2020)

arXiv:2011.08581 [pdf, other] cs.RO Demonstrations of Cooperative Perception: Safety and Robustness in Connected and Automated Vehicle Operations Authors: Mao Shan, Karan Narula, Yung Fei Wong, Stewart Worrall, Malik Khan, Paul Alexander, Eduardo Nebot Abstract: …It enables an ITS station (ITS-S) to share its local perception information with others by means of vehicle-to-X (V2X) communication, thereby achieving improved efficiency and safety in… ▽ More Submitted 13 January, 2021; v1 submitted 17 November, 2020; originally announced November 2020.

arXiv:2011.05798 cs.SE Software Framework for Testing of Automated Driving Systems in a Dynamic Traffic Environment Authors: Demin Nalic, Aleksa Pandurevic, Arno Eichberger, Branko Rogic Abstract: …virtual testing for such systems is inevitable. The complexity of these levels lies in the modelling and calculation demand for the virtual environment which consists of roads, traffic, static and dynamic objects as well as the modelling of the car itself. For… ▽ More Submitted 24 March, 2021; v1 submitted 9 November, 2020; originally announced November 2020. Comments: The paper was rejected

arXiv:2011.03703 [pdf, other] cs.CV TB-Net: A Three-Stream Boundary-Aware Network for Fine-Grained Pavement Disease Segmentation Authors: Yujia Zhang, Qianzhong Li, Xiaoguang Zhao, Min Tan Abstract: Regular pavement inspection plays a significant role in road maintenance for safety assurance. Existing methods mainly address the tasks of crack detection and segmentation that are only tailored for long-thin crack disease. However, there are many other types of diseases with a wider variety of sizes and patterns that… ▽ More Submitted 7 November, 2020; originally announced November 2020. Comments: WACV 2021

arXiv:2011.02309 [pdf, other] cs.CR doi 10.1109/ICCVE45908.2019.8965198 Towards Privacy in Geographic Message Dissemination for Connected Vehicles Authors: Stefan Ruehrup, Stephan Krenn Abstract: With geographic message dissemination, connected vehicles can be served with traffic information in their proximity, thereby positively impacting road safety, traffic management, or routing. Since such messages are typically relevant in a small geographic area, servers only distribute messages to affected vehicles for… ▽ More Submitted 4 November, 2020; originally announced November 2020. Journal ref: 2019 IEEE International Conference on Connected Vehicles and Expo, ICCVE 2019

arXiv:2011.02289 [pdf, other] physics.soc-ph cs.SI Assessing Road Traffic Safety During COVID-19: Inequality, Irregularity, and Severity Authors: Lei Lin, Feng Shi, Weizi Li Abstract: COVID-19 is affecting every social sector significantly, including human mobility and subsequently road traffic safety. In this study, we analyze the impact of the pandemic on traffic accidents using two cities, namely Los Angeles and New York City in the U.S., as examples. Specifically, we have analyzed traffic accide… ▽ More Submitted 7 November, 2020; v1 submitted 21 October, 2020; originally announced November 2020.

arXiv:2011.01918 [pdf, other] eess.SY Fisher Identifiability Analysis of Longitudinal Vehicle Dynamics Authors: Aaron Kandel, Mohamed Wahba, Hosam K. Fathy Abstract: …longitudinal vehicle dynamics parameters. This analysis is motivated by the value of parameter estimation in various applications, including chassis model validation and active safety. Relevant literature addresses this demand through algorithms capable of estimating chassis parameters for diverse conditions. While the implementation of such algorithms has b… ▽ More Submitted 7 April, 2021; v1 submitted 3 November, 2020; originally announced November 2020. Comments: 8 pages

arXiv:2011.01771 [pdf, ps, other] cs.LG cs.AI eess.SY Deep Reinforcement Learning Based Dynamic Route Planning for Minimizing Travel Time Authors: Yuanzhe Geng, Erwu Liu, Rui Wang, Yiming Liu Abstract: Route planning is important in transportation. Existing works focus on finding the shortest path solution or using metrics such as safety and energy consumption to determine the planning. It is noted that most of these studies rely on prior knowledge of… ▽ More Submitted 3 November, 2020; originally announced November 2020.

arXiv:2011.00892 [pdf] cs.RO cs.DC cs.FL eess.SY A Formally Verified Fail-Operational Safety Concept for Automated Driving Authors: Yuting Fu, Andrei Terechko, Jan Friso Groote, Arash Khabbaz Saberi Abstract: Modern Automated Driving (AD) systems rely on safety measures to handle faults and to bring vehicle to a safe state. To eradicate lethal… ▽ More Submitted 11 November, 2020; v1 submitted 2 November, 2020; originally announced November 2020. Comments: 11 pages, 5 figures, 3 tables ACM Class: B.8.1; C.3; J.7; C.0

arXiv:2011.00462 [pdf, other] cs.RO cs.MA math.OC Alternating Direction Method of Multipliers for Constrained Iterative LQR in Autonomous Driving Authors: Jun Ma, Zilong Cheng, Xiaoxue Zhang, Masayoshi Tomizuka, Tong Heng Lee Abstract: …of high computation efficiency is attained; and as a result, real-time computation and implementation can be realized through this framework, and thus it provides additional safety to the on-road driving tasks. ▽ More Submitted 1 November, 2020; originally announced November 2020. Comments: 9 pages, 8 figures

arXiv:2011.00038 [pdf] cs.RO Waymo Public Road Safety Performance Data Authors: Matthew Schwall, Tom Daniel, Trent Victor, Francesca Favaro, Henning Hohnhold Abstract: Waymo's mission to reduce traffic injuries and fatalities and improve mobility for all has led us to expand deployment of automated vehicles on public roads without a human driver behind the wheel. As part of this process, Waymo is committed to providing the public with informative and relevant data regarding the demonstrated… ▽ More Submitted 30 October, 2020; originally announced November 2020. Comments: 15 pages, 9 figures, 1 table ACM Class: I.2.9

arXiv:2010.15502 [pdf, other] cs.NI Enhancing Vulnerable Road User Safety: A Survey of Existing Practices and Consideration for Using Mobile Devices for V2X Connections Authors: Nishanthi Dasanayaka, Khondokar Fida Hasan, Charles Wang, Yanming Feng Abstract: Vulnerable road users (VRUs) such as pedestrians, cyclists and motorcyclists are at the highest risk in the… ▽ More Submitted 29 October, 2020; originally announced October 2020. Comments: 16 pages, 5 Figures

arXiv:2010.15021 [pdf, other] cs.CV Road Damage Detection and Classification with Detectron2 and Faster R-CNN Authors: Vung Pham, Chau Pham, Tommy Dang Abstract: The road is vital for many aspects of life, and… ▽ More Submitted 28 October, 2020; originally announced October 2020. Comments: Under review for Global Road Damage Detection Challenge 2020, A Track in the IEEE Big Data 2020 Big Data Cup Challenge

arXiv:2010.14921 [pdf] cs.OH cs.LG Comparison Analysis of Tree Based and Ensembled Regression Algorithms for Traffic Accident Severity Prediction Authors: Muhammad Umer, Saima Sadiq, Abid Ishaq, Saleem Ullah, Najia Saher, Hamza Ahmad Madni Abstract: Rapid increase of traffic volume on urban roads over time has changed the traffic scenario globally. It has also increased the ratio of… ▽ More Submitted 27 October, 2020; originally announced October 2020.

arXiv:2010.13986 [pdf, other] cs.NI
doi 10.1145/3446382.3448650 REITS: Reflective Surface for Intelligent Transportation Systems Authors: Zhuqi Li, Can Wu, Sigurd Wagner, James C. Sturm, Naveen Verma, Kyle Jamieson Abstract: Autonomous vehicles are predicted to dominate the transportation industry in the foreseeable future. Safety is one of the major challenges to the early deployment of self-driving systems. To ensure… ▽ More Submitted 2 February, 2021; v1 submitted 26 October, 2020; originally announced October 2020.

arXiv:2010.12983 [pdf] eess.SY Sensor-Based Spreader Automation for Reducing Salt Use and Improving Safety Authors: Ayushmaan Aggarwal, Niharika Bhattacharjee, Aadi Bhattacharya, Raka Bose, Anshul Gupta, Deepta Gupta, Anuj Kapoor, Elina Rani Abstract: Over 30 million tons of deicing salt is applied on U.S. roads annually at a cost of roughly $1.2 billion and with significant negative environmental impact. Therefore, it is desirable to reduce salt use while maintaining winter… ▽ More Submitted 24 October, 2020; originally announced October 2020. Comments: 18 pages, 6 figures. Presented at 2019 Transportation Research Board Annual Meeting

arXiv:2010.12953 [pdf, other] cs.LG Road Accident Proneness Indicator Based On Time, Weather And Location Specificity Using Graph Neural Networks Authors: Srikanth Chandar, Anish Reddy, Muvazima Mansoor, Suresh Jamadagni Abstract: In this paper, we present a novel approach to identify the Spatio-temporal and environmental features that influence the safety of a… ▽ More Submitted 24 October, 2020; originally announced October 2020. Comments: 7 pages, 10 figures, Submitted to and accepted for presentation in the 19TH IEEE INTERNATIONAL CONFERENCE ON MACHINE LEARNING AND APPLICATIONS, Miami, Florida

arXiv:2010.11780 [pdf, other] cs.CV FasterRCNN Monitoring of Road Damages: Competition and Deployment Authors: Hascoet Tristan, Yihao Zhang, Persch Andreas, Ryoichi Takashima, Tetsuya Takiguchi, Yasuo Ariki Abstract: …and national administrators all around the world. An important prerequisite for efficient infrastructure maintenance is to continuously monitor (i.e., quantify the level of safety and reliability) the state of very large structures. Meanwhile, computer vision has made impressive strides in recent years, mainly due to successful applications of deep learning… ▽ More Submitted 22 October, 2020; originally announced October 2020.

arXiv:2010.10262 [pdf] cs.OH A microsimulation approach for the impact assessment of a Vehicle-to-Infrastructure based Road Hazard Warning system Authors: Kallirroi N. Porfyri, Areti Kotsi, Evangelos Mitsakis Abstract: Cooperative Intelligent Transportation Systems (C-ITS) constitute technologies which enable vehicles to communicate with each other and with road infrastructure. Verification or testing is required for C-ITS applications, in order to assess their impact on traffic operation. In this work, a microscopic traffic simulation approach is used, to evaluate the imp… ▽ More Submitted 14 October, 2020; originally announced October 2020.

arXiv:2010.09421 [pdf, other] cs.DC
doi 10.1109/CAMAD.2019.8858432 On the design of a Fog computing-based, driving behaviour monitoring framework Authors: Dimitrios Amaxilatis, Christos Tselios, Orestis Akrivopoulos, Ioannis Chatzigiannakis Abstract: Recent technological improvements in vehicle manufacturing may greatly improve safety however, the individuals' driving behaviour still remains a factor of paramount importance with aggressiveness, lack of focus and carelessness being the main cause of the majority of traffic incidents. The imminent deployment of 5G networking infrastructure, paired with… ▽ More Submitted 19 October, 2020; originally announced October 2020. Journal ref: CAMAD 2019

arXiv:2010.09159 [pdf, ps, other] cs.RO Sky Highway Design for Dense Traffic Authors: Quan Quan, Mengxin Li Abstract: …Urban Air Mobility (UAM) is also on the way. Dense air traffic is getting ever closer to us. Current research either focuses on traffic network design and route design for safety purpose or swarm control in open airspace to contain large volume of UAVs. In order to achieve a tradeoff between… ▽ More Submitted 18 October, 2020; originally announced October 2020. Comments: 15 pages, 10 figures

arXiv:2010.06900 [pdf] cs.CV Development of Open Informal Dataset Affecting Autonomous Driving Authors: Yong-Gu Lee, Seong-Jae Lee, Sang-Jin Lee, Tae-Seung Baek, Dong-Whan Lee, Kyeong-Chan Jang, Ho-Jin Sohn, Jin-Soo Kim Abstract: This document is a document that has written procedures and methods for collecting objects and unstructured dynamic data on the road for the development of object recognition technology for self-driving cars, and outlines the methods of collecting data, annotation data, object classifier criteria, and data processing methods. On-… ▽ More Submitted 14 October, 2020; originally announced October 2020. Comments: 26 pages, 16 figures

arXiv:2010.06453 [pdf] cs.CV eess.IV
doi 10.5120/12767-8795 Improving Road Signs Detection performance by Combining the Features of Hough Transform and Texture Authors: Tarik Ayaou, Mourad Boussaid, Karim Afdel, Abdellah Amghar Abstract: With the large uses of the intelligent systems in different domains, and in order to increase the drivers and pedestrians safety, the… ▽ More Submitted 13 October, 2020; originally announced October 2020. Comments: 6 pages

arXiv:2010.05701 [pdf, ps, other] eess.SY Optimal speed profile on a given road for motion sickness reduction Authors: Cesare Certosini, Renzo Capitani, Claudio Annicchiarico Abstract: …issue of MS may be so important that it undermines their benefits in terms of increased productivity; not addressing such issue may limit the users' acceptance reducing the safety and environmental impact of autonomous vehicles. The present study presents a novel approach to combine minimal travel time with minimal Motion Sickness Incidence (MSI) by opti… ▽ More Submitted 12 October, 2020; originally announced October 2020.

arXiv:2010.05439 [pdf] eess.SY A Cooperative Control Framework for CAV Lane Change in a Mixed Traffic Environment Authors: Runjia Du, Sikai Chen, Yujie Li, Jiqian Dong, Paul Young Joun Ha, Samuel Labi Abstract: …transition era which will be characterized by mixed traffic (where CAVs and human-driven vehicles (HDVs) share the roadway). Consistent with expectations that CAVs will improve road… ▽ More Submitted 11 October, 2020; originally announced October 2020. Comments: TRB 2021 Annual Meeting

arXiv:2010.05437 [pdf] cs.AI eess.SY A DRL-based Multiagent Cooperative Control Framework for CAV Networks: a Graphic Convolution Q Network Authors: Jiqian Dong, Sikai Chen, Paul Young Joun Ha, Yujie Li, Samuel Labi Abstract: …the dissemination of operational information as well as control instructions. Cooperation is crucial in CAV operating systems since it can greatly enhance operation in terms of safety and mobility, and high-level cooperation between CAVs can be expected by jointly plan and control within CAV network. However, due to the highly dynamic and combinatory nature… ▽ More Submitted 11 October, 2020; originally announced October 2020. Comments: TRB 2021 Annual Meeting

arXiv:2010.05142 [pdf] cs.LG Mining Truck Platooning Patterns Through Massive Trajectory Data Authors: Xiaolei Ma, Enze Huo, Haiyang Yu, Honghai Li Abstract: …close proximity via communication technologies, and it is considered one of the most implementable systems of connected and automated vehicles, bringing huge energy savings and safety improvements. Properly planning platoons and evaluating the potential of truck platooning are crucial to trucking companies and transportation authorities. This study proposes… ▽ More Submitted 10 October, 2020; originally announced October 2020. Comments: 16 pages

arXiv:2010.04771 [pdf] physics.soc-ph econ.GN stat.AP doi 10.1080/01944363.2020.1819382 Off the Grid... and Back Again? The Recent Evolution of American Street Network Planning and Design Authors: Geoff Boeing Abstract: …orthogonal street grids provided the interconnectivity and density that researchers identify as important factors for reducing vehicular travel and emissions and increasing road safety and physical activity. During the 20th century, griddedness declined in planning practice alongside declines in urban form compactness… ▽ More Submitted 9 October, 2020; originally announced October 2020.

arXiv:2010.03047 [pdf, other] cs.HC Psychophysiological responses to takeover requests in conditionally automated driving Authors: Na Du, X. Jessie Yang, Feng Zhou Abstract: In SAE Level 3 automated driving, taking over control from automation raises significant safety concerns because drivers out of the vehicle control loop have difficulty negotiating takeover transitions. Existing studies on takeover transitions have focused on drivers' behavioral responses to takeover requests (TORs). As a complement, this exploratory stu… ▽ More Submitted 6 October, 2020; originally announced October 2020.

arXiv:2010.02881 [pdf, other] eess.SY math.OC A General Framework for Decentralized Safe Optimal Control of Connected and Automated Vehicles in Multi-Lane Intersections Authors: Huile Xu, Wei Xiao, Christos G. Cassandras, Yi Zhang, Li Li Abstract: We address the problem of optimally controlling Connected and Automated Vehicles (CAVs) arriving from four multi-lane roads at an intersection where they conflict in terms of safely crossing (including turns) with no collision. The objective is to jointly minimize the travel time and energy consumption of each CAV while ensuring… ▽ More Submitted 6 October, 2020; originally announced October 2020.

arXiv:2009.14500 [pdf, ps, other] cs.IT Physical Layer Security Enhancement Using Artificial Noise in Cellular Vehicle-to-Everything (C-V2X) Networks Authors: Chao Wang, Zan Li, Gen Xiang Xia, Jia Shi, Jiangbo Si, Yulong Zou Abstract: The secure transmission of confidential information in cellular vehicle-to-everything (C-V2X) communication networks is vitally important for user's personal safety. However, for C-V2X there have not been much studies on the physical layer security (PLS). Since artificial noise (AN) and secure beamforming are popular PLS techniques for cellular communica… ▽ More Submitted 30 September, 2020; originally announced September 2020.

arXiv:2009.12165 [pdf] eess.SP cs.CY stat.AP Integration of Roadside Camera Images and Weather Data for Monitoring Winter Road Surface Conditions Authors: Juan Carrillo, Mark Crowley Abstract: During the winter season, real-time monitoring of road surface conditions is critical for the… ▽ More Submitted 21 September, 2020; originally announced September 2020. Comments: For associated GitHub repository see https://github.com/jmcarrillog/data-integration-for-road-monitoring Journal ref: 29th CARSP Conference, Calgary, Alberta, May 26-29, 2019

arXiv:2009.10282 [pdf] cs.CV cs.AI eess.IV Design of Efficient Deep Learning models for Determining Road Surface Condition from Roadside Camera Images and Weather Data Authors: Juan Carrillo, Mark Crowley, Guangyuan Pan, Liping Fu Abstract: Road maintenance during the Winter season is a… ▽ More Submitted 21 September, 2020; originally announced September 2020. Comments: Source code for experiments is available at https://github.com/jmcarrillog/deep-learning-for-road-surface-condition Journal ref: Published also in proceedings of the TAC-ITS 2019 Conference

arXiv:2009.06701 [pdf, other] cs.CR cs.CV cs.LG Dirty Road Can Attack: Security of Deep Learning based Automated Lane Centering under Physical-World Attack Authors: Takami Sato, Junjie Shen, Ningfei Wang, Yunhan Jack Jia, Xue Lin, Qi Alfred Chen Abstract: Automated Lane Centering (ALC) systems are convenient and widely deployed today, but also highly security and safety critical. In this work, we are the first to systematically study the security of state-of-the-art deep learning based ALC systems in their designed operational domains under physical-world adversarial attacks. We formulate the problem with a… ▽ More Submitted 13 June, 2021; v1 submitted 14 September, 2020; originally announced September 2020. Comments: Accepted to Usenix Security '21

arXiv:2009.06435 [pdf, other] cs.CV Scene-Graph Augmented Data-Driven Risk Assessment of Autonomous Vehicle Decisions Authors: Shih-Yuan Yu, Arnav V. Malawade, Deepan Muthirayan, Pramod P. Khargonekar, Mohammad A. Al Faruque Abstract: Despite impressive advancements in Autonomous Driving Systems (ADS), navigation in complex road conditions remains a challenging problem. There is considerable evidence that evaluating the subjective risk level of various decisions can improve ADS' safety in both normal and complex driving scenarios. However, exist… ▽ More Submitted 31 August, 2020; originally announced September 2020. Comments: 10 pages, 5 figures, 1 table

arXiv:2009.05724 [pdf, other] cs.NI cs.PF doi 10.1145/3416010.3423240 Artery-C -- An OMNeT++ Based Discrete Event Simulation Framework for Cellular V2X Authors: Anupama Hegde, Andreas Festag Abstract: …facilitate the communication among vehicles and with the roadside infrastructure. Introduced with LTE Release 14, Cellular V2X enables device-to-device communication to support road safety and traffic efficiency applications. We present Artery-C, a simulation framework for the performance evaluation of Cellular V2X pro… ▽ More Submitted 12 September, 2020; originally announced September 2020. Comments: 12 pages

arXiv:2009.04254 [pdf, other] eess.SY math.OC Cooperative Formation of Autonomous Vehicles in Mixed Traffic Flow: Beyond Platooning Authors: Keqiang Li, Jiawei Wang, Yang Zheng Abstract: Cooperative formation and control of autonomous vehicles (AVs) promise increased efficiency and safety on public roads. In mixed traffic flow consisting of AVs and human-driven vehicles (HDVs), the prevailing platooning of multiple AVs is not the only choice for cooperative formation. In this paper, we investigate how… ▽ More Submitted 19 March, 2021; v1 submitted 7 September, 2020; originally announced September 2020. Comments: 14 pages, 13 figures, 1 table. arXiv admin note: text overlap with arXiv:2004.00397

arXiv:2009.00869 [pdf] eess.SP eess.SY Radio Frequency Speed Bumps for Near-Zero Speed Zone Control in Nigeria Authors: Olaide Ayodeji Agbolade Abstract: Over speeding is an important problem in Nigeria. The Nigerian Federal Road Safety Commission report shows that over speeding is directly responsible for over 50 percent of road crashes in the country. Speed bumps particularly on highways have not proved to be the solution; they… ▽ More Submitted 2 September, 2020; originally announced September 2020. Comments: 8 pages,7 figures, Peer review Journal paper Journal ref: International Journal of Science and Engineering Investigations (IJSEI), 9(103), 54-61 (2020). http://www.ijsei.com/papers/ijsei-910320-12.pdf

arXiv:2008.11580 [pdf, other] cs.RO Automatic Generation of Road Geometries to Create Challenging Scenarios for Automated Vehicles Based on the Sensor Setup Authors: Thomas Ponn, Thomas Lanz, Frank Diermeyer Abstract: For the offline safety assessment of automated vehicles, the most challenging and critical scenarios must be identified efficiently. Therefore, we present a new approach to define challenging scenarios based on a sensor setup model of the ego-vehicle. First, a static optimal approaching path of a… ▽ More Submitted 26 August, 2020; originally announced August 2020. Comments: Accepted at the 2020 IEEE Intelligent Vehicles Symposium (IV), October 20-23, 2020 Journal ref: 2020 IEEE Intelligent Vehicles Symposium (IV)

arXiv:2008.10928 [pdf] eess.SY cs.NI eess.SP Platoon--assisted Vehicular Cloud in VANET: Vision and Challenges Authors: Meysam Nasimi, Mohammad Asif Habibi, Hans D. Schotten Abstract: Intelligent connected vehicles equipped with wireless sensors, intelligent control system, and communication devices are expected to commercially launch and emerge on road in short-term. These smart vehicles are able to partially/fully drive themselves; collect data from sensors, make and execute decisions based on that data; communicate with other vehicles,… ▽ More Submitted 25 August, 2020; originally announced August 2020. Comments: This paper presented in European Symposium on Computer and Communications (ESCC 2019)

arXiv:2008.10148 [pdf, other] cs.HC cs.AI cs.LG eess.SY Drive Safe: Cognitive-Behavioral Mining for Intelligent Transportation Cyber-Physical System Authors: Md. Shirajum Munir, Sarder Fakhrul Abedin, Ki Tae Kim, Do Hyeon Kim, Md. Golam Rabiul Alam, Choong Seon Hong Abstract: This paper presents a cognitive behavioral-based driver mood repairment platform in intelligent transportation cyber-physical systems (IT-CPS) for road… ▽ More Submitted 23 August, 2020; originally announced August 2020. Comments: Submitted to IEEE Transactions on Intelligent Transportation Systems, Special Issue on Technologies for risk mitigation and support of impaired drivers

arXiv:2008.09510 [pdf, other] cs.AI cs.SE doi 10.1016/j.infsof.2020.106393 Assessing Safety-Critical Systems from Operational Testing: A Study on Autonomous Vehicles Authors: Xingyu Zhao, Kizito Salako, Lorenzo Strigini, Valentin Robu, David Flynn Abstract: Context: Demonstrating high reliability and safety for… ▽ More Submitted 19 August, 2020; originally announced August 2020. Comments: Accepted by Information and Software Technology. arXiv admin note: substantial text overlap with arXiv:1908.06540

arXiv:2008.07081 [pdf, other] cs.LG cs.RO stat.ML MIDAS: Multi-agent Interaction-aware Decision-making with Adaptive Strategies for Urban Autonomous Navigation Authors: Xiaoyi Chen, Pratik Chaudhari Abstract: Autonomous navigation in crowded, complex urban environments requires interacting with other agents on the road. A common solution to this problem is to use a prediction model to guess the likely future actions of other agents. While this is reasonable, it leads to overly conservative plans because it does not explicitly model the mutual influence of the act… ▽ More Submitted 23 March, 2021; v1 submitted 17 August, 2020; originally announced August 2020. Comments: Code available at https://github.com/sherrychen1120/MIDAS. To be presented at IEEE International Conference on Robotics and Automation (ICRA), 2021

arXiv:2008.06727 [pdf] cs.AI cs.CY cs.NE A Review on Drivers Red Light Running and Turning Behaviour Prediction Authors: Md Mostafizur Rahman Komol, Mohammed Elhenawy, Shamsunnahar Yasmin, Mahmoud Masoud, Andry Rakotonirainy Abstract: Drivers behaviour prediction has been an unceasing concern for transportation safety divisions all over the world. A massive amount of lives and properties losses due to the adversities at intersections and pedestrian crossings. Especially for countries with poor road safety tech… ▽ More Submitted 15 August, 2020; originally announced August 2020.

arXiv:2008.05948 [pdf, other] eess.SP cs.CV cs.LG Estimating Magnitude and Phase of Automotive Radar Signals under Multiple Interference Sources with Fully Convolutional Networks Authors: Nicolae-Cătălin Ristea, Andrei Anghel, Radu Tudor Ionescu Abstract: Radar sensors are gradually becoming a wide-spread equipment for road vehicles, playing a crucial role in autonomous driving and road safety. The broad adoption of radar sensors increases the chance of interference among sensors from different vehicles, generating corrupted range… ▽ More Submitted 11 August, 2020; originally announced August 2020. Comments: arXiv admin note: text overlap with arXiv:2007.11102

arXiv:2008.04707 [pdf, other] eess.SP cs.CE cs.ET cs.RO eess.SY doi 10.1109/ICCP51029.2020.9266186 Driver Assistance for Safe and Comfortable On-Ramp Merging Using Environment Models Extended through V2X Communication and Role-Based Behavior Predictions Authors: Lucas Eiermann, Florian Wirthmüller, Kay Massow, Gabi Breuel, Ilja Radusch Abstract: …a reasonable choice. In this paper, we show that role-based motion predictions in combination with v2x-extended environment models are able to contribute to increased traffic safety and driving comfort. Thus, we combine the mentioned research areas and show possible improvements, using the example of a threading process at a motorway access… ▽ More Submitted 17 August, 2020; v1 submitted 11 August, 2020; originally announced August 2020. Comments: the article has been accepted for publication during the 16th IEEE International Conference on Intelligent Computer Communication and Processing (ICCP 2020), 8 pages, 8 figures, 1 table

arXiv:2008.04505 [pdf, other] eess.SP cs.HC doi 10.1109/ACCESS.2019.2922113 A Design of Cooperative Overtaking Based on Complex Lane Detection and Collision Risk Estimation Authors: Junlan Chen, Ke Wang, Huanhuan Bao, Tao Chen Abstract: Cooperative overtaking is believed to have the capability of improving road… ▽ More Submitted 11 August, 2020; originally announced August 2020. Journal ref: IEEE Access, 2019, 7: 87951-87959

arXiv:2008.02928 [pdf, other] eess.SY math.OC Privacy-Preserved Collaborative Estimation for Networked Vehicles with Application to Road Anomaly Detection Authors: Huan Gao, Zhaojian Li, Yongqiang Wang Abstract: Road information such as… ▽ More Submitted 27 August, 2020; v1 submitted 6 August, 2020; originally announced August 2020.

arXiv:2008.00549 [pdf] cs.RO cs.CV eess.IV Edge Computing for Real-Time Near-Crash Detection for Smart Transportation Applications Authors: Ruimin Ke, Zhiyong Cui, Yanlong Chen, Meixin Zhu, Hao, Yang, Yinhai Wang Abstract: Traffic near-crash events serve as critical data sources for various smart transportation applications, such as being surrogate safety measures for traffic… ▽ More Submitted 18 June, 2021; v1 submitted 2 August, 2020; originally announced August 2020.

arXiv:2007.13647 [pdf] cs.DC cs.CR cs.NI V-CARE: A Blockchain Based Framework for Secure Vehicle Health Record System Authors: Pranav Kumar Singh, Roshan Singh, Sukumar Nandi Abstract: …candidate, which can facilitate the sharing of such data among different participating organizations and individuals. For example, owners, manufacturers, trusted third parties, road authorities, insurance companies, charging stations, and car selling ventures can access VHR stored on the blockchain in a permissioned, secured, and with a higher level of confi… ▽ More Submitted 13 July, 2020; originally announced July 2020. Comments: The work is published in IEEE COMSOC MMTC Communications - Frontiers Vol. 15, No. 4, July 2020, Page 12-17 Report number: https://mmc.committees.comsoc.org/files/2020/07/MMTC_Communication_Frontier_July_2020.pdf

arXiv:2007.11347 [pdf, other] cs.SE
doi 10.1007/978-3-030-60922-1_10 Validation Frameworks for Self-Driving Vehicles: A Survey Authors: Francesco Concas, Jukka K. Nurminen, Tommi Mikkonen, Sasu Tarkoma Abstract: …of intelligent systems that could benefit smart cities are self-driving vehicles. Self-driving vehicles are continuously becoming both commercially available and common on roads. Accidents involving self-driving vehicles, however, have raised concerns about their reliability. Due to these concerns, the… ▽ More Submitted 22 July, 2020; originally announced July 2020.

arXiv:2007.10799 [pdf] cs.RO cs.AI Digital Quadruplets for Cyber-Physical-Social Systems based Parallel Driving: From Concept to Applications Authors: Teng Liu, Xing Yang, Hong Wang, Xiaolin Tang, Long Chen, Huilong Yu, Fei-Yue Wang Abstract: Digital quadruplets aiming to improve road… ▽ More Submitted 21 July, 2020; originally announced July 2020. Comments: 6 pages, 8 figures

arXiv:2007.07054 [pdf] eess.SY math.OC Nonlinear Adaptive Cruise Control of Vehicular Platoons Authors: Iasson Karafyllis, Dionysis Theodosis, Markos Papageorgiou Abstract: The paper deals with the design of nonlinear adaptive cruise controllers for vehicular platoons operating on an open road or a ring-… ▽ More Submitted 14 July, 2020; originally announced July 2020. Comments: 34 pages, 14 figures, submitted to IEEE Transactions on Automatic Control for possible publication

arXiv:2007.06022 [pdf, other] cs.CR cs.NI cs.SI doi 10.1109/JIOT.2020.3028368 Blockchain for the Internet of Vehicles towards Intelligent Transportation Systems: A Survey Authors: Muhammad Baqer Mollah, Jun Zhao, Dusit Niyato, Yong Liang Guan, Chau Yuen, Sumei Sun, Kwok-Yan Lam, Leong Hai Koh Abstract: …platform between vehicles and heterogeneous vehicular networks, this integration aims to create a better environment and public space to the people as well as to enhance safety for all road users. Being a participatory data exchange and storage, the underlying information exchange platform of IoV needs to be secure, tr… ▽ More Submitted 2 October, 2020; v1 submitted 12 July, 2020; originally announced July 2020. Comments: 28 Pages, 17 Figures, 4 tables Journal ref: IEEE Internet of Things Journal 2020

arXiv:2006.15888 [pdf] eess.SP cs.NI Experimental measurements of a joint 5G-VLC communication for future vehicular networks Authors: Dania Marabissi, Lorenzo Mucchi, Stefano Caputo, Francesca Nizzi, Tommaso Pecorella, Romano Fantacci, Tassadaq Nawaz, Marco Seminara, Jacopo Catani Abstract: …and car lights). This paper describes one of the first experiments on the joint use of 5G and VLC networks to provide real-time information to cars. The applications span from road safety to emergency alarm. ▽ More Submitted 29 June, 2020; originally announced June 2020.

arXiv:2006.15875 [pdf, other] cs.IT cs.NI Communication and Computing Resource Optimization for Connected Autonomous Driving Authors: Kai Xiong, Supeng Leng, Xiaosha Chen, Chongwen Huang, Chau Yuen, Yong Liang Guan Abstract: …can free people from driving and provide good driving experience with the aid of Vehicle-to-Vehicle (V2V) communications. Although CAVs bring benefits in terms of driving safety, vehicle string stability, and… ▽ More Submitted 29 June, 2020; originally announced June 2020. Comments: 12 pages, 7 figures

arXiv:2006.15718 [pdf, other] cs.RO Steer with Me: A Predictive, Potential Field-Based Control Approach for Semi-Autonomous, Teleoperated Road Vehicles Authors: Andreas Schimpe, Frank Diermeyer Abstract: Autonomous driving is among the most promising of upcoming traffic safety technologies. Prototypes of autonomous vehicles are already being tested on public streets today. However, while current prototypes prove the feasibility of truly driverless cars, edge cases remain which necessitate falling back on human operators. Teleoperated driving is one solution… ▽ More Submitted 28 June, 2020; originally announced June 2020. Comments: Accepted at The 23rd IEEE International Conference on Intelligent Transportation Systems, September 20 - 23, 2020

arXiv:2006.13377 [pdf, other] cs.CV
doi 10.1007/s10514-020-09964-3 Road surface detection and differentiation considering surface damages Authors: Thiago Rateke, Aldo von Wangenheim Abstract: A challenge still to be overcome in the field of visual perception for vehicle and robotic navigation on heavily damaged and unpaved roads is the task of reliable path and obstacle detection. The vast majority of the researches have as scenario… ▽ More Submitted 23 June, 2020; originally announced June 2020. Comments: 13 pages ACM Class: I.5; I.5.4; I.4; I.4.6; I.4.8; I.4.9 Journal ref: Autonomous Robots, 2021

arXiv:2006.10333 [pdf] cs.HC
doi 10.1017/dsd.2020.157 A discrete-event simulation model for driver performance assessment: application to autonomous vehicle cockpit design optimization Authors: Ilya Yuskevich, A. Hein, Kahina Amokrane-Ferka, Abdelkrim Doufene, Marija Jankovic Abstract: The latest advances in the design of vehicles with the adaptive level of automation pose new challenges in the vehicle-driver interaction. Safety requirements underline the need to explore optimal cockpit architectures with regard to driver cognitive and perceptual workload, eyes-off-the-road time and situation awarene… ▽ More Submitted 18 June, 2020; originally announced June 2020. Journal ref: Proceedings of the Design Society: DESIGN Conference, Oct 2020, Dubrovnik, Croatia. pp.2521-2530

arXiv:2006.10318 [pdf, other] cs.CR cs.RO Drift with Devil: Security of Multi-Sensor Fusion based Localization in High-Level Autonomous Driving under GPS Spoofing (Extended Version) Authors: Junjie Shen, Jun Yeon Won, Zeyuan Chen, Qi Alfred Chen Abstract: For high-level Autonomous Vehicles (AV), localization is highly security and safety critical. One direct threat to it is GPS spoofing, but fortunately, AV systems today predominantly use Multi-Sensor Fusion (MSF) algorithms that are generally believed to have the potential to practically defeat GPS spoofing. However, no prior work has studied whether today&#… ▽ More Submitted 12 August, 2020; v1 submitted 18 June, 2020; originally announced June 2020. Comments: This is an extended version of our paper, which appears in USENIX Security 2020. For attack demos, see our project website: https://sites.google.com/view/cav-sec/fusionripper

arXiv:2006.09090 [pdf, other] cs.HC
doi 10.1109/ITSC.2019.8917501 Response of Vulnerable Road Users to Visual Information from Autonomous Vehicles in Shared Spaces Authors: Walter Morales Alvarez, Miguel Ángel de Miguel, Fernando García, Cristina Olaverri-Monreal Abstract: Completely unmanned autonomous vehicles have been anticipated for a while. Initially, these are expected to drive only under certain conditions on some roads, and advanced functionality is required to cope with the ever-increasing challenges of… ▽ More Submitted 22 July, 2020; v1 submitted 16 June, 2020; originally announced June 2020. Comments: Published paper in the IEEE Intelligent Transportation Systems Conference - ITSC 2019 Journal ref: 2019 IEEE Intelligent Transportation Systems Conference (ITSC), Auckland, New Zealand, 2019, pp. 3714-3719

arXiv:2006.08723 [pdf] cs.CR cs.IT eess.SP Threats and Countermeasures of Cyber Security in Direct and Remote Vehicle Communication Systems Authors: Subrato Bharati, Prajoy Podder, M. Rubaiyat Hossain Mondal, Md. Robiul Alam Robel Abstract: Traffic management, road safety, and environmental impact are important issues in the modern world. These challenges are addressed by the application of sensing, control and communication methods of intelligent transportation systems (ITS). A part of ITS is a vehicular ad-hoc network (VANET) which means a wireless netw… ▽ More Submitted 11 June, 2020; originally announced June 2020. Comments: 12 pages, 7 figures Journal ref: Journal of Information Assurance and Security (ISSN 1554-1010), Volume 15 (2020), pp. 153-164, MIR Labs, www.mirlabs.net/jias/index.html

arXiv:2006.06941 [pdf] cs.CY cs.LG eess.SY doi 10.1109/ITSC.2019.8917520 Vulnerable Road User Detection Using Smartphone Sensors and Recurrence Quantification Analysis Authors: Huthaifa I. Ashqar, Mohammed Elhenawy, Mahmoud Masoud, Andry Rakotonirainy, Hesham A. Rakha Abstract: With the fast advancements of the Autonomous Vehicle (AV) industry, detection of Vulnerable Road Users (VRUs) using smartphones is critical for safety applications of Cooperative Intelligent Transportation Systems (C-ITSs). This study explores the use of low-power smartphone sensors and the Recurrence Quantification An… ▽ More Submitted 12 June, 2020; originally announced June 2020. Comments: Published in: 2019 IEEE Intelligent Transportation Systems Conference (ITSC) Journal ref: 2019 IEEE Intelligent Transportation Systems Conference (ITSC), Auckland, New Zealand, 2019, pp. 1054-1059

arXiv:2006.05918 [pdf, other] cs.CV cs.AI cs.HC cs.NE Deep Learning with Attention Mechanism for Predicting Driver Intention at Intersection Authors: Abenezer Girma, Seifemichael Amsalu, Abrham Workineh, Mubbashar Khan, Abdollah Homaifar Abstract: In this paper, a driver's intention prediction near a road intersection is proposed. Our approach uses a deep bidirectional Long Short-Term Memory (LSTM) with an attention mechanism model based on a hybrid-state system (HSS) framework. As intersection is considered to be as one of the major source of… ▽ More Submitted 10 June, 2020; originally announced June 2020. Comments: IEEE Intelligent Vehicles Symposium 2020 (IEEE IV 2020)

arXiv:2006.05159 [pdf, other] cs.CV cs.AI cs.NE Physically constrained short-term vehicle trajectory forecasting with naive semantic maps Authors: Albert Dulian, John C. Murray Abstract: Urban environments manifest a high level of complexity, and therefore it is of vital importance for safety systems embedded within autonomous vehicles (AVs) to be able to accurately predict the short-term future motion of nearby agents. This problem can be further understood as generating a sequence of future coordinates for a given agent based on its past m… ▽ More Submitted 9 June, 2020; originally announced June 2020.

arXiv:2006.04033 [pdf] cs.CY cs.CV cs.LG A Comparative Analysis of E-Scooter and E-Bike Usage Patterns: Findings from the City of Austin, TX Authors: Mohammed Hamad Almannaa, Huthaifa I. Ashqar, Mohammed Elhenawy, Mahmoud Masoud, Andry Rakotonirainy, Hesham Rakha Abstract: …and easing the increased traffic in dense cities and are expanding considerably. However, these new micro-mobility transportation modes raise numerous operational and safety concerns. This study analyzes e-scooter and dockless e-bike sharing system user behavior. We investigate how average trip speed change depending on the day of the week and the time of th… ▽ More Submitted 6 June, 2020; originally announced June 2020. Comments: Submitted to the International Journal of Sustainable Transportation

arXiv:2006.03798 [pdf, other] cs.NI A Vehicle Transmission Scheduling Scheme for Supporting Vehicle Trust Management Authors: Qinwen Hu, Wanqing Tu Abstract: Recent developments in advanced sensors, wireless communications and intelligent vehicle control technologies have enabled vehicles to detect traffic anomalies on the road and then notify surrounding vehicles to improve traffic safety. However, due to the high-speed movement of vehicles and the frequent topological cha… ▽ More Submitted 6 June, 2020; originally announced June 2020.

arXiv:2006.03633 [pdf, other] eess.SP
doi 10.1109/IPSN48710.2020.00-25 Road Grade Estimation Using Crowd-Sourced Smartphone Data Authors: Abhishek Gupta, Shaohan Hu, Weida Zhong, Adel Sadek, Lu Su, Chunming Qiao Abstract: Estimates of road grade/slope can add another dimension of information to existing 2D digital… ▽ More Submitted 5 June, 2020; originally announced June 2020. Comments: Proceedings of 19th ACM/IEEE Conference on Information Processing in Sensor Networks (IPSN'20)

arXiv:2006.03196 [pdf, other] cs.HC Towards Better Driver Safety: Empowering Personal Navigation Technologies with Road Safety Awareness Authors: Runsheng Xu, Shibo Zhang, Yue Zhao, Peixi Xiong, Allen Yilun Lin, Brent Hecht, Jiaqi Ma Abstract: Recent research has found that navigation systems usually assume that all roads are equally safe, directing drivers to dangerous routes, which led to catastrophic consequences. To address this problem, this paper aims to begin the process of adding… ▽ More Submitted 10 May, 2021; v1 submitted 4 June, 2020; originally announced June 2020. Comments: Submitted to IEEE Intelligent Transportation System Magazine

arXiv:2006.03131 [pdf] physics.soc-ph cs.CY
doi 10.1016/j.trc.2018.07.030 Where are the Dangerous Intersections for Pedestrians and Cyclists: A Colocation-Based Approach Authors: Yujie Hu, Yu Zhang, Kyle Shelton Abstract: Pedestrians and cyclists are vulnerable road users. They are at greater risk for being killed in a crash than other… ▽ More Submitted 30 May, 2020; originally announced June 2020. Journal ref: Transportation Research Part C: Emerging Technologies, 95, 431-441 (2018)

arXiv:2006.01412 [pdf, other] eess.SP cs.IT cs.LG Federated Learning in Vehicular Networks Authors: Ahmet M. Elbir, Burak Soner, Sinem Coleri Abstract: Machine learning (ML) has already been adopted in vehicular networks for such applications as autonomous driving, road safety prediction and vehicular object detection, due to its model-free characteristic, allowing adaptive fast response. However, the training of the ML model brings significant overhead for the data t… ▽ More Submitted 19 September, 2020; v1 submitted 2 June, 2020; originally announced June 2020. Comments: 4 figures 7 pages. This work has been submitted to the IEEE for publication. Copyright may be transferred without notice, after which this version may no longer be accessible

arXiv:2006.00894 [pdf, other] cs.LG cs.SE Reducing DNN Labelling Cost using Surprise Adequacy: An Industrial Case Study for Autonomous Driving Authors: Jinhan Kim, Jeongil Ju, Robert Feldt, Shin Yoo Abstract: …driving. Object segmentation is one such task: its aim is to precisely locate boundaries of objects and classify the identified objects, helping autonomous cars to recognise the road environment and the traffic situation. Not only is this task… ▽ More Submitted 7 September, 2020; v1 submitted 29 May, 2020; originally announced June 2020. Comments: to be published in Proceedings of the 28th ACM Joint European Software Engineering Conference and Symposium on the Foundations of Software Engineering

arXiv:2006.00286 [pdf, other] eess.SY Decentralized Optimal Control in Multi-lane Merging for Connected and Automated Vehicles Authors: Wei Xiao, Christos G. Cassandras, Calin Belta Abstract: We address the problem of optimally controlling Connected and Automated Vehicles (CAVs) arriving from two multi-lane roads and merging at multiple points where the objective is to jointly minimize the travel time and energy consumption of each CAV subject to speed-dependent… ▽ More Submitted 30 May, 2020; originally announced June 2020. Comments: To appear in ITSC2020, complete version with 8 pages

arXiv:2005.14136 [pdf, other] cs.HC cs.CV q-bio.NC doi 10.1109/ICCICC50026.2020.9450216 Heatmap-Based Method for Estimating Drivers' Cognitive Distraction Authors: Antonyo Musabini, Mounsif Chetitah Abstract: In order to increase road… ▽ More Submitted 31 October, 2020; v1 submitted 28 May, 2020; originally announced May 2020. Comments: Accepted at IEEE ICCI*CC 2020 (matching camera-ready version)

arXiv:2005.13976 [pdf, other] cs.LG cs.AI cs.RO Towards Automated Safety Coverage and Testing for Autonomous Vehicles with Reinforcement Learning Authors: Hyun Jae Cho, Madhur Behl Abstract: The kind of closed-loop verification likely to be required for autonomous vehicle (AV) safety testing is beyond the reach of traditional test methodologies and discrete verification. Validation puts the autonomous vehicle system to the test in scenarios or situations that the system would likely encounter in everyday driving after its release. These scenario… ▽ More Submitted 22 May, 2020; originally announced May 2020.

arXiv:2005.11738 [pdf, other] stat.AP
doi 10.1016/j.aap.2020.105623 A New Spatial Count Data Model with Bayesian Additive Regression Trees for Accident Hot Spot Identification Authors: Rico Krueger, Prateek Bansal, Prasad Buddhavarapu Abstract: The identification of accident hot spots is a central task of road safety management. Bayesian count data models have emerged as the workhorse method for producing probabilistic rankings of hazardous sites in road networks. Typically, these methods assume simple linear link funct… ▽ More Submitted 24 May, 2020; originally announced May 2020. Journal ref: Accident Analysis & Prevention Volume 144, September 2020, 105623

arXiv:2005.11147 [pdf] physics.soc-ph Massively Parallelizable Approach for Evaluating Signalized Arterial Performance Using Probe-based data Authors: Subhadipto Poddar, Pranamesh Chakraborty, Anuj Sharma, Skylar Knickerbocker, Neal Hawkins Abstract: The effective performance of arterial corridors is essential to community safety and vitality. Managing this performance, considering the dynamic nature of demand requires updating traffic signal timings through various strategies. Agency resources for these activities are commonly scarce and are primarily by public complaints. This paper provides a data-dri… ▽ More Submitted 20 May, 2020; originally announced May 2020. Comments: Transportation Engineering; Submitted to Journal of Intelligent Transportation Systems (JITS) on June 19, 2019

arXiv:2005.11064 [pdf] cs.RO eess.SY Human-Like Decision Making for Autonomous Driving: A Noncooperative Game Theoretic Approach Authors: Peng Hang, Chen Lv, Yang Xing, Chao Huang, Zhongxu Hu Abstract: Considering that human-driven vehicles and autonomous vehicles (AVs) will coexist on roads in the future for a long time, how to merge AVs into human drivers traffic ecology and minimize the effect of AVs and their misfit with human drivers, are issues worthy of consideration. Moreover, different passengers have different needs for AVs, thus, how to provide… ▽ More Submitted 22 September, 2020; v1 submitted 22 May, 2020; originally announced May 2020. Comments: Accepted by IEEE T-ITS

arXiv:2005.07691 [pdf, other] cs.RO eess.SY math.OC Safe Motion Planning for Autonomous Driving using an Adversarial Road Model Authors: Alexander Liniger, Luc van Gool Abstract: This paper presents a game-theoretic path-following formulation where the opponent is an adversary road model. This formulation allows us to compute safe sets using tools from viability theory, that can be used as terminal constraints in an optimization-based motion planner. Based on the adversary… ▽ More Submitted 15 May, 2020; originally announced May 2020. Comments: Accepted at RSS 2020

arXiv:2005.06956 [pdf, ps, other] cs.NI Multi-Component V2X Applications Placement in Edge Computing Environment Authors: Ibrahim Shaer, Anwar Haque, Abdallah Shami Abstract: …autonomous vehicles. Such applications have stringent performance requirements in terms of complex data processing and low latency communications which are utilized to ensure road safety and improve road conditions. To address these challenges, the placement of V2X applications t… ▽ More Submitted 22 April, 2020; originally announced May 2020. Comments: 6 pages, 5 figures, IEE International Conference on Communication

arXiv:2005.06191 [pdf, ps, other] eess.SY AMYTISS: Parallelized Automated Controller Synthesis for Large-Scale Stochastic Systems Authors: Abolfazl Lavaei, Mahmoud Khaled, Sadegh Soudjani, Majid Zamani Abstract: …(MDPs) as finite abstractions of given original systems, and (ii) synthesize controllers for the constructed finite MDPs satisfying bounded-time high-level properties including safety, reachability and reach-avoid specifications. In AMYTISS, scalable parallel algorithms are designed such that they support the parallel execution within CPUs, GPUs and hardware… ▽ More Submitted 13 May, 2020; originally announced May 2020. Comments: This work is accepted at the 32nd International Conference on Computer-Aided Verification (CAV) as a tool paper

arXiv:2005.04995 [pdf, other] eess.SY cs.RO Effects of Controller Heterogeneity on Autonomous Vehicle Traffic Authors: Matthew Le Maitre, Amanda Prorok Abstract: Interactions between road users are both highly non-linear and profoundly complex, and there is no reason to expect that interactions between autonomous vehicles will be any different. Given the recent rapid development of autonomous vehicle technologies, we need to understand how these interactions are likely to present themselves, and what their implicatio… ▽ More Submitted 11 May, 2020; originally announced May 2020. Comments: Accepted at ITSC 2020 (The 23rd IEEE International Conference on Intelligent Transportation Systems)

arXiv:2004.13761 [pdf] eess.SP A Method for Vehicle Collision Risk Assessment through Inferring Driver's Braking Actions in Near-Crash Situations Authors: Liqun Peng, Miguel Angel Sotelo, Yi He, Yunfei Ai, Zhixiong Li Abstract: …under potential vehicle crashes create opportunities for extensive real-world observations of driver behaviors and relevant factors that significantly influence the driving safety in emergency scenarios. Furthermore, the availability of such data also enhances the collision avoidance systems (CASs) by evaluating driver's actions in near-crash scenarios a… ▽ More Submitted 28 April, 2020; originally announced April 2020. Comments: 14 pages

arXiv:2004.13758 [pdf, other] math.OC A Repeated Route-then-Schedule Approach to Coordinated Vehicle Platooning: Algorithms, Valid Inequalities and Computation Authors: Fengqiao Luo, Jeffrey Larson Abstract: Platooning of vehicles is a promising approach for reducing fuel consumption, increasing vehicle safety, and using… ▽ More Submitted 23 September, 2020; v1 submitted 28 April, 2020; originally announced April 2020. Comments: 61 pages, 7 figures

arXiv:2004.12555 [pdf, other] eess.SP Requirements and Technologies Towards UAM: Communication, Navigation, and Surveillance Authors: M. Cenk Erturk, Nozhan Hosseini, Hosseinali Jamal, Alphan Sahin, David Matolak, Jamal Haque Abstract: …The UAM aircraft will be operating in a congested environment, where CNS and ATM systems need to provide integrity, robustness, security, and very high availability for safety of UAM operations while evolving. As UAM is under research by academia and government agencies, the industry is driving technology towards aircraft prototypes. Critical UAM requiremen… ▽ More Submitted 26 April, 2020; originally announced April 2020. Comments: Keywords: 5G, CNS, DAA, NASA, requirement analysis, radio technical commission for aeronautics (RTCA), satellite systems, UAM. Citation: M. C. Erturk, N. Hosseini, H. Jamal, A. Sahin, D. Matolak and J. Haque, "Requirements and Technologies Towards UAM: Communication, Navigation, andSurveillance," 2020 Integrated Communications, Navigation, Surveillance Conference (ICNS), Herndon, VA, 2020

arXiv:2004.11970 [pdf, other] cs.CV DriftNet: Aggressive Driving Behavior Classification using 3D EfficientNet Architecture Authors: Alam Noor, Bilel Benjdira, Adel Ammar, Anis Koubaa Abstract: Aggressive driving (i.e., car drifting) is a dangerous behavior that puts human safety and life into a significant risk. This behavior is considered as an anomaly concerning the regular traffic in public transportation roads. Recent techniques in deep learning proposed new approaches for anomaly detection in different… ▽ More Submitted 18 April, 2020; originally announced April 2020. Report number: RIOTU-TR-2020-04

arXiv:2004.11909 [pdf, other] cs.CV cs.LG eess.IV stat.ML On the safety of vulnerable road users by cyclist orientation detection using Deep Learning Authors: Marichelo Garcia-Venegas, Diego A. Mercado-Ravell, Carlos A. Carballo-Monsivais Abstract: In this work, orientation detection using Deep Learning is acknowledged for a particularly vulnerable class of road users,the cyclists. Knowing the cyclists' orientation is of great relevance since it provides a good notion about their future trajectory, which is crucial to avoid accidents in the context of intelligent transportation systems. Using Trans… ▽ More Submitted 25 April, 2020; originally announced April 2020. Comments: "This paper is a preprint of a paper submitted to IET Intelligent Transport Systems. If accepted, the copy of record will be available at the IET Digital Library"

arXiv:2004.11839 [pdf, other] eess.SP cs.LG stat.ML Detecting Driver's Distraction using Long-term Recurrent Convolutional Network Authors: Chang Wei Tan, Mahsa Salehi, Geoffrey Mackellar Abstract: In this study we demonstrate a novel Brain Computer Interface (BCI) approach to detect driver distraction events to improve road safety. We use a commercial wireless headset that generates EEG signals from the brain. We collected real EEG signals from participants who undertook a 40-minute driving simulation and were r… ▽ More Submitted 13 April, 2020; originally announced April 2020. Comments: 3 pages 2 figures

arXiv:2004.11824 [pdf, other] cs.CV Detecting Unsigned Physical Road Incidents from Driver-View Images Authors: Alex Levering, Martin Tomko, Devis Tuia, Kourosh Khoshelham Abstract: Safety on… ▽ More Submitted 24 April, 2020; originally announced April 2020. Comments: Preprint to T-IV paper

arXiv:2004.11422 [pdf] physics.soc-ph stat.AP Investigating the Relationship between Freeway Rear-end Crash Rates and Macroscopically Modelled Reaction Time Authors: Ishtiak Ahmed, Billy Williams, M. Shoaib Samandar, Gyounghoon Chun Abstract: …the best fit in terms of R-square, standard error, and homoscedasticity. These results motivate follow-on research to incorporate macroscopically derived reaction time in road-safety planning. More generally, the study demonstrates a useful application of a discontinuous macroscopic traffic model. ▽ More Submitted 23 April, 2020; originally announced April 2020. Comments: 30 pages, 2 tables, 6 figures

arXiv:2004.10927 [pdf, other] cs.AI cs.LG cs.RO eess.SP Cooperative Perception with Deep Reinforcement Learning for Connected Vehicles Authors: Shunsuke Aoki, Takamasa Higuchi, Onur Altintas Abstract: Sensor-based perception on vehicles are becoming prevalent and important to enhance the road safety. Autonomous driving systems use cameras, LiDAR, and radar to detect surrounding objects, while human-driven vehicles use them to assist the driver. However, the environmental perception by individual vehicles has the lim… ▽ More Submitted 22 April, 2020; originally announced April 2020.

arXiv:2004.07987 [pdf, other] eess.SY Autonomous Emergency Collision Avoidance and Stabilisation in Structured Environments Authors: Shayan Taherian, Shilp Dixit, Umberto Montanaro, Saber Fallah Abstract: In this paper, a novel closed-loop control framework for autonomous obstacle avoidance on a curve road is presented. The proposed framework provides two main functionalities; (i) collision free trajectory planning using MPC and (ii) a torque vectoring controller for lateral/yaw stability designed using optimal control concepts. This paper analyzes trajectory… ▽ More Submitted 16 April, 2020; originally announced April 2020. Comments: 14 pages, 17 figures

arXiv:2004.07980 [pdf, other] eess.SY cs.RO cs.SE eess.SP Co-simulation Platform for Developing InfoRich Energy-Efficient Connected and Automated Vehicles Authors: Shunsuke Aoki, Lung En Jan, Junfeng Zhao, Anand Bhat, Ragunathan, Rajkumar, Chen-Fang Chang Abstract: …new opportunities to improve the energy efficiency of individual vehicles. However, testing and verifying energy-efficient autonomous driving systems are difficult due to safety considerations and repeatability. In this paper, we present a co-simulation platform to develop and test novel vehicle eco-autonomous driving technologies named InfoRich, which incor… ▽ More Submitted 16 April, 2020; originally announced April 2020.

arXiv:2004.05261 [pdf, other] cs.CV Towards Anomaly Detection in Dashcam Videos Authors: Sanjay Haresh, Sateesh Kumar, M. Zeeshan Zia, Quoc-Huy Tran Abstract: …computer vision algorithms focused on lane departures or safe following distances are finding their way into these devices. Unfortunately, the long-tailed distribution of road hazards means that these hand-crafted pipelines are inadequate for driver safety systems. We propose to apply data-driven anomaly detection idea… ▽ More Submitted 11 May, 2020; v1 submitted 10 April, 2020; originally announced April 2020. Comments: To appear at IV 2020

arXiv:2004.03948 [pdf] cs.CV Improved YOLOv3 Object Classification in Intelligent Transportation System Authors: Yang Zhang, Changhui Hu, Xiaobo Lu Abstract: …is a hot topic in recent years. In particular, the driver detection is still a challenging problem which is conductive to supervising traffic order and maintaining public safety. In this paper, an algorithm based on YOLOv3 is proposed to realize the detection and classification of vehicles, drivers, and people on the highway, so as to achieve the purpose of… ▽ More Submitted 8 April, 2020; originally announced April 2020.

arXiv:2003.14106 [pdf, other] cs.SE Security Assurance Cases for Road Vehicles: an Industry Perspective Authors: Mazen Mohamad, Alexander Åström, Örjan Askerdal, Jörgen Borg, Riccardo Scandariato Abstract: Assurance cases are structured arguments that are commonly used to reason about the safety of a product or service. Currently, there is an ongoing push towards using assurance cases for also cybersecurity, especially in… ▽ More Submitted 31 March, 2020; originally announced March 2020.

arXiv:2003.13731 [pdf] cs.HC Affective Automotive User Interfaces -- Reviewing the State of Emotion Regulation in the Car Authors: Michael Braun, Florian Weber, Florian Alt Abstract: Affective technology offers exciting opportunities to improve road… ▽ More Submitted 30 March, 2020; originally announced March 2020. Comments: Under Review at ACM CSUR

arXiv:2003.13115 [pdf, ps, other] cs.NI eess.SP An Analytical Framework for mmWave-Enabled V2X Caching Authors: Saeede Fattahi-Bafghi, Zolfa Zeinalpour-Yazdi, Arash Asadi Abstract: Autonomous vehicles will rely heavily on vehicle-to-everything (V2X) communications to obtain a large amount of information required for navigation and road safety purposes. This can be achieved through: (i) leveraging millimeter-wave (mmWave) frequencies to achieve multi- Gbps data rates, and (ii) exploiting the tempo… ▽ More Submitted 29 March, 2020; originally announced March 2020.

arXiv:2003.12390 [pdf, other] eess.SY eess.SP Deriving a representative variant for the functional safety development according to ISO 26262 Authors: Felix S. Schranner, Alireza Abassi Misheni, Jork Warnecke Abstract: The emerging mass individualization in series produced road vehicles, superseding mass customization, entails an increase in variants. The question "How may the functional… ▽ More Submitted 26 March, 2020; originally announced March 2020.

arXiv:2003.09957 [pdf, other] cs.LG eess.SP eess.SY stat.AP stat.ML Software System for Road Condition Forecast Correction Authors: Dmitrii Smolyakov, Evgeny Burnaev Abstract: In this paper, we present a monitoring system that allows increasing road… ▽ More Submitted 22 March, 2020; originally announced March 2020. Comments: 11 pages, 5 figures, 2 tables

arXiv:2003.09783 [pdf] cs.GT cs.MA physics.soc-ph A Game-Theoretic Model of Human Driving and Application to Discretionary Lane-Changes Authors: Jehong Yoo, Reza Langari Abstract: …is to help with the development of decision-making strategies for autonomous vehicles in ways that are mindful of how human drivers perform the same function on the road (on which have reported elsewhere.) This paper, however, focuses only on the model development and the respective qualitative assessment. This is accomplished in unit test simulations as we… ▽ More Submitted 21 March, 2020; originally announced March 2020. Comments: 14 pages, 14 figures

arXiv:2003.09761 [pdf, other] cs.CY cs.LG physics.soc-ph stat.ML Smarter Parking: Using AI to Identify Parking Inefficiencies in Vancouver Authors: Devon Graham, Satish Kumar Sarraf, Taylor Lundy, Ali MohammadMehr, Sara Uppal, Tae Yoon Lee, Hedayat Zarkoob, Scott Duke Kominers, Kevin Leyton-Brown Abstract: On-street parking is convenient, but has many disadvantages: on-street spots come at the expense of other road uses such as traffic lanes, transit lanes, bike lanes, or parklets; drivers looking for parking contribute substantially to traffic congestion and hence to greenhouse gas emissions;… ▽ More Submitted 21 March, 2020; originally announced March 2020. Comments: All the authors contributed equally. This paper is an outcome of https://www.cs.ubc.ca/~kevinlb/teaching/cs532l%20-%202018-19/index.html. To be submitted to a journal in transportation or urban planning

arXiv:2003.08290 [pdf, other] cs.MA
doi 10.1016/j.trc.2020.102611 Influence of CAV Clustering Strategies on Mixed Traffic Flow Characteristics: An Analysis of Vehicle Trajectory Data Authors: Zijia Zhong, Earl E. Lee, Mark Nejad, Joyoung Lee Abstract: …applications enabled by connected and automated vehicles (CAV) technology, Cooperative Adaptive Cruise Control (CACC) is expected to be deployed in the near term on public roads.} Thus far, the majority of the CACC studies have been focusing on the overall network performance with limited insights on the potential impacts of CAVs on human-driven vehicles (HV… ▽ More Submitted 10 February, 2021; v1 submitted 16 March, 2020; originally announced March 2020. Comments: 22 pages, 17 figures. arXiv admin note: substantial text overlap with arXiv:1909.13204 Journal ref: Transportation Research Part C: Emerging Technologies, 115, 2020, 102611

arXiv:2003.08134 [pdf] cs.CV cs.LG eess.IV doi 10.1109/CISP-BMEI48845.2019.8965990 A Driver Fatigue Recognition Algorithm Based on Spatio-Temporal Feature Sequence Authors: Chen Zhang, Xiaobo Lu, Zhiliang Huang Abstract: Researches show that fatigue driving is one of the important causes of road traffic accidents, so it is of great significance to study the driver fatigue recognition algorithm to improve road traffic safety. In recent years, with the development of deep learning, the field of pat… ▽ More Submitted 18 March, 2020; originally announced March 2020.

arXiv:2003.07672 [pdf, other] cs.CY Urban Traffic Monitoring and Modeling System: An IoT Solution for Enhancing Road Safety Authors: Rateb Jabbar, Mohammed Shinoy, Mohamed Kharbeche, Khalifa Al-Khalifa, Moez Krichenz, Kamel Barkaouiy Abstract: Qatar expects more than a million visitors during the 2022 World Cup, which will pose significant challenges. The high number of people will likely cause a rise in road traffic congestion, vehicle crashes, injuries and deaths. To tackle this problem, Naturalistic Driver Behavior can be utilised which will collect and analyze data to estimate the current Qata… ▽ More Submitted 5 March, 2020; originally announced March 2020. Comments: 6 pages, 6 figures, conference IINTEC'19

arXiv:2003.07299 [pdf, other] cs.IT eess.SP On the Performance of Cooperative NOMA Using MRC at Road Intersections in the Presence of Interference Authors: Baha Eddine Youcef Belmekki, Abdelkrim Hamza, Benoît Escrig Abstract: As the traffic safety has become of utmost importance, much attention is given to intelligent transportation systems (ITSs), and more particularly to vehicular communications (VCs). Moreover, 50 % of all crashes happen at… ▽ More Submitted 16 March, 2020; originally announced March 2020. Comments: arXiv admin note: text overlap with arXiv:1909.01989

arXiv:2003.06333 [pdf, other] eess.SY math.OC Design of Robust Path-Following Control System for Self-driving Vehicles Using Extended High-Gain Observer Authors: Yasir K. Al-Nadawi, Hothaifa Al-Qassab, Daniel Kent, Su Pang, Vaibhav Srivastava, Hayder Radha Abstract: In the real-world, self-driving vehicles are required to achieve steering maneuvers in both uncontrolled and uncertain environments while maintaining high levels of safety and passengers' comfort. Ignoring these requirements would inherently cause a significant degradation in the performance of the control system, and consequently, could lead to life-thr… ▽ More Submitted 13 March, 2020; originally announced March 2020.

arXiv:2003.04459 [pdf] econ.GN A New Approach for Macroscopic Analysis to Improve the Technical and Economic Impacts of Urban Interchanges on Traffic Networks Authors: Seyed Hassan Hosseini, Ahmad Mehrabian, Zhila Dehdari Ebrahimi, Mohsen Momenitabar, Mohammad Arani Abstract: Pursuing three important elements including economic, safety, and traffic are the overall objective of decision evaluation across all transport projects. In this study, we investigate the feasibility of the development of city interchanges and road connections for network users. To achieve this goal, a series of minor… ▽ More Submitted 17 September, 2020; v1 submitted 9 March, 2020; originally announced March 2020. Comments: This paper has been Accepted by the 4th International Conference on Intelligent Decision Science (IDS), and published by Advances in Intelligent Systems and Computing

arXiv:2003.04354 [pdf] cs.NI Performance Analysis of Message Dissemination Techniques in VANET using Fog Computing Authors: Anirudh Paranjothi Abstract: Vehicular Ad-hoc Networks (VANET) is a derived subclass of Mobile Ad-hoc Networks (MANET) with vehicles as mobile nodes. VANET facilitate vehicles to share safety and non-… ▽ More Submitted 9 March, 2020; originally announced March 2020.

arXiv:2003.04251 [pdf, other] cs.NI Danger Aware Vehicular Networking Authors: Tsigigenet Dessalgn, Seungmo Kim Abstract: IEEE 802.11p is one of the key technologies that enable Dedicated Short-Range Communications (DSRC) in intelligent transportation system (ITS) for safety on the road. The main challenge in vehicular communication is the large amount of data to be processed. As vehicle density and velocity increases, the data to be tran… ▽ More Submitted 9 March, 2020; originally announced March 2020. Journal ref: This paper was presented at IEEE Southeastcon 2019

arXiv:2003.03799 [pdf, other] cs.SE
doi 10.1007/978-3-030-58923-3_5 Continuous Experimentation for Automotive Software on the Example of a Heavy Commercial Vehicle in Daily Operation Authors: Federico Giaimo, Christian Berger Abstract: …preferences, reducing the reliance on simulations and guesswork. Several challenges prevent the verbatim adoption of this practice on automotive cyber-physical systems, e.g., safety concerns and limitations from computational resources; nonetheless, the automotive field is starting to take interest in this technique. This work aims at demonstrating and evalu… ▽ More Submitted 11 September, 2020; v1 submitted 8 March, 2020; originally announced March 2020. Comments: Paper accepted to the 14th European Conference on Software Architecture (ECSA 2020). 16 pages, 5 figures

arXiv:2003.02495 [pdf, ps, other] cs.IT MEC-enhanced Information Freshness for Safety-critical C-V2X Communications Authors: Mustafa Emara, Miltiades C. Filippou, Dario Sabella Abstract: …benefits for Vehicular-to-Everything (V2X) communications, emphasizing on the experienced End-to-End (E2E) message delay. In this paper, we argue that, when it comes to safety-critical use cases, such as the one of Vulnerable Road User (VRU), additional metrics can be more insightful to evaluate and address scalability… ▽ More Submitted 5 March, 2020; originally announced March 2020. Comments: Accepted at ICC 2020, CLEEN workshop

arXiv:2003.01782 [pdf, other] cs.CR cs.CV cs.LG Security of Deep Learning based Lane Keeping System under Physical-World Adversarial Attack Authors: Takami Sato, Junjie Shen, Ningfei Wang, Yunhan Jack Jia, Xue Lin, Qi Alfred Chen Abstract: Lane-Keeping Assistance System (LKAS) is convenient and widely available today, but also extremely security and safety critical. In this work, we design and implement the first systematic approach to attack real-world DNN-based LKASes. We identify dirty road patches as a novel and domain-specific threat model for pract… ▽ More Submitted 3 March, 2020; originally announced March 2020. Comments: Project page: https://sites.google.com/view/lane-keeping-adv-attack/

arXiv:2003.00819 [pdf, other] cs.AI eess.SP RiskOracle: A Minute-level Citywide Traffic Accident Forecasting Framework Authors: Zhengyang Zhou, Yang Wang, Xike Xie, Lianliang Chen, Hengchang Liu Abstract: Real-time traffic accident forecasting is increasingly important for public safety and urban management (e.g., real-time safe route planning and emergency response deployment). Previous works on accident forecasting are often performed on hour levels, utilizing existed neural networks with static region-wise correlations taken into account. However, it is st… ▽ More Submitted 19 February, 2020; originally announced March 2020. Comments: 8 pages, 4 figures. Conference paper accepted by AAAI 2020

arXiv:2003.00790 [pdf] cs.SE cs.RO eess.SY Towards Identifying and closing Gaps in Assurance of autonomous Road vehicleS -- a collection of Technical Notes Part 2 Authors: Robin Bloomfield, Gareth Fletcher, Heidy Khlaaf, Philippa Ryan, Shuji Kinoshita, Yoshiki Kinoshit, Makoto Takeyama, Yutaka Matsubara, Peter Popov, Kazuki Imai, Yoshinori Tsutake Abstract: This report provides an introduction and overview of the Technical Topic Notes (TTNs) produced in the Towards Identifying and closing Gaps in Assurance of autonomous Road vehicleS (Tigars) project. These notes aim to support the development and evaluation of autonomous vehicles. Part 1 addresses: Assurance-overview and issues, Resilience and… ▽ More Submitted 28 February, 2020; originally announced March 2020. Comments: Authors of the individual notes are indicated in the text Report number: Adelard Tigars D5.6 D/1259/138008/7

arXiv:2003.00789 [pdf] cs.SE cs.LG cs.RO eess.SY Towards Identifying and closing Gaps in Assurance of autonomous Road vehicleS -- a collection of Technical Notes Part 1 Authors: Robin Bloomfield, Gareth Fletcher, Heidy Khlaaf, Philippa Ryan, Shuji Kinoshita, Yoshiki Kinoshit, Makoto Takeyama, Yutaka Matsubara, Peter Popov, Kazuki Imai, Yoshinori Tsutake Abstract: This report provides an introduction and overview of the Technical Topic Notes (TTNs) produced in the Towards Identifying and closing Gaps in Assurance of autonomous Road vehicleS (Tigars) project. These notes aim to support the development and evaluation of autonomous vehicles. Part 1 addresses: Assurance-overview and issues, Resilience and… ▽ More Submitted 28 February, 2020; originally announced March 2020. Comments: Authors of individual Topic Notes are indicated in the body of the report Report number: Adelard Tigars D5.6 v2.0 (D/1259/138008/7)

arXiv:2002.10347 [pdf, other] cs.NI MilliCar -- An ns-3 Module for mmWave NR V2X Networks Authors: Matteo Drago, Tommaso Zugno, Michele Polese, Marco Giordani, Michele Zorzi Abstract: Vehicle-to-vehicle (V2V) communications have opened the way towards cooperative automated driving as a means to guarantee improved road safety and traffic efficiency. The use of the millimeter wave (mmWave) spectrum for V2V, in particular, holds great promise since the large bandwidth available offers the possibility o… ▽ More Submitted 24 February, 2020; originally announced February 2020. Comments: 8 pages, 5 figures. Submitted to WNS3 2020. The code related to this paper can be found at https://github.com/signetlabdei/millicar

arXiv:2002.09155 [pdf] cs.HC A Study on Anxiety about Using Robo-taxis: HMI Design for Anxiety Factor Analysis and Anxiety Relief Based on Field Tests Authors: Soyoung Yoo, Sunghee Lee, Seongsin Kim, Eunji Kim, Hwan Hwangbo, Namwoo Kang Abstract: Despite the approaching commercialization of robo-taxis, various anxiety factors concerning the safety of autonomous vehicles are expected to form a large barrier against consumers' use of robo-taxi services. The purpose of this study is to derive the various internal and external factors that contribute to the anxieties of robo-taxi passengers, and to p… ▽ More Submitted 21 February, 2020; originally announced February 2020.

arXiv:2002.08736 [pdf] eess.SP cs.NI
doi 10.1109/JIOT.2020.2974823 A Vision of C-V2X: Technologies, Field Testing and Challenges with Chinese Development Authors: Shenzhi Chen, Jinling Hu, Yan Shi, Li Zhao, Wen Li Abstract: …low latency, high reliability, and high throughput communications for various C-V2X applications. In this article, a vision of C-V2X is presented. The requirements of the basic road safety and advanced applications, the architecture, the key technologies, and the standards of C-V2X are introduced, highlighting the tech… ▽ More Submitted 20 February, 2020; originally announced February 2020.

arXiv:2002.07325 [pdf, other] cs.HC cs.LG doi 10.1016/j.trc.2020.102962 Decoding pedestrian and automated vehicle interactions using immersive virtual reality and interpretable deep learning Authors: Arash Kalatian, Bilal Farooq Abstract: …method is used to understand the contribution of different covariates to the time pedestrians wait before crossing. Results show that the presence of automated vehicles on roads, wider lane widths, high density on… ▽ More Submitted 5 January, 2021; v1 submitted 17 February, 2020; originally announced February 2020. Journal ref: Transportation Research Part C: Emerging Technologies, 124 (2021) pp. 102962

arXiv:2002.04127 [pdf, other] stat.ML cs.LG stat.AP doi 10.1016/j.aap.2020.105467 Finding manoeuvre motifs in vehicle telematics Authors: Maria Inês Silva, Roberto Henriques Abstract: Driving behaviour has a great impact on road safety. A popular way of analysing driving behaviour is to move the focus to the manoeuvres as they give useful information about the driver who is performing them. In this paper, we investigate a new way of identifying manoeuvres from vehicle telematics data, through motif… ▽ More Submitted 10 February, 2020; originally announced February 2020. Comments: 11 pages, 3 figures, submitted to Accident Analysis & Prevention

arXiv:2002.03241 [pdf] cs.CV cs.LG eess.IV doi 10.3390/coatings10020152 Ensemble of Deep Convolutional Neural Networks for Automatic Pavement Crack Detection and Measurement Authors: Zhun Fan, Chong Li, Ying Chen, Paola Di Mascio, Xiaopeng Chen, Guijie Zhu, Giuseppe Loprencipe Abstract: Automated pavement crack detection and measurement are important road issues. Agencies have to guarantee the improvement of road safety. Conventional crack detection and measurement algorithms can be extremely time-consuming and low efficiency. Therefore, recently, innovative alg… ▽ More Submitted 8 February, 2020; originally announced February 2020.

arXiv:2002.02215 [pdf, other] cs.RO math.OC A Two-Stage Optimization-based Motion Planner for Safe Urban Driving Authors: Francisco Eiras, Majd Hawasly, Stefano V. Albrecht, Subramanian Ramamoorthy Abstract: Recent road trials have shown that guaranteeing the… ▽ More Submitted 4 June, 2021; v1 submitted 6 February, 2020; originally announced February 2020. Comments: IEEE Transactions on Robotics (T-RO), 2021

arXiv:2002.00339 [pdf, other] cs.RO eess.SY Developments in Modern GNSS and Its Impact on Autonomous Vehicle Architectures Authors: Niels Joubert, Tyler GR Reid, Fergus Noble Abstract: …following lanes and performing basic maneuvers under human supervision. Furthermore, the first pilot programs of SAE Level 4 driverless vehicles are being demonstrated on public roads. However, autonomous driving is not a solved problem. GNSS can help. Specifically, incorporating high-integrity GNSS lane determination into vision-based architectures can unlo… ▽ More Submitted 19 April, 2020; v1 submitted 2 February, 2020; originally announced February 2020. Comments: 2020 IEEE Intelligent Vehicles Symposium. IEEE, 2020 Report number: its.IV2020.412.8d033de9

arXiv:2001.11159 [pdf, other] cs.RO Universally Safe Swerve Manoeuvres for Autonomous Driving Authors: Ryan De Iaco, Stephen L. Smith, Krzysztof Czarnecki Abstract: This paper characterizes safe following distances for on-road driving when vehicles can avoid collisions by either braking or by swerving into an adjacent lane. In particular, we focus on safety as defined in the Responsibility-Sensitive Safety (RSS) framework. We extend RSS by i… ▽ More Submitted 29 January, 2020; originally announced January 2020.

arXiv:2001.10440 [pdf] stat.OT stat.AP
doi 10.3390/ijerph17114111 Analyzing Factors Associated with Fatal Road Crashes: A Machine Learning Approach Authors: Ali J. Ghandour, Huda Hammoud, Samar Al-Hajj Abstract: Road traffic injury accounts for a substantial human and economic burden globally. Understanding risk factors contributing to fatal injuries is of paramount importance. In this study, we proposed a model that adopts a hybrid ensemble machine learning classifier structured from sequential minimal optimization and decision trees to identify risk factors contri… ▽ More Submitted 11 June, 2020; v1 submitted 9 January, 2020; originally announced January 2020.

arXiv:2001.09947 [pdf, other] cs.CV cs.LG eess.IV stat.ML Near real-time map building with multi-class image set labelling and classification of road conditions using convolutional neural networks Authors: Sheela Ramanna, Cenker Sengoz, Scott Kehler, Dat Pham Abstract: Weather is an important factor affecting transportation and road… ▽ More Submitted 27 January, 2020; originally announced January 2020. Comments: 23 pages, 12 figures

arXiv:2001.08583 [pdf] eess.SP cs.LG stat.ML Intelligent Road Inspection with Advanced Machine Learning; Hybrid Prediction Models for Smart Mobility and Transportation Maintenance Systems Authors: Nader Karballaeezadeh, Farah Zaremotekhases, Shahaboddin Shamshirband, Amir Mosavi, Narjes Nabipour, Peter Csiba, Annamaria R. Varkonyi-Koczy Abstract: …and transportation maintenance systems have been dramatically improved through using machine learning methods. This paper proposes novel machine learning models for intelligent road inspection. The traditional… ▽ More Submitted 18 January, 2020; originally announced January 2020. Comments: 23 pages, 10 figures MSC Class: 68T01

arXiv:2001.08495 [pdf, ps, other] cs.NI Congestion Control Mechanisms in IEEE 802.11p and Sidelink C-V2X Authors: Alessandro Bazzi Abstract: Connected vehicles are expected to play a major role in the next future to improve safety and traffic efficiency on the road and short-range technologies have been defined to enable the direct exchange of information. To this aim, two solutions are currently the subject of a debate that goes beyond the technician, i.e.… ▽ More Submitted 23 January, 2020; originally announced January 2020.

arXiv:2001.08096 [pdf] cs.RO Autonomous Last-mile Delivery Vehicles in Complex Traffic Environments Authors: Bai Li, Shaoshan Liu, Jie Tang, Jean-Luc Gaudiot, Liangliang Zhang, Qi Kong Abstract: …more challenging compared to those in well-developed countries. Many types of moving objects (such as pedestrians, bicycles, electric bicycles, and motorcycles, etc.) share the road with autonomous vehicles, and their behaviors are not easy to track and predict. This paper introduces a technical solution from JD.com, a leading E-commerce company in China, to… ▽ More Submitted 25 March, 2020; v1 submitted 22 January, 2020; originally announced January 2020. Comments: 6 pages 6 figures, submitted to IEEE Computer

arXiv:2001.05137 [pdf, other] eess.IV cs.CV cs.LG doi 10.1007/s42979-020-00306-9 Driver Safety Development Real Time Driver Drowsiness Detection System Based on Convolutional Neural Network Authors: Maryam Hashemi, Alireza Mirrashid, Aliasghar Beheshti Shirazi Abstract: This paper focuses on the challenge of driver safety on the road and presents a novel system for driver drowsiness detection. In this system, to detect the falling sleep state of the driver as the sign of drowsiness, Convolutional Neural Networks (CNN) are used with regarding the two goals of real-time application, inc… ▽ More Submitted 28 May, 2021; v1 submitted 15 January, 2020; originally announced January 2020. Comments: Hashemi, M., Mirrashid, A. & Beheshti Shirazi, A. Driver Safety Development: Real-Time Driver Drowsiness Detection System Based on Convolutional Neural Network. SN COMPUT. SCI. 1, 289 (2020). https://doi.org/10.1007/s42979-020-00306-9

arXiv:2001.04041 [pdf, other] cs.CR
doi 10.1109/TSC.2020.3025993 Secure V2V and V2I Communication in Intelligent Transportation using Cloudlets Authors: Maanak Gupta, James Benson, Farhan Patwa, Ravi Sandhu Abstract: …This futuristic plan aims to enable vehicles, roadside transportation infrastructures, pedestrian smart-phones and other devices to communicate with one another to provide safety and convenience services. Vehicle to Vehicle (V2V) and Vehicle to Infrastructure (V2I) communication in ITS offers ability to exchange speed, heading angle, position and other envi… ▽ More Submitted 12 January, 2020; originally announced January 2020.

arXiv:2001.03461 [pdf, other] econ.GN doi 10.1371/journal.pone.0248311 Associating Ridesourcing with Road Safety Outcomes: Insights from Austin Texas Authors: Eleftheria Kontou, Noreen C. McDonald Abstract: Improving road… ▽ More Submitted 16 February, 2021; v1 submitted 8 January, 2020; originally announced January 2020.

arXiv:2001.03257 [pdf] cs.CV eess.IV A Deep Neural Networks Approach for Pixel-Level Runway Pavement Crack Segmentation Using Drone-Captured Images Authors: Liming Jiang, Yuanchang Xie, Tianzhu Ren Abstract: Pavement conditions are a critical aspect of asset management and directly affect safety. This study introduces a deep neural network method called U-Net for pavement crack segmentation based on drone-captured images to reduce the cost and time needed for airport runway inspection. The proposed approach can also be used for highway pavement conditions assess… ▽ More Submitted 9 January, 2020; originally announced January 2020. Comments: 13 pages, 5 figures

arXiv:2001.02399 [pdf] cs.LG eess.SP stat.ML EEG-based Drowsiness Estimation for Driving Safety using Deep Q-Learning Authors: Yurui Ming, Dongrui Wu, Yu-Kai Wang, Yuhui Shi, Chin-Teng Lin Abstract: Fatigue is the most vital factor of road fatalities and one manifestation of fatigue during driving is drowsiness. In this paper, we propose using deep Q-learning to analyze an electroencephalogram (EEG) dataset captured during a simulated endurance driving test. By measuring the correlation between drowsiness and driving performance, this experiment represe… ▽ More Submitted 16 May, 2020; v1 submitted 8 January, 2020; originally announced January 2020.

arXiv:1912.12884 [pdf, other] cs.CR Secure Communication Protocol for Smart Transportation Based on Vehicular Cloud Authors: Trupil Limbasiya, Debasis Das, Sanjay K. Sahay Abstract: …by collecting relevant data from nearby objects. However, this data is useful for a specific vehicle only. Moreover, vehicles get a high amount of data (e.g., traffic, safety, and multimedia infotainment) on the… ▽ More Submitted 4 January, 2020; v1 submitted 30 December, 2019; originally announced December 2019. Comments: 10 Pages, 1 figure, Conference Journal ref: ACM Proceedings of the 2019 ACM International Joint Conference on Pervasive and Ubiquitous Computing and Proceedings of the 2019 ACM International Symposium on Wearable Computers, pp. 372-376

arXiv:1912.06991 [pdf] stat.ML cs.LG eess.SP Applying Deep Learning to Detect Traffic Accidents in Real Time Using Spatiotemporal Sequential Data Authors: Amir Bahador Parsa, Rishabh Singh Chauhan, Homa Taghipour, Sybil Derrible, Abolfazl Mohammadian Abstract: Accident detection is a vital part of traffic safety. Many road users suffer from traffic accidents, as well as their consequences such as delay, congestion, air pollution, and so on. In this study, we utilize two advanced deep learning techniques, Long Short-Term Memory (LSTM) and Gated Recurrent Units (GRUs), to dete… ▽ More Submitted 22 December, 2019; v1 submitted 15 December, 2019; originally announced December 2019. Comments: 13 pages, 4 figures,2 tables

arXiv:1912.06356 [pdf, other] physics.acc-ph doi 10.23731/CYRM-2020-002 SPS Beam Dump Facility -- Comprehensive Design Study Authors: C. Ahdida, R. G. Alia, G. Arduini, A. Arnalich, P. Avigni, F. Bardou, M. Battistin, J. Bauche, M. Brugger, J. Busom, M. Calviani, M. Casolino, N. Colonna, L. Dougherty, Y. Dutheil, E. Fornasiere, M. A. Fraser, L. Gatignon, J. Gall, S. Gilardoni, B. Goddard, J-L. Grenard, D. Grenier, C. Hessler, R. Jacobsson , et al. (23 additional authors not shown) Abstract: …proton delivery to target, the target complex, and the underground experimental area, including prototyping of key sub-systems and evaluations of the radiological aspects and safety. A first iteration of detailed integration and civil engineering studies have been performed in order to produce a realistic schedule and cost. This document gives a detailed ove… ▽ More Submitted 13 December, 2019; originally announced December 2019. Comments: 589 pages Report number: CERN-PBC-REPORT-2019-005; CERN-2020-002

arXiv:1912.04801 [pdf, other] cs.CV Detection of Collision-Prone Vehicle Behavior at Intersections using Siamese Interaction LSTM Authors: Debaditya Roy, Tetsuhiro Ishizaka, Krishna Mohan C., Atsushi Fukuda Abstract: As a large proportion of road accidents occur at intersections, monitoring traffic safety of intersections is important. Existing approaches are designed to investigate accidents in lane-based traffic. However, such approaches are not suitable in a lane-less mixed-traffic environment where vehicles often ply very close… ▽ More Submitted 10 December, 2019; originally announced December 2019. Comments: 10 pages, 4 figures, submitted to IEEE Transactions on Intelligent Transportation Systems

arXiv:1912.04458 [pdf] eess.SY A Dynamic Motion Planning Framework for Autonomous Driving in Urban Environments Authors: Yuncheng Jiang, Xiaofeng Jin, Yanfei Xiong, Zhaoyong Liu Abstract: …planning system in urban environments which includes trajectory refinement, trajectory interpolation, avoidance of static and dynamic obstacles, and trajectory tracking. Given road centerline, our approach smoother the original line via cubic spline. Fifth order Bezier curve is then used to generate more human-like trajectories that guarantee at least second… ▽ More Submitted 9 December, 2019; originally announced December 2019. Comments: 7pages,CCC2020

arXiv:1911.12937 [pdf, other] cs.RO Road Curb Detection Using A Novel Tensor Voting Algorithm Authors: Yilong Zhu, Dong Han, Bohuan Xue, Jianhao Jiao, Zuhao Zou, Ming Liu, Rui Fan Abstract: Road curb detection is very important and necessary for autonomous driving because it can improve the… ▽ More Submitted 28 November, 2019; originally announced November 2019. Comments: 6 pages, 12 figures, The 2019 IEEE International Conference on Robotics and Biomimetics

arXiv:1911.12222 [pdf, other] math.OC Computation of avoidance regions for driver assistance systems by using a Hamilton-Jacobi approach Authors: Ilaria Xausa, Robert Baier, Olivier Bokanowski, Matthias Gerdts Abstract: We consider the problem of computing safety regions, modeled as nonconvex backward reachable sets, for a nonlinear car collision avoidance model with time-dependent obstacles. The Hamilton-Jacobi-Bellman framework is used. A new formulation of level set functions for obstacle avoidance is given and sufficient conditions for granting the obstacle avoidance on… ▽ More Submitted 27 November, 2019; originally announced November 2019.

arXiv:1911.12093 [pdf] cs.LG stat.ML Multi-Range Attentive Bicomponent Graph Convolutional Network for Traffic Forecasting Authors: Weiqi Chen, Ling Chen, Yu Xie, Wei Cao, Yusong Gao, Xiaojie Feng Abstract: Traffic forecasting is of great importance to transportation management and public safety, and very challenging due to the complicated spatial-temporal dependency and essential uncertainty brought about by the… ▽ More Submitted 27 November, 2019; originally announced November 2019. Comments: Accepted by AAAI 2020

arXiv:1911.11699 [pdf, other] cs.RO cs.AI cs.LG cs.MA Multi-Vehicle Mixed-Reality Reinforcement Learning for Autonomous Multi-Lane Driving Authors: Rupert Mitchell, Jenny Fletcher, Jacopo Panerati, Amanda Prorok Abstract: Autonomous driving promises to transform road transport. Multi-vehicle and multi-lane scenarios, however, present unique challenges due to constrained navigation and unpredictable vehicle interactions. Learning-based methods---such as deep reinforcement learning---are emerging as a promising approach to automatically design intelligent driving policies that… ▽ More Submitted 10 February, 2020; v1 submitted 26 November, 2019; originally announced November 2019. Comments: 10 pages, 8 figures ACM Class: I.2.6; I.2.9

arXiv:1911.09467 [pdf, ps, other] eess.SY Event-triggered Add-on Safety for Connected and Automated Vehicles Using Road-side Network Infrastructure Authors: Mohammad H. Mamduhi, Ehsan Hashemi, John S. Baras, Karl H. Johansson Abstract: This paper proposes an event-triggered add-on safety mechanism to adjust the control parameters for timely braking in a networked vehicular system while maintaining maneuverability. Passenger vehicle maneuverability is significantly affected by the combined-slip friction effect, in which larger longitudinal tire slips result in considerable drop in lateral t… ▽ More Submitted 21 November, 2019; originally announced November 2019. Comments: 8 pages, 6 figures, preprint submitted for IFAC 2020

arXiv:1911.07827 [pdf, ps, other] stat.CO stat.AP stat.ME DRHotNet: An R package for detecting differential risk hotspots on a linear network Authors: Álvaro Briz-Redón, Francisco Martínez-Ruiz, Francisco Montes Abstract: …concentrated. The detection of this kind of zones, which are usually referred to as hotspots, is essential in certain fields such as criminology, epidemiology or traffic safety. Traditionally, hotspot detection procedures have been developed over areal units of analysis. Although working at this spatial scale can be suitable enough for many research or pract… ▽ More Submitted 18 November, 2019; originally announced November 2019.

arXiv:1911.07602 [pdf, other] cs.CV cs.LG cs.RO eess.SP The inD Dataset: A Drone Dataset of Naturalistic Road User Trajectories at German Intersections Authors: Julian Bock, Robert Krajewski, Tobias Moers, Steffen Runde, Lennart Vater, Lutz Eckstein Abstract: Automated vehicles rely heavily on data-driven methods, especially for complex urban environments. Large datasets of real world measurement data in the form of road user trajectories are crucial for several tasks like… ▽ More Submitted 18 November, 2019; originally announced November 2019.

arXiv:1911.06589 [pdf, other] cs.CR
doi 10.1145/3360664.3360729 Approaching the Automation of Cyber Security Testing of Connected Vehicles Authors: Stefan Marksteiner, Zhendong Ma Abstract: The advancing digitalization of vehicles and automotive systems bears many advantages for creating and enhancing comfort and safety-related systems ranging from drive-by-wire, inclusion of advanced displays, entertainment systems up to sophisticated driving assistance and autonomous driving. It, however, also contains the inherent risk of being used for purp… ▽ More Submitted 15 November, 2019; originally announced November 2019. Comments: 3 pages, 1 figure, Central European Cybersecurity Conference 2019 (CECC2019), Munich

arXiv:1911.05374 [pdf] eess.SY
doi 10.30534/ijatcse/2019/109842019 Utilization of e-Nose Sensory Modality as Add-On Feature for Advanced Driver Assistance System Authors: Ira C. Valenzuela, Lean Karlo S. Tolentino, Ronnie O. Serfa Juan Abstract: …are only for visuals and hearing applications. Yet, the air quality inside the car is not usually monitored. Not to mention, the existing breath analyzers are used only by road traffic police enforcer randomly in examining the alcohol content in motorist's breath to avoid drunk driving related accidents. In this study, we proposed the development and uti… ▽ More Submitted 13 November, 2019; originally announced November 2019. Journal ref: International Journal of Advanced Trends in Computer Science and Engineering (2019) 1783-1788

arXiv:1911.04954 [pdf] stat.ML cs.LG Impact of Narrow Lanes on Arterial Road Vehicle Crashes: A Machine Learning Approach Authors: Mohammed Elhenawy, Arash Jahangiri, Hesham Rakha Abstract: …learning algorithms, namely: random forest (RF) and least squares boosting, to model crash data and identify the optimum model to study the impact of narrow lanes on the safety of arterial roads. Using a ten-year crash dataset in four cities in Nebraska, two machine learning models were assessed based on the prediction… ▽ More Submitted 7 November, 2019; originally announced November 2019.

arXiv:1911.04634 [pdf] eess.SP eess.SY Interference and Efficient Transmission Range via V2V Communication at Roads Traffic Intersections Authors: Ala Alobeidyeen, Lili Du Abstract: Vehicle-to-Vehicle (V2V) communication technology has dramatically promoted many promising applications to enhance traffic safety, mobility, and sustainability. However, However, we still lack the understanding of some fundamental properties of V2V technology under urban traffic conditions, such as interference at traffic intersections. Motivated by this vie… ▽ More Submitted 11 November, 2019; originally announced November 2019. Comments: 13 pages, 19 figures

arXiv:1911.02878 [pdf] stat.AP
doi 10.1016/j.aap.2019.105352 Safety benefit assessment of autonomous emergency braking and steering systems for the protection of cyclists and pedestrians based on a combination of computer simulation and real-world test results Authors: Jordanka Kovaceva, András Bálint, Ron Schindler, Anja Schneider Abstract: Cyclists and pedestrians account for a significant share of fatalities and serious injuries in the road transport system. In order to protect them, advanced driver assistance systems are being developed and introduced to the market, including autonomous emergency braking and steering systems (AEBSS) that autonomously perform braking or an evasive manoeuvre b… ▽ More Submitted 7 November, 2019; originally announced November 2019. Comments: Accepted manuscript, to appear in Accident Analysis and Prevention. 26 pages, 6 figures Journal ref: Accident Analysis & Prevention 136, 2020, 105352

arXiv:1911.02647 [pdf] stat.AP A Statistical Analysis of Recent Traffic Crashes in Massachusetts Authors: Aaron Zhang, Evan W. Patton, Justin M. Swaney, Tingying Helen Zeng Abstract: …models with Recursive Feature Elimination (RFE) and without RFE, in conjunction with logistic regression. This statistical analysis plays a significant role in our modern road network that has presented us with a heap of obstacles, one of the most critical being the issue of how we can ensure the… ▽ More Submitted 19 October, 2019; originally announced November 2019. Comments: 4 pages, 4 figures

arXiv:1911.02405 [pdf, other] cs.GT cs.AI doi 10.1016/j.trc.2020.102710 Liability Design for Autonomous Vehicles and Human-Driven Vehicles: A Hierarchical Game-Theoretic Approach Authors: Xuan Di, Xu Chen, Eric Talley Abstract: Autonomous vehicles (AVs) are inevitably entering our lives with potential benefits for improved traffic safety, mobility, and accessibility. However, AVs' benefits also introduce a serious potential challenge, in the form of complex interactions with human-driven vehicles (HVs). The emergence of AVs introduces uncertainty in the behavior of human actors… ▽ More Submitted 7 September, 2020; v1 submitted 4 November, 2019; originally announced November 2019.

arXiv:1911.02372 [pdf] eess.SP cs.LG doi 10.1080/15472450.2020.1780922 Road Surface Friction Prediction Using Long Short-Term Memory Neural Network Based on Historical Data Authors: Ziyuan Pu, Shuo Wang, Chenglong Liu, Zhiyong Cui, Yinhai Wang Abstract: Road surface friction significantly impacts traffic… ▽ More Submitted 1 November, 2019; originally announced November 2019. Comments: arXiv admin note: text overlap with arXiv:1911.00605 Journal ref: Journal of Intelligent Transportation Systems (2020): 1-12

arXiv:1911.01207 [pdf] cs.RO cs.LG Autonomous Vehicles Meet the Physical World: RSS, Variability, Uncertainty, and Proving Safety (Expanded Version) Authors: Philip Koopman, Beth Osyk, Jack Weast Abstract: The Responsibility-Sensitive Safety (RSS) model offers provable… ▽ More Submitted 30 October, 2019; originally announced November 2019. Comments: Safecomp 2019 expanded version, 22 pages including appendix

arXiv:1911.00605 [pdf] cs.LG eess.SP stat.ML doi 10.1049/iet-its.2019.0428 Time-Aware Gated Recurrent Unit Networks for Road Surface Friction Prediction Using Historical Data Authors: Ziyuan Pu, Zhiyong Cui, Shuo Wang, Qianmu Li, Yinhai Wang Abstract: An accurate road surface friction prediction algorithm can enable intelligent transportation systems to share timely… ▽ More Submitted 1 November, 2019; originally announced November 2019. Journal ref: IET Intelligent Transport Systems. 14.4 (2020): 213-219

arXiv:1910.13232 [pdf, other] cs.CV
doi 10.1016/j.aap.2019.105319 Detecting motorcycle helmet use with deep learning Authors: Felix Wilhelm Siebert, Hanhe Lin Abstract: The continuous motorization of traffic has led to a sustained increase in the global number of road related fatalities and injuries. To counter this, governments are focusing on enforcing safe and law-abiding behavior in traffic. However, especially in developing countries where the motorcycle is the main form of transportation, there is a lack of comprehens… ▽ More Submitted 29 October, 2019; originally announced October 2019. Journal ref: Accident Analysis and Prevention 134 (2020) 105319

arXiv:1910.11443 [pdf, other] cs.CV Animal Detection in Man-made Environments Authors: Abhineet Singh, Marcin Pietrasik, Gabriell Natha, Nehla Ghouaiel, Ken Brizel, Nilanjan Ray Abstract: Automatic detection of animals that have strayed into human inhabited areas has important security and road safety applications. This paper attempts to solve this problem using deep learning techniques from a variety of computer vision fields including object detection, tracking, segmentation and edge detection. Severa… ▽ More Submitted 14 January, 2020; v1 submitted 24 October, 2019; originally announced October 2019. Comments: to appear in to WACV 2020, supplementary: [http://webdocs.cs.ualberta.ca/~vis/asingh1/docs/animal_detection_supp.pdf], demo: [https://youtu.be/ZkjcP8s0QVQ]

arXiv:1910.07772 [pdf, other] cs.LG cs.RO stat.ML doi 10.1109/TITS.2020.3002070 Teaching Vehicles to Anticipate: A Systematic Study on Probabilistic Behavior Prediction Using Large Data Sets Authors: Florian Wirthmüller, Julian Schlechtriemen, Jochen Hipp, Manfred Reichert Abstract: By observing their environment as well as other traffic participants, humans are enabled to drive road vehicles safely. Vehicle passengers, however, perceive a notable difference between non-experienced and experienced drivers. In particular, they may get the impression that the latter ones anticipate what will happen in the next few moments and consider the… ▽ More Submitted 10 June, 2020; v1 submitted 17 October, 2019; originally announced October 2019. Comments: the paper has been accepted for publication in IEEE Transcations on Intelligent Transportation Systems (T-ITS) 16 pages 13 figures 12 tables

arXiv:1910.06673 [pdf, other] cs.LG cs.CV stat.ML SafeCritic: Collision-Aware Trajectory Prediction Authors: Tessa van der Heiden, Naveen Shankar Nagaraja, Christian Weiss, Efstratios Gavves Abstract: Navigating complex urban environments safely is a key to realize fully autonomous systems. Predicting future locations of vulnerable road users, such as pedestrians and cyclists, thus, has received a lot of attention in the recent years. While previous works have addressed modeling interactions with the static (obstacles) and dynamic (humans) environment age… ▽ More Submitted 15 October, 2019; originally announced October 2019. Comments: To Appear as workshop paper for the British Machine Vision Conference (BMVC) 2019

arXiv:1910.06540 [pdf] cs.CV stat.ML doi 10.1007/s00521-019-04506-0 Real-time monitoring of driver drowsiness on mobile platforms using 3D neural networks Authors: Jasper S. Wijnands, Jason Thompson, Kerry A. Nice, Gideon D. P. A. Aschwanden, Mark Stevenson Abstract: Driver drowsiness increases crash risk, leading to substantial road trauma each year. Drowsiness detection methods have received considerable attention, but few studies have investigated the implementation of a detection approach on a mobile phone. Phone applications reduce the need for specialised hardware and hence, enable a cost-effective roll-out of the… ▽ More Submitted 15 October, 2019; originally announced October 2019. Comments: 13 pages, 2 figures, 'Online First' version. For associated mp4 files, see journal website MSC Class: 68T45 (Primary) 68U10 (Secondary) ACM Class: I.4.9; I.4.8; I.2.10 Journal ref: Neural Computing and Applications (2019)

arXiv:1910.06014 [pdf, other] cs.RO cs.CV doi 10.1109/ITSC.2019.8917292 A Collaborative Framework for High-Definition Mapping Authors: Alexis Stoven-Dubois, Kuntima Kiala Miguel, Aziz Dziri, Bertrand Leroy, Roland Chapuis Abstract: For connected vehicles to have a substantial effect on road safety, it is required that accurate positions and trajectories can be shared. To this end, all vehicles must be accurately geolocalized in a common frame. This can be achieved by merging GNSS (Global Navigation Satellite System) information and visual observa… ▽ More Submitted 28 July, 2020; v1 submitted 14 October, 2019; originally announced October 2019. Comments: 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works ACM Class: I.2.9 Journal ref: 2019 IEEE Intelligent Transportation Systems Conference (ITSC)

arXiv:1910.04695 [pdf, other] cs.HC cs.CV cs.LG cs.RO GLADAS: Gesture Learning for Advanced Driver Assistance Systems Authors: Ethan Shaotran, Jonathan J. Cruz, Vijay Janapa Reddi Abstract: Human-computer interaction (HCI) is crucial for the safety of lives as autonomous vehicles (AVs) become commonplace. Yet, little effort has been put toward ensuring that AVs understand humans on the road. In this paper, we present GLADAS, a simulator-based research platform designed to teach AVs to understand pedestria… ▽ More Submitted 1 October, 2019; originally announced October 2019. Comments: 9 Pages, 7 Figures

arXiv:1910.02461 [pdf, other] cs.AI cs.RO Risk-Aware Reasoning for Autonomous Vehicles Authors: Majid Khonji, Jorge Dias, Lakmal Seneviratne Abstract: A significant barrier to deploying autonomous vehicles (AVs) on a massive scale is safety assurance. Several technical challenges arise due to the uncertain environment in which AVs operate such as road and weather conditions, errors in perception and sensory data, and also model inaccuracy. In this paper, we propose a… ▽ More Submitted 6 October, 2019; originally announced October 2019.

arXiv:1910.00806 [pdf, other] cs.SE doi 10.1109/APSEC48747.2019.00022 A Mutation-based Approach for Assessing Weight Coverage of a Path Planner Authors: Thomas Laurent, Paolo Arcaini, Fuyuki Ishikawa, Anthony Ventresque Abstract: Autonomous cars are subjected to several different kind of inputs (other cars, road structure, etc.) and, therefore, testing the car under all possible conditions is impossible. To tackle this problem, scenario-based testing for automated driving defines categories of different scenarios that should be covered. Although this kind of coverage is a necessary c… ▽ More Submitted 2 October, 2019; originally announced October 2019. Comments: Preprint version of paper accepted at the 26th Asia-Pacific Software Engineering Conference (APSEC 2019)

arXiv:1910.00099 [pdf, other] cs.LG cs.CV cs.RO eess.IV stat.ML CMTS: Conditional Multiple Trajectory Synthesizer for Generating Safety-critical Driving Scenarios Authors: Wenhao Ding, Mengdi Xu, Ding Zhao Abstract: …most of the data is collected in safe scenarios leading to the duplication of trajectories which are easy to be handled by currently developed algorithms. When considering safety, testing algorithms in near-miss scenarios that rarely show up in off-the-shelf datasets is a vital part of the evaluation. As a remedy, we propose a near-miss data synthesizing fr… ▽ More Submitted 2 October, 2019; v1 submitted 17 September, 2019; originally announced October 2019. Comments: Submitted to ICRA 2020, 8 pages, 7 figures

arXiv:1909.13587 [pdf, other] cs.IT eess.SP A Survey on Resource Allocation in Vehicular Networks Authors: Md. Noor-A-Rahim, Zilong Liu, Haeyoung Lee, G. G. Md. Nawaz Ali, Dirk Pesch, Pei Xiao Abstract: Vehicular networks, an enabling technology for Intelligent Transportation System (ITS), smart cities, and autonomous driving, can deliver numerous on-board data services, e.g., road-safety, easy navigation, traffic efficiency, comfort driving, infotainment, etc. Providing satisfactory Quality of Service (QoS) in vehicu… ▽ More Submitted 24 August, 2020; v1 submitted 30 September, 2019; originally announced September 2019.

arXiv:1909.13204 [pdf, ps, other] cs.MA Clustering Strategies of Cooperative Adaptive Cruise Control: Impacts on Human-driven Vehicles Authors: Zijia Zhong, Mark Nejad, Earl E. Lee, Joyoung Lee Abstract: As a promising application of connected and automated vehicles (CAVs), Cooperative Adaptive Cruise Control (CACC) is expected to be deployed on the public road in the near term. Thus far the majority of the CACC studies have been focusing on the overall network performance with limited insight on the potential impact of CAVs on human-driven vehicles (HVs). T… ▽ More Submitted 29 September, 2019; originally announced September 2019. Comments: 7 pages, 6 figures, 2019 IEEE 2nd Connected and Automated Vehicles Symposium

arXiv:1909.12967 [pdf, ps, other] eess.SY Anti-Jerk On-Ramp Merging Using Deep Reinforcement Learning Authors: Yuan Lin, John McPhee, Nasser L. Azad Abstract: …state includes the states of five vehicles: the merging vehicle, along with two preceding and two following vehicles when the merging vehicle is or is projected on the main road. The control action is the acceleration of the merging vehicle. Deep Deterministic Policy Gradient (DDPG) is the DRL algorithm for training to output continuous control actions. We i… ▽ More Submitted 15 May, 2020; v1 submitted 27 September, 2019; originally announced September 2019. Comments: Accepted to 2020 IEEE Intelligent Vehicles Symposium

arXiv:1909.07438 [pdf] cs.CY cs.CR doi 10.1109/ICSTCC.2013.6689029 On the design of an innovative solution for increasing hazardous materials transportation safety Authors: Emil Pricop Abstract: …represent a high risk operation all over the world. Flammable substances such as oil, kerosene, hydrocarbons, ammonium nitrate or toxic products are shipped every day on busy roads by trucks. An innovative solution for increasing hazardous materials transportation… ▽ More Submitted 10 September, 2019; originally announced September 2019. Comments: Paper presented at the 17th International Conference on System Theory, Control and Computing (ICSTCC 2013), Sinaia, Romania - 11-13 October 2013 Journal ref: Proceedings of the 7th International Conference on System Theory, Control and Computing (ICSTCC 2013)

arXiv:1909.00342 [pdf, other] cs.RO On Maximizing Lateral Clearance of an Autonomous Vehicle in Urban Environments Authors: Francesco Seccamonte, Juraj Kabzan, Emilio Frazzoli Abstract: We consider the problem of maximizing distance to road agents for a self-driving car. To this extent, we employ a Model Predictive Control (MPC) approach for the steering tracking control of an Autonomous Vehicle (AV). Specifically, we first present a traditional MPC controller, which is then extended to encode the clearance maximization goal by manipulating… ▽ More Submitted 1 September, 2019; originally announced September 2019. Comments: 7 pages, 8 figures, to be presented at IEEE-ITSC 2019

arXiv:1908.11262 [pdf, other] cs.CV cs.LG eess.IV eess.SP doi 10.1109/TITS.2019.2931429 Traffic Sign Detection under Challenging Conditions: A Deeper Look Into Performance Variations and Spectral Characteristics Authors: Dogancan Temel, Min-Hung Chen, Ghassan AlRegib Abstract: Traffic signs are critical for maintaining the safety and efficiency of our roads. Therefore, we need to carefully assess the capabilities and limitations of automated traffic sign detection systems. Existing traffic sign datasets are limited in terms of type and severity of challenging conditions. Metadata correspondi… ▽ More Submitted 29 August, 2019; originally announced August 2019. Comments: 13 pages, 9 figures, 4 tables. IEEE Transactions on Intelligent Transportation Systems, 2019 ACM Class: I.2; I.4; I.5

arXiv:1908.10187 [pdf, other] cs.LG eess.SP stat.ML A Machine Learning Approach for Smartphone-based Sensing of Roads and Driving Style Authors: M. Ricardo Carlos Abstract: Road transportation is of critical importance for a nation, having profound effects in the economy, the health and life style of its people. With the growth of cities and populations come bigger demands for mobility and… ▽ More Submitted 14 August, 2019; originally announced August 2019. Comments: Doctoral Dissertation. Dissertation Advisors: Luis Carlos González Gurrola and Fernando Martínez

arXiv:1908.06540 [pdf, other] cs.AI cs.CY cs.SE doi 10.1109/ISSRE.2019.00012 Assessing the Safety and Reliability of Autonomous Vehicles from Road Testing Authors: Xingyu Zhao, Valentin Robu, David Flynn, Kizito Salako, Lorenzo Strigini Abstract: There is an urgent societal need to assess whether autonomous vehicles (AVs) are safe enough. From published quantitative safety and reliability assessments of AVs, we know that, given the goal of predicting very low rates of accidents,… ▽ More Submitted 18 August, 2019; originally announced August 2019. Journal ref: Proceedings of 30th IEEE International Symposium on Software Reliability Engineering (ISSRE 2019)

arXiv:1908.01182 [pdf, other] cs.IT eess.SP Dependence Control for Reliability Optimization in Vehicular Networks Authors: Tengchan Zeng, Omid Semiari, Walid Saad, Mehdi Bennis Abstract: Vehicular networks will play an important role in enhancing road safety, improving transportation efficiency, and providing seamless Internet service for users on the road. Reaping the benefit of vehicular networks is contingent upon meeting stringent wireless communication perfo… ▽ More Submitted 3 August, 2019; originally announced August 2019.

arXiv:1908.00981 [pdf] cs.RO cs.HC Situation-Aware Left-Turning Connected and Automated Vehicle Operation at Signalized Intersections Authors: Sakib Mahmud Khan, Mashrur Chowdhury Abstract: …challenging aspect of the Connected and Automated Vehicle (CAV) operation in mixed traffic is the development of a situation-awareness module for CAVs. While operating on public roads, CAVs need to assess their surroundings, especially the intentions of non-CAVs. Generally, CAVs demonstrate a defensive driving behavior, and CAVs expect other non-autonomous e… ▽ More Submitted 16 November, 2020; v1 submitted 2 August, 2019; originally announced August 2019.

arXiv:1908.00452 [pdf, other] cs.NE eess.SY Estimation of Tire-Road Friction for Road Vehicles: a Time Delay Neural Network Approach Authors: Alexandre M. Ribeiro, Alexandra Moutinho, André R. Fioravanti, Ely C. de Paiva Abstract: The performance of vehicle active safety systems is dependent on the friction force arising from the contact of tires and the… ▽ More Submitted 14 November, 2019; v1 submitted 1 August, 2019; originally announced August 2019. Comments: 13 pages, 15 figures

arXiv:1907.12647 [pdf, other] cs.CV cs.CY cs.LG stat.ML Mapping road safety features from streetview imagery: A deep learning approach Authors: Arpan Sainju, Zhe Jiang Abstract: Each year, around 6 million car accidents occur in the U.S. on average. Road… ▽ More Submitted 15 July, 2019; originally announced July 2019. Comments: 17 pages, 16 figures, 3 tables

arXiv:1907.11208 [pdf, other] cs.LG cs.RO stat.ML Prediction of Highway Lane Changes Based on Prototype Trajectories Authors: David Augustin, Marius Hofmann, Ulrich Konigorski Abstract: The vision of automated driving is to increase both road safety and efficiency, while offering passengers a convenient travel experience. This requires that autonomous systems correctly estimate the current traffic scene and its likely evolution. In highway scenarios early recognition of cut-in maneuvers is essential f… ▽ More Submitted 25 July, 2019; originally announced July 2019. Comments: VDI AUTOREG 2019, 17 pages, 5 figures Journal ref: VDI-Berichte Nr. 2349: 111-127, 2019, VDI Wissensforum GmbH, ISSN: 0083-5560, ISBN: 978-3-18-092349-9

arXiv:1907.11066 [pdf, other] cs.CV Importance-Aware Semantic Segmentation with Efficient Pyramidal Context Network for Navigational Assistant Systems Authors: Kaite Xiang, Kaiwei Wang, Kailun Yang Abstract: …(SS) is a task to assign semantic label to each pixel of the images, which is of immense significance for autonomous vehicles, robotics and assisted navigation of vulnerable road users. It is obvious that in different application scenarios, different objects possess hierarchical importance and safety-relevance, but con… ▽ More Submitted 27 July, 2019; v1 submitted 25 July, 2019; originally announced July 2019. Comments: 7 pages, 22 figures, IEEE Intelligent Transportation Systems Conference - ITSC 2019

arXiv:1907.09929 [pdf, other] cs.LG stat.ML Detection of Real-world Driving-induced Affective State Using Physiological Signals and Multi-view Multi-task Machine Learning Authors: Daniel Lopez-Martinez, Neska El-Haouij, Rosalind Picard Abstract: Affective states have a critical role in driving performance and safety. They can degrade driver situation awareness and negatively impact cognitive processes, severely diminishing… ▽ More Submitted 19 July, 2019; originally announced July 2019. Comments: Affective Computing and Intelligent Interaction Conference 2019

arXiv:1907.09454 [pdf, other] eess.SP cs.NI A Fog Computing Framework for Autonomous Driving Assist: Architecture, Experiments, and Challenges Authors: Muthucumaru Maheswaran, Tianzi Yang, Salman Memon Abstract: Autonomous driving is expected to provide a range of far-reaching economic, environmental and safety benefits. In this study, we propose a fog computing based framework to assist autonomous driving. Our framework relies on overhead views from cameras and data streams from vehicle sensors to create a network of distributed digital twins, called an edge twin,… ▽ More Submitted 16 July, 2019; originally announced July 2019.

arXiv:1907.09453 [pdf, other] eess.SP cs.LG Analysis and development of an automatic eCall for motorcycles: a one-class cepstrum approach Authors: Simone Gelmini, Giulio Panzani, Sergio Savaresi Abstract: The automatic dial of an emergency call - eCall - in response to a road accident is a feature that is gaining interest in the intelligent vehicle community. It indirectly increases the driving safety of road vehicles, but presents the technical challenge of developing an algorith… ▽ More Submitted 19 July, 2019; originally announced July 2019.

arXiv:1907.06826 [pdf, other] cs.CR cs.CV eess.SP stat.ML doi 10.1145/3319535.3339815 Adversarial Sensor Attack on LiDAR-based Perception in Autonomous Driving Authors: Yulong Cao, Chaowei Xiao, Benjamin Cyr, Yimeng Zhou, Won Park, Sara Rampazzi, Qi Alfred Chen, Kevin Fu, Z. Morley Mao Abstract: …pillar is perception, which leverages sensors like cameras and LiDARs (Light Detection and Ranging) to understand the driving environment. Due to its direct impact on road… ▽ More Submitted 20 August, 2019; v1 submitted 16 July, 2019; originally announced July 2019. Comments: Accepted at the ACM Conference on Computer and Communications Security (CCS), 2019

arXiv:1907.05738 [pdf, other] cs.CV cs.RO eess.SY Learning a Curve Guardian for Motorcycles Authors: Simon Hecker, Alexander Liniger, Henrik Maurenbrecher, Dengxin Dai, Luc Van Gool Abstract: …speed and wrong intra-lane position of the motorcycle. Existing curve warning systems lack crucial state estimation components and do not scale well. We propose a new type of road curvature warning system for motorcycles, combining the latest advances in computer vision, optimal control and mapping technologies to alleviate these shortcomings. Our contribute… ▽ More Submitted 12 July, 2019; originally announced July 2019. Comments: 8 pages, to be presented at IEEE-ITSC 2019

arXiv:1907.05364 [pdf, other] cs.LG cs.RO stat.AP stat.ML Performance Boundary Identification for the Evaluation of Automated Vehicles using Gaussian Process Classification Authors: Felix Batsch, Alireza Daneshkhah, Madeline Cheah, Stratis Kanarachos, Anthony Baxendale Abstract: Safety is an essential aspect in the facilitation of automated vehicle deployment. Current testing practices are not enough, and going beyond them leads to infeasible testing requirements, such as needing to drive billions of kilometres on public roads. Automated vehicles are exposed to an indefinite number of scenario… ▽ More Submitted 11 July, 2019; originally announced July 2019. Comments: 6 pages, 5 figures, accepted at 2019 IEEE Intelligent Transportation Systems Conference - ITSC 2019, Auckland, New Zealand, October 2019

arXiv:1907.01577 cs.RO SVM Enhanced Frenet Frame Planner For Safe Navigation Amidst Moving Agents Authors: Unni Krishnan R Nair, Nivedita Rufus, Vashist Madiraju, K Madhava Krishna Abstract: This paper proposes an SVM Enhanced Trajectory Planner for dynamic scenes, typically those encountered in on road settings. Frenet frame based trajectory generation is popular in the context of autonomous driving both in research and industry. We incorporate a safety based maximal margin criteria using a SVM layer that… ▽ More Submitted 11 September, 2020; v1 submitted 2 July, 2019; originally announced July 2019. Comments: Requires further work

arXiv:1907.01038 [pdf, other] eess.SP
doi 10.1109/DSN-W.2018.00027 AVFI: Fault Injection for Autonomous Vehicles Authors: Saurabh Jha, Subho S. Banerjee, James Cyriac, Zbigniew T. Kalbarczyk, Ravishankar K. Iyer Abstract: Autonomous vehicle (AV) technology is rapidly becoming a reality on U.S. roads, offering the promise of improvements in traffic management,… ▽ More Submitted 1 July, 2019; originally announced July 2019. Comments: Published in: 2018 48th Annual IEEE/IFIP International Conference on Dependable Systems and Networks Workshops (DSN-W)

arXiv:1907.01024 [pdf, other] cs.SE Kayotee: A Fault Injection-based System to Assess the Safety and Reliability of Autonomous Vehicles to Faults and Errors Authors: Saurabh Jha, Timothy Tsai, Siva Hari, Michael Sullivan, Zbigniew Kalbarczyk, Stephen W. Keckler, Ravishankar K. Iyer Abstract: Fully autonomous vehicles (AVs), i.e., AVs with autonomy level 5, are expected to dominate road transportation in the near-future and contribute trillions of dollars to the global economy. The general public, government organizations, and manufacturers all have significant concern regarding resiliency and… ▽ More Submitted 1 July, 2019; originally announced July 2019. Comments: Presented at Automotive Reliability and Testing (ART) 2018 colocated with International Testing Conference

arXiv:1906.11922 [pdf] cs.NI
doi 10.11591/ijece.v9i4 An Improved CF-MAC Protocol for VANET Authors: Ghassan Samara Abstract: …research areas in the mobile computing field which is considered as a future technology and promising topic in the computer science and computer networks. Which provides road… ▽ More Submitted 14 June, 2019; originally announced June 2019. Comments: 7 pages Journal ref: International Journal of Electrical and Computer Engineering (IJECE) Vol. 9, No. 4, August 2019, pp. 2668~2675 ISSN: 2088-8708

arXiv:1906.07077 [pdf, other] cs.LG cs.CR stat.ML The Attack Generator: A Systematic Approach Towards Constructing Adversarial Attacks Authors: Felix Assion, Peter Schlicht, Florens Greßner, Wiebke Günther, Fabian Hüger, Nico Schmidt, Umair Rasheed Abstract: …systems are vulnerable to adversarial perturbations. As a consequence, adversarial robustness poses a significant challenge for the deployment of ML-based systems in safety- and security-critical environments like autonomous driving, disease detection or unmanned aerial vehicles. In the past years we have seen an impressive amount of publications presenting… ▽ More Submitted 17 June, 2019; originally announced June 2019. Comments: CVPR SAIAD - Workshop 2019

arXiv:1906.02275 [pdf] cs.RO cs.LG stat.ML Continuous Control for Automated Lane Change Behavior Based on Deep Deterministic Policy Gradient Algorithm Authors: Pin Wang, Hanhan Li, Ching-Yao Chan Abstract: Lane change is a challenging task which requires delicate actions to ensure safety and comfort. Some recent studies have attempted to solve the lane-change control problem with Reinforcement Learning (RL), yet the action is confined to discrete action space. To overcome this limitation, we formulate the lane change behavior with continuous action in a model-… ▽ More Submitted 5 June, 2019; originally announced June 2019. Comments: Published at the 30th IEEE Intelligent Vehicles Symposium (IV), 2019

arXiv:1906.01061 [pdf, other] cs.RO eess.SP eess.SY doi 10.4271/12-02-03-0012 Localization Requirements for Autonomous Vehicles Authors: Tyler G. R. Reid, Sarah E. Houts, Robert Cammarata, Graham Mills, Siddharth Agarwal, Ankit Vora, Gaurav Pandey Abstract: …for path planning, perception, control, and general safe operation. Here we derive these requirements for autonomous vehicles based on first principles. We begin with the safety integrity level, defining the allowable probability of failure per hour of operation based on desired improvements on… ▽ More Submitted 3 June, 2019; originally announced June 2019. Comments: Under review with the SAE Journal of Connected and Automated Vehicles Journal ref: SAE Intl. J CAV 2(3):2019

arXiv:1905.12762 [pdf, other] cs.LG cs.CR stat.ML doi 10.1109/COMST.2020.2975048 Securing Connected & Autonomous Vehicles: Challenges Posed by Adversarial Machine Learning and The Way Forward Authors: Adnan Qayyum, Muhammad Usama, Junaid Qadir, Ala Al-Fuqaha Abstract: Connected and autonomous vehicles (CAVs) will form the backbone of future next-generation intelligent transportation systems (ITS) providing travel comfort, road safety, along with a number of value-added services. Such a transformation---which will be fuelled by concomitant advances in technologies for machine learnin… ▽ More Submitted 29 May, 2019; originally announced May 2019. Journal ref: IEEE Communications Surveys and Tutorials 2020

arXiv:1905.11654 [pdf, other] physics.soc-ph Electric Vehicles and their Effect on Network Load Authors: Victor L. Knoop Abstract: The composition of the fleet of road cars is changing from fuel powered cars to plug-in hybrid (PHEV) and electrical vehicles (EV). The (electrical) range of these vehicles is limited, leading to so called `range anxiety'. Firstly, this leads to a preference of shorter routes. Secondly, (PH)EVs have the ability to regenerate energy from braking, which ma… ▽ More Submitted 28 May, 2019; originally announced May 2019.

arXiv:1905.10910 [pdf, other] cs.CR Risk Analysis Study of Fully Autonomous Vehicle Authors: Chuka Oham, Raja Jurdak, Sanjay Jha Abstract: Fully autonomous vehicles are emerging vehicular technologies that have gained significant attention in todays research endeavours. Even though it promises to optimize road safety, the proliferation of wireless and sensor technologies makes it susceptible to cyber threats thus dawdling its adoption. The identification… ▽ More Submitted 26 May, 2019; originally announced May 2019.

arXiv:1905.09578 [pdf, other] cs.NI
doi 10.1002/ETT.3652 Network Slicing for Vehicular Communication Authors: Hamza Khan, Petri Luoto, Sumudu Samarakoon, Mehdi Bennis, Matti Latva-Aho Abstract: …based communication solution for vehicular networks. In this work, we model a highway scenario with vehicles having heterogeneous traffic demands. The autonomous driving slice (safety messages) and the infotainment slice (video stream) are the two logical slices created on a common infrastructure. We formulated a network clustering and slicing algorithm to p… ▽ More Submitted 23 May, 2019; originally announced May 2019. Comments: 9 Pages, 10 Figures, Transactions on Emerging Telecommunications Technologies

arXiv:1905.08453 [pdf, other] cs.RO cs.NE Towards Safety-Aware Computing System Design in Autonomous Vehicles Authors: Hengyu Zhao, Yubo Zhang, Pingfan Meng, Hui Shi, Li Erran Li, Tiancheng Lou, Jishen Zhao Abstract: …in the car to to interpret the environment and make driving decisions. Therefore, computing system design is essential particularly in enhancing the attainment of driving safety. However, to our knowledge, no clear guideline exists so far regarding… ▽ More Submitted 22 May, 2019; v1 submitted 21 May, 2019; originally announced May 2019.

arXiv:1905.07125 [pdf, ps, other] cs.IT cs.NI Joint Frequency-and-Phase Modulation for Backscatter-Tag Assisted Vehicular Positioning Authors: Kaifeng Han, Seung-Woo Ko, Seungmin Lee, Woo-Suk Ko, Kaibin Huang Abstract: Autonomous driving (auto-driving) has been becoming a killer technology for next generation vehicles, whereas some fatal accidents grow concerns about its safety. A fundamental function for safer auto-driving is to recognize the vehicles' locations, termed vehicular positioning. The state-of-the-art vehicular positioning is to rely on anchors that are st… ▽ More Submitted 17 May, 2019; originally announced May 2019. Comments: 5 pages, to appear in Proc. of IEEE SPAWC 2019

arXiv:1905.05390 [pdf] cs.HC WatchOut: A Road Safety Extension for Pedestrians on a Public Windshield Display Authors: Matthias Geiger, Changkun Ou, Cedric Quintes Abstract: We conducted a field study to investigate whether public windshield displays are applicable as an additional interactive digital road… ▽ More Submitted 14 May, 2019; originally announced May 2019.

arXiv:1904.12631 [pdf, other] cs.CV Detecting inter-sectional accuracy differences in driver drowsiness detection algorithms Authors: Mkhuseli Ngxande, Jule-Raymond Tapamo, Michael Burke Abstract: …a breakthrough by Alex Krizhevsky which showed improvements by dramatically reducing the error rate obtained in a general image classification task from 26.2% to 15.4%. In road safety, CNNs have been applied widely to the detection of traffic signs, obstacle detection, and lane departure checking. In addition, CNNs hav… ▽ More Submitted 23 April, 2019; originally announced April 2019. Comments: 9 pages, 7 figures

arXiv:1904.11786 [pdf] cs.OH cs.LG A Method for Expressing and Displaying the Vehicle Behavior Distribution in Maintenance Work Zones Authors: Qun Yang, Zhepu Xu, Saravanan Gurupackiam, Ping Wang Abstract: Maintenance work zones on the road network have impacts on the normal travelling of vehicles, which increase the risk of traffic accidents. The traffic characteristic analysis in maintenance work zones is a basis for maintenance work zone related research such as layout design, traffic control and… ▽ More Submitted 25 April, 2019; originally announced April 2019. Comments: 14 pages, 12 figures, 1 table

arXiv:1904.09302 [pdf, other] eess.SY Model Predictive Control Framework for Improving Vehicle Cornering Performance Using Handling Characteristics Authors: Kyoungseok Han, Giseo Park, Gokul S. Sankar, Kanghyun Nam, Seibum B. Choi Abstract: …of the proposed method is that the natural handling characteristics of the production vehicle is exploited to reduce the complexity of the conventional control methods. For safety s sake, most production vehicles are built to exhibit an understeer handling characteristics to some extent. By monitoring how much the vehicle is biased into the understeer state,… ▽ More Submitted 14 November, 2019; v1 submitted 19 April, 2019; originally announced April 2019.

arXiv:1904.09100 [pdf, other] cs.HC Detecting driver distraction using stimuli-response EEG analysis Authors: Garima Bajwa, Mohamed Fazeen, Ram Dantu Abstract: …in our study (read, text, call, and snapshot) using a single electrode. The quantification of distracted driving detailed in this paper is necessary to guide future policies in road safety. Our system addresses the safety concerns resulting from driver distraction and aims to bri… ▽ More Submitted 19 April, 2019; originally announced April 2019.

arXiv:1904.08582 [pdf, other] cs.CV cs.LG eess.IV Road Crack Detection Using Deep Convolutional Neural Network and Adaptive Thresholding Authors: Rui Fan, Mohammud Junaid Bocus, Yilong Zhu, Jianhao Jiao, Li Wang, Fulong Ma, Shanshan Cheng, Ming Liu Abstract: Crack is one of the most common road distresses which may pose… ▽ More Submitted 17 April, 2019; originally announced April 2019. Comments: 6 pages, 8 figures, 2019 IEEE Intelligent Vehicles Symposium

arXiv:1904.08557 [pdf, other] math.OC Balancing Safety and Traffic Throughput in Cooperative Vehicle Platooning Authors: Stanley W. Smith, Yeojun Kim, Jacopo Guanetti, Alexander A. Kurzhanskiy, Murat Arcak, Francesco Borrelli Abstract: …(V2V) communication in order to maintain small inter-vehicle distances and correspondingly achieve large vehicle throughput at an intersection. We study the trade-off between safety and… ▽ More Submitted 17 April, 2019; originally announced April 2019. Comments: 6 pages, 4 figures, 2 tables

arXiv:1904.07705 [pdf, other] cs.RO cs.AI cs.LG Multi-Objective Autonomous Braking System using Naturalistic Dataset Authors: Rafael Vasquez, Bilal Farooq Abstract: …learning based multi-objective autonomous braking system is presented. The design of the system is formulated in a continuous action space and seeks to maximize both pedestrian safety and perception as well as passenger comfort. The vehicle agent is trained against a large naturalistic dataset containing pedestrian… ▽ More Submitted 1 July, 2019; v1 submitted 15 April, 2019; originally announced April 2019. Comments: Accepted in the proceedings of IEEE ITSC2019

arXiv:1904.06500 [pdf] eess.SY A Negotiation-based Right-of-way Assignment Strategy to Ensure Traffic Safety and Efficiency in Lane Change Authors: Can Zhao, Zhiheng Li, Li Li, Xiao Wang, Fei-Yue Wang, Xiangbin Wu Abstract: It is widely acknowledged that verifying the safety of autonomous driving strategies requires a substantial body of simulation testing and… ▽ More Submitted 8 March, 2021; v1 submitted 13 April, 2019; originally announced April 2019. Comments: 9 pages, 10 figures

arXiv:1904.06017 [pdf, other] cs.CV cs.RO eess.IV Real-Time Dense Stereo Embedded in A UAV for Road Inspection Authors: Rui Fan, Jianhao Jiao, Jie Pan, Huaiyang Huang, Shaojie Shen, Ming Liu Abstract: The condition assessment of road surfaces is essential to ensure their serviceability while still providing maximum… ▽ More Submitted 11 April, 2019; originally announced April 2019. Comments: 9 pages, 8 figures, In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR) Workshops, June 16-20, 2019, Long Beach, USA

arXiv:1904.01630 [pdf, other] cs.DC cs.NI MOTIVE: Micropayments for trusted vehicular services Authors: Gowri Sankar Ramachandran, Xiang Ji, Pavas Navaney, Licheng Zheng, Martin Martinez, Bhaskar Krishnamachari Abstract: …data and computation on board, we envision a future where vehicles can cooperate to increase their perception of the world beyond their immediate view, resulting in greater safety, coordination and more comfortable experience for their human occupants. In order for vehicles to obtain data, compute and other services from other vehicles or… ▽ More Submitted 28 February, 2019; originally announced April 2019.

arXiv:1904.01392 [pdf] cs.CY
doi 10.1016/j.vehcom.2019.100186 Context-Aware Misbehavior Detection Scheme for Vehicular Ad Hoc Networks using Sequential Analysis of the Temporal and Spatial Correlation of the Cooperative Awareness Messages Authors: Fuad A. Ghaleb Abstract: Vehicular ad hoc Networks (VANETs) are emerged mainly to improve road safety, traffic efficiency, and passenger comfort. The performance of most VANET applications relies on the availability of accurate and recent mobility-information, shared by neighboring vehicles. However, sharing false mobility information can disr… ▽ More Submitted 2 April, 2019; originally announced April 2019.

arXiv:1904.01168 [pdf, other] cs.NI cs.CR Blockchain-based Lightweight Authentication Mechanism for Vehicular Fog Infrastructure Authors: Kuljeet Kaur, Sahil Garg, Georges Kaddoum, François Gagnon, Syed Hassan Ahmed Abstract: …Due to the tremendous growth of various vehicular applications, a huge amount of data is generated through advanced on-board devices and is deemed critical to improve driving safety and enhance vehicular services. However, cloud based models often fall short in applications where latency and mobility are critical. In order to fully realize the potential of… ▽ More Submitted 1 April, 2019; originally announced April 2019. Comments: Accepted for publication in IEEE ICC 2019 Workshop on Wireless Physical Layer Security

arXiv:1904.00685 [pdf, other] cs.CR Secure OTA Software Updates in Connected Vehicles: A survey Authors: Subir Halder, Amrita Ghosal, Mauro Conti Abstract: …OTA updates for cars along with relevant statistics. Then, we emphasize on the security challenges and requirements of remote OTA updates along with use cases and standard road safety regulations followed in different countries. We also provide for a classification of the existing works in literature that deal with imp… ▽ More Submitted 1 April, 2019; originally announced April 2019. Comments: 18 pages

arXiv:1903.11812 [pdf] cs.HC Analysis of distracted pedestrians' waiting time: Head-Mounted Immersive Virtual Reality application Authors: Arash Kalatian, Anae Sobhani, Bilal Farooq Abstract: This paper analyzes the distracted pedestrians' waiting time before crossing the road in three conditions: 1) not distracted, 2) distracted with a smartphone and 3) distracted with a smartphone in the presence of virtual flashing LED lights on the crosswalk as a… ▽ More Submitted 28 March, 2019; originally announced March 2019. Comments: Published in the proceedings of Pedestrian and Evacuation Dynamics 2018

arXiv:1903.11538 [pdf, other] cs.IT
doi 10.1109/ICCW.2019.8757059 RF-Assisted Free-Space Optics for 5G Vehicle-to-Vehicle Communications Authors: Mattia Brambilla, Andrea Matera, Dario Tagliaferri, Monica Nicoli, Umberto Spagnolini Abstract: Vehicle-to-Vehicle (V2V) communications are being proposed, tested and deployed to improve road safety and traffic efficiency. However, the automotive industry poses strict requirements for safety-critical applications, that call for reliable, low latency and high data rate commu… ▽ More Submitted 28 March, 2019; v1 submitted 27 March, 2019; originally announced March 2019. Comments: Accepted in IEEE ICC 2019

arXiv:1903.09381 [pdf, other] cs.LG stat.ML Multi-modal Probabilistic Prediction of Interactive Behavior via an Interpretable Model Authors: Yeping Hu, Wei Zhan, Liting Sun, Masayoshi Tomizuka Abstract: For autonomous agents to successfully operate in real world, the ability to anticipate future motions of surrounding entities in the scene can greatly enhance their safety levels since potentially dangerous situations could be avoided in advance. While impressive results have been shown on predicting each agent's behavior independently, we argue that it… ▽ More Submitted 2 June, 2019; v1 submitted 22 March, 2019; originally announced March 2019. Comments: accepted by the 2019 IEEE Intelligent Vehicles Symposium (IV)

arXiv:1903.07970 [pdf] cs.LG stat.ML A Choquet Fuzzy Integral Vertical Bagging Classifier for Mobile Telematics Data Analysis Authors: Mohammad Siami, Mohsen Naderpour, Jie Lu Abstract: …years has resulted in new products and features to improve human life. Mobile telematics is one such development that encompasses multidisciplinary fields for transportation safety. The application of mobile telematics has been explored in many areas, such as insurance and… ▽ More Submitted 19 March, 2019; originally announced March 2019.

arXiv:1903.04788 [pdf, other] eess.SP The COST IRACON Geometry-based Stochastic Channel Model for Vehicle-to-Vehicle Communication in Intersections Authors: Carl Gustafson, Kim Mahler, David Bolin, Fredrik Tufvesson Abstract: Vehicle-to-vehicle (V2V) wireless communications can improve traffic safety at… ▽ More Submitted 14 January, 2020; v1 submitted 12 March, 2019; originally announced March 2019. Comments: Submitted to IEEE Transactions on Vehicular Technology

arXiv:1903.04399 [pdf, ps, other] cs.NI LTE and Millimeter Waves for V2I Communications: an End-to-End Performance Comparison Authors: Marco Giordani, Andrea Zanella, Michele Zorzi Abstract: The Long Term Evolution (LTE) standard enables, besides cellular connectivity, basic automotive services to promote road safety through vehicle-to-infrastructure (V2I) communications. Nevertheless, stakeholders and research institutions, driven by the ambitious technological advances expected from fully autonomous and… ▽ More Submitted 11 March, 2019; originally announced March 2019. Comments: 7 pages, 5 figures, 2 tables. Accepted to VTC-Spring 2019, workshop on High Mobility Wireless Communications (HMWC)

arXiv:1903.02552 [pdf, other] cs.RO Design of A Two-point Steering Path Planner Using Geometric Control Authors: Yunlong Huang Abstract: …control, we will first design a path planner which satisfies five design objectives: generalization for different vehicle models, convergence to the target lane, optimality, safety in lane-change maneuver and low computational complexity. Later, based on this path planner, a two-point steering path planner will be proposed and it will be proved rigorously th… ▽ More Submitted 28 April, 2020; v1 submitted 6 March, 2019; originally announced March 2019.

arXiv:1903.01604 [pdf, other] cs.IT Twin-Timescale Radio Resource Management for Ultra-Reliable and Low-Latency Vehicular Networks Authors: Haojun Yang, Kan Zheng, Long Zhao, Lajos Hanzo Abstract: To efficiently support safety-related vehicular applications, the ultra-reliable and low-latency communication (URLLC) concept has become an indispensable component of vehicular networks (VNETs). Due to the high mobility of VNETs, exchanging near-instantaneous channel state information (CSI) and making reliable resource allocation decisions based on such sho… ▽ More Submitted 17 February, 2020; v1 submitted 4 March, 2019; originally announced March 2019.

arXiv:1903.01556 [pdf, other] eess.SP cs.MA eess.SY A Subjective-Logic-based Reliability Estimation Mechanism for Cooperative Information with Application to IV's Safety Authors: Johannes Müller, Michael Gabb, Michael Buchholz Abstract: Use of cooperative information, distributed by road-side units, offers large potential for intelligent vehicles (IVs). As vehicle automation progresses and cooperative perception is used to fill the blind spots of onboard sensors, the question of reliability of the data becomes increasingly important in… ▽ More Submitted 22 May, 2019; v1 submitted 12 February, 2019; originally announced March 2019. Comments: 7 pages, accepted at 30th IEEE Intelligent Vehicles Symposium (IV 2019)

arXiv:1903.01541 [pdf] cs.CR Survey on Vehicular Ad Hoc Networks and Its Access Technologies Security Vulnerabilities and Countermeasures Authors: Kaveh Bakhsh Kelarestaghi, Mahsa Foruhandeh, Kevin Heaslip, Ryan Gerdes Abstract: …different strata need to come together and to be covered from a whole end-to-end system perspective, (2) adversaries taking control of the VANETs entities will compromise the safety, privacy, and security of the road users and will be followed by legal exposures, as well as data, time and monetary losses. ▽ More Submitted 4 March, 2019; originally announced March 2019.

arXiv:1902.10517 [pdf, other] cs.SE On the validation of complex systems operating in open contexts Authors: Alexander Poddey, Tino Brade, Jan Erik Stellet, Wolfgang Branz Abstract: In the recent years, there has been a rush towards highly autonomous systems operating in public environments, such as automated driving of road vehicles, passenger shuttle systems and mobile robots. These systems, operating in unstructured, public real-world environments (the operational design domain can be characterized as open context) per se bear a seri… ▽ More Submitted 22 January, 2019; originally announced February 2019.

arXiv:1902.08626 [pdf] cs.NI Hybrid-Vehfog: A Robust Approach for Reliable Dissemination of Critical Messages in Connected Vehicles Authors: Anirudh Paranjothi1, Urcun Tanik, Yuehua Wang, Mohammad. S. Khan Abstract: Vehicular Ad-hoc Networks (VANET) enable efficient communication between vehicles with the aim of improving road… ▽ More Submitted 22 February, 2019; originally announced February 2019.

arXiv:1902.04663 [pdf, ps, other] cs.CR A Privacy-Preserving Traffic Monitoring Scheme via Vehicular Crowdsourcing Authors: Chuan Zhang, Liehuang Zhu, Chang Xu, Xiaojiang Du, Mohsen Guizani Abstract: The explosive growth of vehicle amount has given rise to a series of traffic problems, such as traffic congestion, road… ▽ More Submitted 12 February, 2019; originally announced February 2019.

arXiv:1901.11078 [pdf, other] cs.CV cs.LG stat.ML Real-world Mapping of Gaze Fixations Using Instance Segmentation for Road Construction Safety Applications Authors: Idris Jeelani, Khashayar Asadi, Hariharan Ramshankar, Kevin Han, Alex Albert Abstract: Research studies have shown that a large proportion of hazards remain unrecognized, which expose construction workers to unanticipated safety risks. Recent studies have also found that a strong correlation exists between viewing patterns of workers, captured using eye-tracking devices, and their hazard recognition performance. Therefore, it is important to a… ▽ More Submitted 1 February, 2019; v1 submitted 30 January, 2019; originally announced January 2019. Comments: 2019 TRB Annual meeting

arXiv:1901.10581 [pdf] cs.CY econ.GN
doi 10.1021/acs.est.8b00127 A Review on Energy, Environmental, and Sustainability Implications of Connected and Automated Vehicles Authors: Morteza Taiebat, Austin L. Brown, Hannah R. Safford, Shen Qu, Ming Xu Abstract: …poised to reshape transportation and mobility by replacing humans as the driver and service provider. While the primary stated motivation for vehicle automation is to improve safety and convenience of road mobility, this transformation also provides a valuable opportunity to improve vehicle energy efficiency and reduce… ▽ More Submitted 17 February, 2019; v1 submitted 22 January, 2019; originally announced January 2019. Journal ref: Environmental Science & Technology, 2018, 52(20), 11449-11465

arXiv:1901.06340 [pdf, other] cs.CV Feature Pyramid and Hierarchical Boosting Network for Pavement Crack Detection Authors: Fan Yang, Lei Zhang, Sijia Yu, Danil Prokhorov, Xue Mei, Haibin Ling Abstract: Pavement crack detection is a critical task for insuring road safety. Manual crack detection is extremely time-consuming. Therefore, an automatic road crack detection method is required to boost this progress. However, it remains a challenging task due to the intensity inhomogene… ▽ More Submitted 24 January, 2019; v1 submitted 18 January, 2019; originally announced January 2019.

arXiv:1901.06058 [pdf, other] nlin.AO nlin.CG doi 10.1016/j.physa.2019.123412 Dissipation of traffic congestion using agent-based car-following model with modified optimal velocity Authors: Manit Klawtanong, Surachate Limkumnerd Abstract: We investigate dynamical properties of traffic flow using the stochastic car-following model with modified optimal velocity on circular road. The… ▽ More Submitted 17 January, 2019; originally announced January 2019. Comments: 7 pages, 5 figures

arXiv:1901.06013 [pdf, other] cs.CV FARSA: Fully Automated Roadway Safety Assessment Authors: Weilian Song, Scott Workman, Armin Hadzic, Xu Zhang, Eric Green, Mei Chen, Reginald Souleyrette, Nathan Jacobs Abstract: This paper addresses the task of road… ▽ More Submitted 17 January, 2019; originally announced January 2019. Comments: 9 pages, 8 figures, WACV 2018

arXiv:1901.04695 [pdf, other] stat.AP stat.ME Statistical models for short and long term forecasts of snow depth Authors: Hugo Lewi Hammer Abstract: Forecasting of future snow depths is useful for many applications like road safety, winter sport activities, avalanche risk assessment and hydrology. Motivated by the lack of statistical forecasts models for snow depth, in this paper we present a set of models to fill this gap. First, we present a model to do short ter… ▽ More Submitted 15 January, 2019; originally announced January 2019.

arXiv:1901.02061 [pdf, other] physics.soc-ph stat.CO doi 10.1016/j.jtrangeo.2018.07.010 Examining Travel Patterns and Characteristics in a Bikesharing Network and Implications for Data-Driven Decision Supports: Case Study in the Washington DC Area Authors: Xiao-Feng Xie, Zunjing Jenipher Wang Abstract: …bikeshare transportation systems, which are respectively trip demand and flow, operating activities, use and idle times, trip purpose, origin-destination flows, mobility, and safety. For these aspects, by using appropriate statistical methods and geographic techniques, we investigate travel patterns and characteristics of BSS from data to evaluate the qualit… ▽ More Submitted 22 December, 2018; originally announced January 2019. Comments: 33 pages, 14 figures Journal ref: Journal of Transport Geography, 2018, 71: 84-102

arXiv:1812.11811 [pdf, other] cs.CR eess.SP Estimating the Relative Speed of RF Jammers in VANETs Authors: Dimitrios Kosmanos, Antonios Argyriou, Leandros Maglaras Abstract: Vehicular Ad-Hoc Networks (VANETs) aim at enhancing road safety and providing a comfortable driving environment by delivering early warning and infotainment messages to the drivers. Jamming attacks, however, pose a significant threat to their performance. In this paper, we propose a novel Relative Speed Estimation Algo… ▽ More Submitted 31 December, 2018; originally announced December 2018. Comments: 13 pages, 7 figures

arXiv:1812.11734 [pdf] cs.NI Vehicles to Pedestrians Signal Transmissions Based on Cloud Computing Authors: Zhiyi Huang, Junliang Ye, Jiaqi Chen, Xiaohu Ge, Yonghui Li Abstract: Collisions between vehicles and pedestrians usually result in the fatality to the vulnerable road users (VRUs). Thus, new technologies are needed to be developed for protecting the VRUs. Based on the high density of pedestrians and limited computing capability of base stations, in this paper the cloud computing technologies are adopted to handle the huge amo… ▽ More Submitted 31 December, 2018; originally announced December 2018.

arXiv:1812.11315 [pdf, other] cs.RO eess.SY On Infusing Reachability-Based Safety Assurance within Probabilistic Planning Frameworks for Human-Robot Vehicle Interactions Authors: Karen Leung, Edward Schmerling, Mo Chen, John Talbot, J. Christian Gerdes, Marco Pavone Abstract: …intent prediction, and proactive behavior are all desirable characteristics for autonomous driving policies in interactive scenarios. Paramount, however, is ensuring safety on the… ▽ More Submitted 29 December, 2018; originally announced December 2018. Comments: Presented at the International Symposium on Experimental Robotics, Buenos Aires, Argentina, 2018

arXiv:1812.09583 [pdf, other] stat.CO cs.DS physics.soc-ph Uncovering Urban Mobility and City Dynamics from Large-Scale Taxi Origin-Destination (O-D) Trips: Case Study in Washington DC Area Authors: Xiao-Feng Xie, Zunjing Jenipher Wang Abstract: …of taxi trips, then focus on five important aspects. Three of them concern urban mobility, which are respectively mobility and cost including effect of traffic congestion, trip safety, and multimodal connectivity; the other two pertain to city dynamics, which are respectively transportation resilience and the relation between trip patterns and land use. For… ▽ More Submitted 22 December, 2018; originally announced December 2018. Comments: 22 pages, 10 figures Report number: WIO-TR-18-003

arXiv:1812.08901 [pdf, other] cs.SE cs.CY Software Reliability Growth Models Predict Autonomous Vehicle Disengagement Events Authors: Robert Merkel Abstract: The acceptance of autonomous vehicles is dependent on the rigorous assessment of their safety. Furthermore, the commercial viability of AV programs depends on the ability to estimate the time and resources required to achieve desired… ▽ More Submitted 20 December, 2018; originally announced December 2018. Comments: 8 pages

arXiv:1812.07410 [pdf] cs.LG eess.SY stat.ML An Improved Deep Belief Network Model for Road Safety Analyses Authors: Guangyuan Pan, Liping Fu, Lalita Thakali, Matthew Muresan, Ming Yu Abstract: Crash prediction is a critical component of road safety analyses. A widely adopted approach to crash prediction is application of regression based techniques. The underlying calibration process is often time-consuming, requiring significant domain knowledge and expertise and cannot be easily automated. This paper intro… ▽ More Submitted 17 December, 2018; originally announced December 2018. Journal ref: Transportation Research Board 97th Annual Meeting, 2018

arXiv:1812.06749 [pdf, other] stat.AP
doi 10.1016/j.aap.2019.105315 Road safety of passing maneuvers: a bivariate extreme value theory approach under non-stationary conditions Authors: Joana Cavadas, Carlos Lima Azevedo, Haneen Farah, Ana Ferreira Abstract: Observed accidents have been the main resource for road… ▽ More Submitted 17 December, 2018; originally announced December 2018. Comments: 30 pages, 6 figures, 6 tables, presented at Road Safety and Simulation conference 2017 (http://rss2017.org/) and currently under review at APP Journal ref: Accident Analysis & Prevention Volume 134, January 2020, 105315

arXiv:1812.05914 [pdf, other] cs.CV End to End Video Segmentation for Driving : Lane Detection For Autonomous Car Authors: Wenhui Zhang, Tejas Mahale Abstract: Safety and decline of… ▽ More Submitted 12 December, 2018; originally announced December 2018. Comments: arXiv admin note: text overlap with arXiv:1806.07226 by other authors

arXiv:1812.04860 [pdf, other] cs.CV Attentional Road Safety Networks Authors: Sonu Gupta, Deepak Srivatsav, A. V. Subramanyam, Ponnurangam Kumaraguru Abstract: Road… ▽ More Submitted 26 January, 2019; v1 submitted 12 December, 2018; originally announced December 2018. Comments: 8 pages, 5 figures, 7 tables

arXiv:1812.03639 [pdf, other] cs.CR Crossfire Attack Detection using Deep Learning in Software Defined ITS Networks Authors: Akash Raj Narayanadoss, Tram Truong-Huu, Purnima Murali Mohan, Mohan Gurusamy Abstract: Recent developments in intelligent transport systems (ITS) based on smart mobility significantly improves safety and security over roads and highways. ITS networks are comprised of the Internet-connected vehicles (mobile nodes), roadside units (RSU), cellular base stations and conventional core network routers to creat… ▽ More Submitted 13 February, 2019; v1 submitted 10 December, 2018; originally announced December 2018. Comments: This paper has been accepted for publication in the proceeding of IEEE VTC2019-Spring

arXiv:1812.02477 [pdf, other] eess.SY Traffic Automation in Urban Road Networks Using Consensus-based Auction Algorithms For Road Intersections Authors: Fabio Molinari, Alexander Martin Dethof, Joerg Raisch Abstract: This paper describes a decentralized control strategy for the automation of road intersections and studies its impact on traffic in a realistic urban… ▽ More Submitted 6 December, 2018; originally announced December 2018. Comments: Submitted for European Control Conference 2019

arXiv:1812.02146 [pdf] eess.SP Analysis of directional antenna for railroad crossing safety applications Authors: Xiaofu Ma, Sayantan Guha, Junsung Choi, Christopher R Anderson, Randall Nealy, Jared Withers, Jeffrey H Reed, Carl Dietrich Abstract: …communication link. In this paper, we investigate the problem of suitable antenna selection for such a railway warning system First, the antenna criteria for railroad crossing safety applications are described based on practical system considerations, the safe distances on the road and on the railway. Then, the optimal… ▽ More Submitted 4 December, 2018; originally announced December 2018. Comments: IEEE Annual Consumer Communications & Networking Conference (CCNC), 2017

arXiv:1811.11969 [pdf, other] cs.CV cs.MM Traffic Danger Recognition With Surveillance Cameras Without Training Data Authors: Lijun Yu, Dawei Zhang, Xiangqun Chen, Alexander Hauptmann Abstract: …There are too many cameras to monitor manually. Therefore, we developed a model to predict and identify car crashes from surveillance cameras based on a 3D reconstruction of the road plane and prediction of trajectories. For normal traffic, it supports real-time proactive… ▽ More Submitted 29 November, 2018; originally announced November 2018. Comments: To be published in proceedings of Advanced Video and Signal-based Surveillance (AVSS), 2018 15th IEEE International Conference on, pp. 378-383, IEEE

arXiv:1811.06895 [pdf, other] cs.RO Optimizing Passenger Comfort in Cost Functions for Trajectory Planning Authors: Jean Elsner Abstract: …in traffic and fuel efficiency as well as greater mobility for people who will or cannot drive cars themselves. A deciding factor for the adoption of self-driving cars besides safety will be the comfort of the passengers. This report looks at cost functions currently used in motion planning methods for autonomous on-… ▽ More Submitted 16 November, 2018; originally announced November 2018. Comments: 7 pages, 9 figures

arXiv:1811.04580 [pdf] cs.NI
doi 10.1016/j.vehcom.2018.09.001 Time synchronization in vehicular ad-hoc networks: A survey ontheory and practice Authors: Khondokar Fida Hasan, Charles Wang, Yanming Feng, Yu-Chu Tian Abstract: …ad-hoc networks (VANETs) for connected andautomated vehicles, network nodes must be synchronized to exchange time-critical vehicle locationsand warning messages for various road safety applications. However, this is challenging as the datacommunication systems need to achieve low latency and high reliability under the… ▽ More Submitted 12 November, 2018; originally announced November 2018. Comments: 13 pages, Vehicular Communications (2018)

arXiv:1811.01627 [pdf] cs.CV cs.HC Real-time Driver Drowsiness Detection for Android Application Using Deep Neural Networks Techniques Authors: Rateb Jabbar, Khalifa Al-Khalifa, Mohamed Kharbeche, Wael Alhajyaseen, Mohsen Jafari, Shan Jiang Abstract: Road crashes and related forms of accidents are a common cause of injury and death among the human population. According to 2015 data from the World Health Organization,… ▽ More Submitted 5 November, 2018; originally announced November 2018. Comments: Conference, 8 pages, 5 figures

arXiv:1810.11164 [pdf] eess.SY math.DS Anti-lock Brake System for Integrated Electric Parking Brake Actuator Based on Sliding-mode Control Authors: Dongliang Wang, Yiyong Yang, Wei Yu, Jiawang Yong, Xiaoxu Dong Abstract: …easier operation and automatic functions. As a parking brake, EPB have to act as the secondary brake system in case of hydraulic brake failure. To guarantee the stability and safety of a car during iEPB braking, the rear slip ratio has to be controlled accurately within the optimized value to get the shortest brake distance without undesired loss of control.… ▽ More Submitted 8 November, 2018; v1 submitted 25 October, 2018; originally announced October 2018. Comments: 15 pages

arXiv:1810.10102 [pdf] cs.AI Comparative Evaluation of Tree-Based Ensemble Algorithms for Short-Term Travel Time Prediction Authors: Saleh Mousa, Sherif Ishak Abstract: Disseminating accurate travel time information to road users helps achieve traffic equilibrium and reduce traffic congestion. The deployment of Connected Vehicles technology will provide unique opportunities for the implementation of travel time prediction models. The aim of this study is twofold: (1) estimate travel times in the freeway network at five-minu… ▽ More Submitted 23 October, 2018; originally announced October 2018.

arXiv:1810.09000 [pdf, other] eess.SY cs.RO Safe Adaptive Cruise Control with Road Grade Preview and V2V Communication Authors: Roya Firoozi, Shima Nazari, Jacopo Guanetti, Ryan O'Gorman, Francesco Borrelli Abstract: We present the design of a safe Adaptive Cruise Control (ACC) which uses road grade and lead vehicle motion preview. The ACC controller is designed by using a Model Predictive Control (MPC) framework to optimize comfort,… ▽ More Submitted 21 October, 2018; originally announced October 2018.

arXiv:1810.07841 [pdf, other] cs.HC The Effects of Using Taxi-Hailing Application on Driving Performance Authors: Xiexing Feng, Libo Cao, Yunxian Zhang, Hongbo Gao, Lifan Tan Abstract: Driver distraction has become a major threat to the road safety, and the globally booming taxi-hailing application introduces new source of distraction to drivers. Although various in-vehicle information systems (IVIS) have been studied extensively, no documentation exists objectively measuring the extent to which inte… ▽ More Submitted 5 March, 2019; v1 submitted 17 October, 2018; originally announced October 2018.

arXiv:1810.05766 [pdf, other] cs.RO cs.AI cs.MA math.OC Hierarchical Game-Theoretic Planning for Autonomous Vehicles Authors: Jaime F. Fisac, Eli Bronstein, Elis Stefansson, Dorsa Sadigh, S. Shankar Sastry, Anca D. Dragan Abstract: The actions of an autonomous vehicle on the road affect and are affected by those of other drivers, whether overtaking, negotiating a merge, or avoiding an accident. This mutual dependence, best captured by dynamic game theory, creates a strong coupling between the vehicle's planning and its predictions of other drivers' behavior, and constitutes an… ▽ More Submitted 12 October, 2018; originally announced October 2018. Comments: Submitted to ICRA 2019 MSC Class: 68T40; 93C85; 91A25 ACM Class: I.2.9

arXiv:1810.05642 [pdf] cs.CV cs.AI cs.IR cs.LG stat.ML The highD Dataset: A Drone Dataset of Naturalistic Vehicle Trajectories on German Highways for Validation of Highly Automated Driving Systems Authors: Robert Krajewski, Julian Bock, Laurent Kloeker, Lutz Eckstein Abstract: Scenario-based testing for the safety validation of highly automated vehicles is a promising approach that is being examined in research and industry. This approach heavily relies on data from real-world scenarios to derive the necessary scenario information for testing. Measurement data should be collected at a reasonable effort, contain naturalistic behavi… ▽ More Submitted 11 October, 2018; originally announced October 2018. Comments: IEEE International Conference on Intelligent Transportation Systems (ITSC) 2018

arXiv:1810.04776 [pdf, other] cs.CE math.PR Probabilistic Safety Analysis using Traffic Microscopic Simulation Authors: Carlos Lima Azevedo, João L. Cardoso, Moshe E. Ben-Akiva Abstract: Traffic microscopic simulation applications are a common tool in road transportation analysis and several attempts to perform… ▽ More Submitted 10 October, 2018; originally announced October 2018. Comments: 18 pages, 6 figures, revised and extended version

arXiv:1810.00959 [pdf, ps, other] cs.NI Performance of a Link in a Field of Vehicular Interferers with Hardcore Headway Distance Authors: Konstantinos Koufos, Carl P. Dettmann Abstract: The Poisson point process (PPP) is not always a realistic model for the locations of vehicles along a road, because it does not account for the safety distance a driver maintains from the vehicle ahead. In this paper, we model the inter-vehicle distance equal to the sum of a constant hardcore distance and a random dist… ▽ More Submitted 9 September, 2020; v1 submitted 1 October, 2018; originally announced October 2018. Journal ref: IEEE Transactions on Intelligent Transport Systems 2020

arXiv:1809.07916 [pdf, other] eess.SY cs.RO Decentralized Optimal Merging Control for Connected and Automated Vehicles Authors: Wei Xiao, Christos G. Cassandras Abstract: This paper addresses the optimal control of Connected and Automated Vehicles (CAVs) arriving from two roads at a merging point where the objective is to jointly minimize the travel time and energy consumption of each CAV. The solution guarantees that a speed-dependent… ▽ More Submitted 26 November, 2018; v1 submitted 20 September, 2018; originally announced September 2018. Comments: 16 pages, 2nd version, 20 figures

arXiv:1809.07408 [pdf, other] cs.CV cs.RO Egocentric Vision-based Future Vehicle Localization for Intelligent Driving Assistance Systems Authors: Yu Yao, Mingze Xu, Chiho Choi, David J. Crandall, Ella M. Atkins, Behzad Dariush Abstract: Predicting the future location of vehicles is essential for safety-critical applications such as advanced driver assistance systems (ADAS) and autonomous driving. This paper introduces a novel approach to simultaneously predict both the location and scale of target vehicles in the first-person (egocentric) view of an ego-vehicle. We present a multi-stream re… ▽ More Submitted 3 March, 2019; v1 submitted 19 September, 2018; originally announced September 2018. Comments: To appear on ICRA 2019

arXiv:1809.05879 [pdf, other] cs.LG cs.CV stat.ML An FPGA-Accelerated Design for Deep Learning Pedestrian Detection in Self-Driving Vehicles Authors: Abdallah Moussawi, Kamal Haddad, Anthony Chahine Abstract: With the rise of self-driving vehicles comes the risk of accidents and the need for higher safety, and protection for pedestrian detection in the following scenarios: imminent crashes, thus the car should crash into an object and avoid the pedestrian, and in the case of road intersections, where it is important for the… ▽ More Submitted 16 September, 2018; originally announced September 2018. Comments: 7 pages. American University of Beirut, Faculty of Engineering and Architecture Student and Alumni Conference 2017 FEASAC

arXiv:1809.05782 [pdf, other] cs.CV cs.MM CADP: A Novel Dataset for CCTV Traffic Camera based Accident Analysis Authors: Ankit Shah, Jean Baptiste Lamare, Tuan Nguyen Anh, Alexander Hauptmann Abstract: …presents a novel dataset for traffic accidents analysis. Our goal is to resolve the lack of public data for research about automatic spatio-temporal annotations for traffic safety in the roads. Through the analysis of the proposed dataset, we observed a significant degradation of object detection in pedestrian category… ▽ More Submitted 16 November, 2018; v1 submitted 15 September, 2018; originally announced September 2018. Comments: Accepted at IEEE International Workshop on Traffic and Street Surveillance for Safety and Security, First three authors contributed equally, 7 pages + 1 References

arXiv:1809.04629 [pdf, other] cs.RO
doi 10.1109/LRA.2019.2900453 Occlusion-Aware Risk Assessment for Autonomous Driving in Urban Environments Authors: Ming-Yuan Yu, Ram Vasudevan, Matthew Johnson-Roberson Abstract: …and other vehicles in the environment. Enabling vehicles to quantify the risk posed by unseen regions allows them to anticipate future possibilities, resulting in increased safety and ride comfort. This paper proposes an algorithm that takes advantage of the known road layouts to forecast, quantify, and aggregate risk… ▽ More Submitted 17 July, 2019; v1 submitted 12 September, 2018; originally announced September 2018. Journal ref: IEEE Robotics and Automation Letters (Volume: 4, Issue: 2, April 2019)

arXiv:1809.03481 [pdf] eess.SY Longitudinal Safety Analysis For Heterogeneous Platoon Of Automated And Human Vehicles Authors: Zi Yang, Xinpeng Wang, Xin Pei, Shuo Feng, Dajun Wang, Jianqiang Wang, S. C. WONG Abstract: …environmental sensing, vehicle control and vehicle-infrastructure cooperation technologies, more and more autonomous driving companies start to put their intelligent cars into road test. But in the near future, we will face a heterogeneous traffic with both intelligent connected vehicles and human vehicles. In this paper, we investigated the impacts of four… ▽ More Submitted 10 September, 2018; originally announced September 2018. Comments: 6 pages, 13 figures; The 21st IEEE International Conference on Intelligent Transportation Systems

arXiv:1809.02911 [pdf, other] stat.AP Synthesis of Different Autonomous Vehicles Test Approaches Authors: Zhiyuan Huang, Mansur Arief, Henry Lam, Ding Zhao Abstract: Currently, the most prevalent way to evaluate an autonomous vehicle is to directly test it on the public road. However, because of recent accidents caused by autonomous vehicles, it becomes controversial about whether on-… ▽ More Submitted 8 September, 2018; originally announced September 2018.

arXiv:1808.10134 [pdf, other] cs.RO cs.AI cs.LG Baidu Apollo Auto-Calibration System - An Industry-Level Data-Driven and Learning based Vehicle Longitude Dynamic Calibrating Algorithm Authors: Fan Zhu, Lin Ma, Xin Xu, Dingfeng Guo, Xiao Cui, Qi Kong Abstract: For any autonomous driving vehicle, control module determines its road performance and safety, i.e. its precision and stability should stay within a carefully-designed range. Nonetheless, control algorithms require vehicle dynamics (such as longitudinal dynamics) as inputs, which, unfortunately, are obscure to calibrat… ▽ More Submitted 30 August, 2018; originally announced August 2018.

arXiv:1808.06463 [pdf] cs.CY
doi 10.1109/MITS.2017.2743201 Implementation and Evaluation of a Cooperative Vehicle-to-Pedestrian Safety Application Authors: Amin Tahmasbi-Sarvestani, Hossein Nourkhiz Mahjoub, Yaser P. Fallah, Ehsan Moradi-Pari, Oubada Abuchaar Abstract: While the development of Vehicle-to-Vehicle (V2V) safety applications based on Dedicated Short-Range Communications (DSRC) has been extensively undergoing standardization for more than a decade, such applications are extremely missing for Vulnerable… ▽ More Submitted 1 August, 2018; originally announced August 2018. Journal ref: IEEE Intelligent Transportation Systems Magazine, vol. 9, no. 4, pp. 62-75, winter 2017

arXiv:1808.01878 [pdf] cs.MA From traffic conflict simulation to traffic crash simulation: introducing traffic safety indicators based on the explicit simulation of potential driver errors Authors: Vittorio Astarita, Vincenzo Pasquale Giofré Abstract: …accident dynamics can be accurately simulated). The simulation of a driver error allows not only the typology of crashes to be included, normally accounted for with surrogate safety measures, but also many other type of typical crashes that it is impossible to simulate with microsimulation and traditional methodologies being caused by vehicles who are drivin… ▽ More Submitted 3 August, 2018; originally announced August 2018.

arXiv:1807.11575 [pdf, other] cs.CV SafeDrive: Enhancing Lane Appearance for Autonomous and Assisted Driving Under Limited Visibility Authors: Jiawei Mo, Junaed Sattar Abstract: Autonomous detection of lane markers improves road… ▽ More Submitted 23 July, 2018; originally announced July 2018. Comments: arXiv admin note: text overlap with arXiv:1701.08449

arXiv:1807.08532 [pdf, other] cs.IT Performance Analysis of Cooperative Communications at Road Intersections Using Stochastic Geometry Tools Authors: Baha Eddine Youcef Belmekki, Abdelkrim Hamza, Benoît Escrig Abstract: Vehicular safety communications (VSCs) are known to provide relevant contributions to avoid congestions and prevent road accidents, and more particularly at road intersections since these areas are more prone to accidents. In this context, one of the main impairments that affect… ▽ More Submitted 26 November, 2019; v1 submitted 23 July, 2018; originally announced July 2018. Comments: 31 pages, 10 figures

arXiv:1807.08048 [pdf, other] cs.RO cs.AI cs.LG eess.SY Baidu Apollo EM Motion Planner Authors: Haoyang Fan, Fan Zhu, Changchun Liu, Liangliang Zhang, Li Zhuang, Dong Li, Weicheng Zhu, Jiangtao Hu, Hongye Li, Qi Kong Abstract: …based on the Baidu Apollo (open source) autonomous driving platform. The developed system aims to address the industrial level-4 motion planning problem while considering safety, comfort and scalability. The system covers multilane and single-lane autonomous driving in a hierarchical manner: (1) The top layer of the system is a multilane strategy that handle… ▽ More Submitted 20 July, 2018; originally announced July 2018.

arXiv:1807.05412 [pdf, other] eess.SP ViLDAR - Visible Light Sensing Based Speed Estimation using Vehicle's Headlamps Authors: Hisham Abuella, Farshad Miramirkhani, Sabit Ekin, Murat Uysal, Samir Ahmed Abstract: …radio frequency or laser signals, respectively. While reliable and real-time information on vehicle speeds is critical for traffic operations management and autonomous vehicles safety, RADAR or LiDAR systems have some deficiencies especially in curved… ▽ More Submitted 14 July, 2018; originally announced July 2018.

arXiv:1806.10968 [pdf] cs.OH Automatic streetlights that glow on detecting night and object using Arduino Authors: Zain Mumtaz, Saleem Ullah, Zeeshan Ilyas, Shuo Liu, Naila Aslam, Jehangir Arshad Meo, Hamza Ahmad Madni Abstract: …and sensors that will control the electricity based on night and object's detection. Meanwhile, a counter is set that will count the number of objects passed through the road. The beauty of the proposed work is that the wastage of unused electricity can be reduced, lifetime of the streetlights gets enhance because the lights do not stay ON during the who… ▽ More Submitted 28 June, 2018; originally announced June 2018.

arXiv:1806.08426 [pdf, other] physics.geo-ph A validation of the use of data sciences for the study of slope stability in open pit mines Authors: J. H. Ortega, M. Rapiman, L. Rojo, J. P. Rivacoba Abstract: …with the use of data mining. It is important to note that the study of slope stability is a subject of great interest to mining companies, this is due to the importance in the safety of workers and the protection of infrastructures, whether private or public, in those places susceptible to this kind of phenomena, as well as, for… ▽ More Submitted 21 June, 2018; originally announced June 2018.

arXiv:1806.06454 [pdf] cs.HC Impact of Smartphone Distraction on Pedestrians' Crossing Behaviour: An Application of Head-Mounted Immersive Virtual Reality Authors: Anae Sobhani, Bilal Farooq Abstract: A novel head-mounted virtual immersive/interactive reality environment (VIRE) is utilized to evaluate the behaviour of participants in three pedestrian road crossing conditions while 1) not distracted, 2) distracted with a smartphone, and 3) distracted with a smartphone with a virtually implemented… ▽ More Submitted 17 June, 2018; originally announced June 2018. Comments: Sobhani, A., Farooq, B. (2018) Impact of Smartphone Distraction on Pedestrians' Crossing Behaviour: An Application of Head-Mounted Immersive Virtual Reality, Accepted in: Transportation Research Part: Traffic Psychology and Behaviour

arXiv:1806.05855 [pdf] cs.CY
doi 10.4108/eai.29-5-2018.154810 A Big-Data based and process-oriented decision support system for traffic management Authors: Alejandro Vera-Baquero, Ricardo Colomo-Palacios Abstract: Data analysis and monitoring of road networks in terms of reliability and performance are valuable but hard to achieve, especially when the analytical information has to be available to decision makers on time. The gathering and analysis of the observable facts can be used to infer knowledge about traffic congestion over time and gain insights into the… ▽ More Submitted 15 June, 2018; originally announced June 2018. Journal ref: EAI Endorsed Transactions on Scalable Information Systems (2018) 18(17): e5

arXiv:1806.04724 [pdf] cs.HC cs.CY doi 10.1007/978-3-319-08234-9_274-1 Potential of Augmented Reality for Intelligent Transportation Systems Authors: Adnan Mahmood, Bernard Butler, Brendan Jennings Abstract: …intent of an ITS system is to detect, monitor, control, and subsequently reduce traffic congestion based on a real-time analysis of the data pertinent to certain patterns of the road traffic, including traffic density at a geographical area of interest, precise velocity of vehicles, current and predicted travelling trajectories and times, etc. However, merel… ▽ More Submitted 10 June, 2018; originally announced June 2018. Comments: In: Lee N. (eds) Encyclopedia of Computer Graphics and Games. Springer, Cham, 2018

arXiv:1806.01777 [pdf, other] eess.SP cs.RO eess.SY Safe Driving Capacity of Autonomous Vehicles Authors: Yuan-Ying Wang, Hung-Yu Wei Abstract: An excellent self-driving car is expected to take its passengers safely and efficiently from one place to another. However, different ways of defining safety and efficiency may significantly affect the conclusion we make. In this paper, we give formal definitions to the safe state of a… ▽ More Submitted 26 May, 2018; originally announced June 2018. Comments: 5 pages, VTC 2018

arXiv:1806.00377 [pdf, ps, other] eess.SY Evaluation of the Energy Efficiency in a Mixed Traffic with Automated Vehicles and Human Controlled Vehicles Authors: Xun Gong, Yaohui Guo, Yiheng Feng, Jing Sun, Ding Zhao Abstract: The energy efficiency of Connected and Automated Vehicles (CAVs) is significantly influenced by surrounding road users. This paper presents the evaluation of energy efficiency of CAVs in a mixed traffic interacted with human controlled vehicles. To simulate the interaction between the CAVs and the cut-in vehicles controlled by human drivers near the intersec… ▽ More Submitted 1 June, 2018; originally announced June 2018.

arXiv:1805.11834 [pdf] physics.soc-ph q-bio.PE q-bio.QM Decision-making processes underlying pedestrian behaviours at signalised crossings: Part 2. Do pedestrians show cultural herding behaviour ? Authors: Marie Pele, Jean-Louis Deneubourg, Cedric Sueur Abstract: …that evolved to solve social coordination problems, and particularly those involved in group movement. Followership behaviour is particularly interesting in the context of road-crossing behaviour because it involves other principles such as risk-taking and evaluating the value of social information. This study sought to identify the cognitive mechanisms unde… ▽ More Submitted 30 May, 2018; originally announced May 2018.

arXiv:1805.11815 [pdf, other] cs.CV cs.AI doi 10.1007/978-3-030-12388-8_19 Enabling Pedestrian Safety using Computer Vision Techniques: A Case Study of the 2018 Uber Inc. Self-driving Car Crash Authors: Puneet Kohli, Anjali Chadha Abstract: Human lives are important. The decision to allow self-driving vehicles operate on our roads carries great weight. This has been a hot topic of debate between policy-makers, technologists and public… ▽ More Submitted 30 May, 2018; originally announced May 2018. Comments: 10 pages, 8 figures, 3 tables Journal ref: Arai K., Bhatia R. (eds) Advances in Information and Communication. FICC 2019. Lecture Notes in Networks and Systems, vol 69. Springer, Cham

arXiv:1805.08374 [pdf] stat.AP Modeling the Safety Effect of Access and Signal Density on Suburban Arterials: Using Macro Level Analysis Method Authors: Jinghui Yuan, Xuesong Wang Abstract: …suburban arterials, and high access density is commonly observed on suburban arterials. These issues tend to increase the risk of crash occurrence of arterials. By developing safety performance functions on… ▽ More Submitted 21 May, 2018; originally announced May 2018. Comments: Presented at the 10th Annual Meeting of China Intelligent Transportation System Association

arXiv:1805.07662 [pdf] cs.NI DFCV: A Novel Approach for Message Dissemination in Connected Vehicles using Dynamic Fog Authors: Anirudh Paranjothi, Mohammad S. Khan, Mohammed Atiquzzaman Abstract: Vehicular Ad-hoc Network (VANET) has emerged as a promising solution for enhancing road safety. Routing of messages in VANET is challenging due to packet delays arising from high mobility of vehicles, frequently changing topology, and high density of vehicles, leading to frequent route breakages and packet losses. Prev… ▽ More Submitted 30 May, 2018; v1 submitted 19 May, 2018; originally announced May 2018.

arXiv:1805.06399 [pdf, other] stat.AP Magnitude of selection bias in road safety epidemiology, a primer Authors: Marine Dufournet Abstract: In the field of road safety epidemiology, it is common to use responsibility analyses to assess the effect of a given factor on the risk of being responsible for an accident, among drivers involved in an accident only. Using the SCM framework, we formally showed in previous works that the causal odds-ratio of a given f… ▽ More Submitted 16 May, 2018; originally announced May 2018.

arXiv:1805.06381 [pdf] stat.AP Investigating Safety Impacts of Roadway Network Features of Suburban Arterials in Shanghai, China Authors: Xuesong Wang, Jinghui Yuan, Grant G. Schultz, Wenjing Meng Abstract: …have been installed with an increased number of signalized intersections and accesses to serve local traffic needs. The absence of a defined functional hierarchy along the road network, together with the non-uniform installation of signals and accesses tends to deteriorate arterial… ▽ More Submitted 26 May, 2018; v1 submitted 16 May, 2018; originally announced May 2018. Comments: Presented at Transportation Research Board 95th Annual Meeting (No. 16-2508)

arXiv:1805.04829 [pdf, other] cs.AI cs.LG cs.RO Spatial Uncertainty Sampling for End-to-End Control Authors: Alexander Amini, Ava Soleimany, Sertac Karaman, Daniela Rus Abstract: …are a compelling approach to autonomous vehicle control because of their ability to learn complex tasks without manual engineering of rule-based decisions. However, challenging road conditions, ambiguous navigation situations, and… ▽ More Submitted 23 May, 2019; v1 submitted 13 May, 2018; originally announced May 2018. Comments: Originally published in Neural Information Processing Systems (NIPS) Workshop on Bayesian Deep Learning 2017

arXiv:1805.02754 [pdf, other] cs.AI cs.RO Verisimilar Percept Sequences Tests for Autonomous Driving Intelligent Agent Assessment Authors: Thomio Watanabe, Denis Wolf Abstract: …But although autonomous cars can become safer than human drivers this is a long process that is going to be refined over time. Before these vehicles are deployed on urban roads a minimum… ▽ More Submitted 7 May, 2018; originally announced May 2018.

arXiv:1805.02114 [pdf, other] cs.RO cs.AI An Accelerated Approach to Safely and Efficiently Test Pre-Production Autonomous Vehicles on Public Streets Authors: Mansur Arief, Peter Glynn, Ding Zhao Abstract: Various automobile and mobility companies, for instance Ford, Uber and Waymo, are currently testing their pre-produced autonomous vehicle (AV) fleets on the public roads. However, due to rareness of the… ▽ More Submitted 8 September, 2018; v1 submitted 5 May, 2018; originally announced May 2018.

arXiv:1805.01162 [pdf, other] cs.LG stat.ML doi 10.1109/CCNC.2017.7983123 SafeRNet: Safe Transportation Routing in the era of Internet of Vehicles and Mobile Crowd Sensing Authors: Qun Liu, Suman Kumar, Vijay Mago Abstract: World wide road traffic fatality and accident rates are high, and this is true even in technologically advanced countries like the USA. Despite the advances in Intelligent Transportation Systems, safe transportation routing i.e., finding safest routes is largely an overlooked paradigm. In recent years, large amount of traffic data has been produced by people… ▽ More Submitted 3 May, 2018; originally announced May 2018. Comments: Paper was accepted at the 14th IEEE Consumer Communications & Networking Conference (CCNC 2017)

arXiv:1805.00508 [pdf] cs.CY A Cooperative Freeway Merge Assistance System using Connected Vehicles Authors: Md Salman Ahmed, Mohammad A Hoque, Jackeline Rios-Torres, Asad Khattak Abstract: …fatalities and injuries around the world including developed countries has drawn researchers' attention for conducting research on automated highway systems to improve road… ▽ More Submitted 29 April, 2018; originally announced May 2018. Comments: Annual Meeting of the Transportation Research Board, 2018

arXiv:1804.10411 [pdf, ps, other] eess.SY Automation Of Road Intersections Using Consensus-based Auction Algorithms Authors: Fabio Molinari, Jörg Raisch Abstract: This paper investigates a consensus-based auction algorithm in the context of decentralized traffic control. In particular, we study the automation of a road intersection, where a set of vehicles is required to cross without collisions. The crossing order will be negotiated in a decentralized fashion. An on-board model predictive controller (MPC) will comput… ▽ More Submitted 27 April, 2018; originally announced April 2018. Comments: Submitted and accepted or the American Control Conference 2018

arXiv:1804.08728 [pdf, other] eess.SY Identification of Potential Hazardous Events for an Unmanned Protective Vehicle Authors: Gerrit Bagschik, Andreas Reschka, Torben Stolte, Markus Maurer Abstract: The project Automated Unmanned Protective Vehicle for Highway Hard Shoulder Road Works (aFAS) aims to develop an unmanned protective vehicle to reduce the risk of injuries due to crashes for road workers. To ensure functional safety during operation in public traffic the system s… ▽ More Submitted 23 April, 2018; originally announced April 2018. Comments: Accepted on the 2016 IEEE IV Symposium, 7 pages, 6 figures

arXiv:1804.08409 [pdf, ps, other] cs.NI Stochastic Geometry Modeling of Cellular V2X Communication Over Shared Channels Authors: Muhammad Nadeem Sial, Yansha Deng, Junaid Ahmed, Arumugam Nallanathan, Mischa Dohler Abstract: …spectrum for V2V. Moreover, infrastructure mode communication through V2I/N links can augment V2V communication by enhancing communication range and reliability for enhanced safety along with consistent performance under traffic congestions. Motivated by the stringent connection reliability, spectral efficiency, and coverage requirements in C-V2X, this paper… ▽ More Submitted 18 September, 2019; v1 submitted 12 April, 2018; originally announced April 2018. Comments: Paper revised

arXiv:1804.06210 [pdf, other] cs.RO TiEV: The Tongji Intelligent Electric Vehicle in the Intelligent Vehicle Future Challenge of China Authors: Junqiao Zhao, Chen Ye, Yan Wu, Linting Guan, Lewen Cai, Lu Sun, Tao Yang, Xudong He, Jun Li, Yongchao Ding, Xinglian Zhang, Xinchen Wang, Jinlin Huang, Enwei Zhang, Yewei Huang, Wei Jiang, Shaoming Zhang, Lu Xiong, Tiantian Feng Abstract: …fully powered by electricity. We devised the software system of TiEV from scratch, which is capable of driving the vehicle autonomously in urban paths as well as on fast express roads. We describe our whole system, especially novel modules of probabilistic perception fusion, incremental mapping, the 1st and the 2nd planning and the overall… ▽ More Submitted 6 May, 2018; v1 submitted 17 April, 2018; originally announced April 2018.

arXiv:1804.05290 [pdf, other] cs.IT Joint Communication and Control for Wireless Autonomous Vehicular Platoon Systems Authors: Tengchan Zeng, Omid Semiari, Walid Saad, Mehdi Bennis Abstract: Autonomous vehicular platoons will play an important role in improving on-road safety in tomorrow's smart cities. Vehicles in an autonomous platoon can exploit vehicle-to-vehicle (V2V) communications to collect information, such as velocity and acceleration, from surrounding vehicles so as to maintain the target ve… ▽ More Submitted 18 July, 2019; v1 submitted 14 April, 2018; originally announced April 2018. Comments: Accepted in IEEE Transactions on Communications

arXiv:1804.04203 [pdf, other] eess.SP Big Data Driven Vehicular Networks Authors: Nan Cheng, Feng Lyu, Jiayin Chen, Wenchao Xu, Haibo Zhou, Shan Zhang, Xuemin, Shen Abstract: Vehicular communications networks (VANETs) enable information exchange among vehicles, other end devices and public networks, which plays a key role in road… ▽ More Submitted 11 April, 2018; originally announced April 2018. Comments: Accepted by IEEE Network Magazine. 5 Figures

arXiv:1804.03757 [pdf, other] eess.SY Control of Connected and Automated Vehicles: State of the Art and Future Challenges Authors: Jacopo Guanetti, Yeojun Kim, Francesco Borrelli Abstract: Autonomous driving technology pledges safety, convenience, and energy efficiency. Challenges include the unknown intentions of other road users: communication between vehicles and with the road infrastructure is a possible approach to enhance awareness and enable cooperation. Con… ▽ More Submitted 10 April, 2018; originally announced April 2018.

arXiv:1803.09203 [pdf] cs.AI cs.RO Autonomous Ramp Merge Maneuver Based on Reinforcement Learning with Continuous Action Space Authors: Pin Wang, Ching-Yao Chan Abstract: Ramp merging is a critical maneuver for road safety and traffic efficiency. Most of the current automated driving systems developed by multiple automobile manufacturers and suppliers are typically limited to restricted access freeways only. Extending the automated mode to ramp merging zones presents substantial challen… ▽ More Submitted 25 March, 2018; originally announced March 2018.

arXiv:1803.08798 [pdf, other] cs.NI Performance Analysis of C-V2I-based Automotive Collision Avoidance Authors: Marco Malinverno, Giuseppe Avino, Francesco Malandrino, Claudio Casetti, Carla-Fabiana Chiasserini, Salvatore Scarpina Abstract: One of the key applications envisioned for C-V2I (Cellular Vehicle-to-Infrastructure) networks pertains to safety on the… ▽ More Submitted 23 March, 2018; originally announced March 2018.

arXiv:1803.07009 [pdf, ps, other] cs.NI Multi-access Edge Computing: The driver behind the wheel of 5G-connected cars Authors: Fabio Giust, Vincenzo Sciancalepore, Dario Sabella, Miltiades C. Filippou, Simone Mangiante, Walter Featherstone, Daniele Munaretto Abstract: …is expected that the technology advancements will be able to fulfill the sophisticated requirements for vehicular use cases, such as low latency and reliable communications for safety, high computing power to process large amount of sensed data, and increased bandwidth for on-board infotainment. The aforementioned requirements have received significant foc… ▽ More Submitted 19 March, 2018; originally announced March 2018. Comments: submitted to IEEE Communications Standards Magazine

arXiv:1803.05997 [pdf] cs.CY cs.GL doi 10.1061/(ASCE)IS.1943-555X.0000507 Synergizing Roadway Infrastructure Investment with Digital Infrastructure for Infrastructure-Based Connected Vehicle Applications: Review of Current Status and Future Directions Authors: Sakib Mahmud Khan, Mashrur Chowdhury, Eric A Morris, Lipika Deka Abstract: The safety, mobility, environmental, energy, and economic benefits of transportation systems, which are the focus of recent connected vehicle (CV) programs, are potentially dramatic. However, realization of these benefits largely hinges on the timely integration of digital technology into upcoming as well as existing transportation infrastructure. CVs must b… ▽ More Submitted 26 August, 2019; v1 submitted 6 March, 2018; originally announced March 2018. Journal ref: Journal of Infrastructure Systems 2019

arXiv:1803.05577 [pdf, other] math.OC The Penetration Effect of Connected Automated Vehicles in Urban Traffic: An Energy Impact Study Authors: Yue Zhang, Christos G. Cassandras Abstract: …In this paper, we address the problem of optimally controlling CAVs under mixed traffic conditions where both CAVs and human-driven vehicles (non-CAVs) travel on the roads, so as to minimize energy consumption while guaranteeing safety constraints. The impact of CAVs on overall energy consumption is also investigated… ▽ More Submitted 14 March, 2018; originally announced March 2018. Comments: 8 pages

arXiv:1803.05074 [pdf] stat.AP Development of Safety Performance Functions: Incorporating Unobserved Heterogeneity and Functional Form Analysis Authors: Behram Wali, Asad J. Khattak, Jim Waters, Deo Chimba, Xiaobing Li Abstract: To improve transportation safety, this study applies Highway… ▽ More Submitted 13 March, 2018; originally announced March 2018. Comments: Accepted for Publication in Transportation Research Record: Journal of the Transportation Research Board

arXiv:1803.03479 [pdf, other] cs.AI Highly Automated Learning for Improved Active Safety of Vulnerable Road Users Authors: Maarten Bieshaar, Günther Reitberger, Viktor Kreß, Stefan Zernetsch, Konrad Doll, Erich Fuchs, Bernhard Sick Abstract: Highly automated driving requires precise models of traffic participants. Many state of the art models are currently based on machine learning techniques. Among others, the required amount of labeled data is one major challenge. An autonomous learning process addressing this problem is proposed. The initial models are iteratively refined in three steps: (1) detection and context identification, (2… ▽ More Submitted 9 March, 2018; originally announced March 2018. Comments: 4 pages, 1 figure Journal ref: published in ACM Chapters Computer Science in Cars Symposium (CSCS-17). Munich, Germany. 2017

arXiv:1803.02723 [pdf, other] cs.RO Heterogeneous Vehicles Routing for Water Canal Damage Assessment Authors: Di Deng, Tao Pang, Prasanth Palli, Fang Shu, Kenji Shimada Abstract: …canals in a large agricultural area (tens of square kilometers). In addition to optimality, the paths need to satisfy several constraints, in order to guarantee UAV navigation safety and to abide by local traffic regulations. In the proposed framework, the canal and road networks are first modeled as two graphs, which… ▽ More Submitted 7 March, 2018; originally announced March 2018.

arXiv:1803.02393 [pdf, other] cs.GT cs.LO Game Theoretic Analysis of Road User Safety Scenarios Involving Autonomous Vehicles Authors: Umberto Michieli, Leonardo Badia Abstract: Interactions between pedestrians, bikers, and human-driven vehicles have been a major concern in traffic safety over the years. The upcoming age of autonomous vehicles will further raise major problems on whether self-driving cars can accurately avoid accidents; on the other hand, usability issues arise on whether human-driven cars and pedestrians can domina… ▽ More Submitted 24 June, 2018; v1 submitted 6 March, 2018; originally announced March 2018. Comments: Accepted at 'IEEE International Symposium on Personal, Indoor and Mobile Radio Communications' 9-12 September 2018 - Bologna, Italy. Special Session on 'Wireless Technologies for Connected and Autonomous Vehicles'. 7 pages, 5 figures

arXiv:1803.02097 [pdf, other] cs.HC cs.AI cs.CV Where is my Device? - Detecting the Smart Device's Wearing Location in the Context of Active Safety for Vulnerable Road Users Authors: Maarten Bieshaar Abstract: …of the smart devices, is important context-information which can be used to parametrize subsequent algorithms, e.g. for dead reckoning or intention detection to improve the safety of vulnerable road users. The wearing location recognition can in terms of Organic Computing (OC) be seen as a step towards self-awareness a… ▽ More Submitted 6 March, 2018; originally announced March 2018. Comments: 10 pages, 3 figures, accepted for publication in Organic Computing: Doctoral Dissertation Colloquium 2017. Volume 11 of Intelligent Embedded Systems. Kassel University Press, Kassel

arXiv:1803.02096 [pdf, other] cs.CY cs.AI Cooperative Tracking of Cyclists Based on Smart Devices and Infrastructure Authors: Günther Reitberger, Stefan Zernetsch, Maarten Bieshaar, Bernhard Sick, Konrad Doll, Erich Fuchs Abstract: …in both the ability to keep track of a cyclist and the accuracy of the track particularly when it comes to occlusions in the visual system. We, therefore, contribute to the safety of vulnerable road users in future traffic. ▽ More Submitted 3 July, 2018; v1 submitted 6 March, 2018; originally announced March 2018. Comments: 7 pages, 6 figures. submitted (accepted for publication) IEEE Conference on Intelligent Transportation Systems(ITSC) 2018, Maui, HI

arXiv:1802.08781 [pdf] cs.CV
doi 10.1007/s00138-017-0833-7 Superpixel based Class-Semantic Texton Occurrences for Natural Roadside Vegetation Segmentation Authors: Ligang Zhang, Brijesh Verma Abstract: …roadside data is a field that has received relatively little attention in present studies, but can be of great potentials in a wide range of real-world applications, such as road… ▽ More Submitted 23 February, 2018; originally announced February 2018. Comments: This is a pre-print of an article published in Machine Vision and Applications. The final authenticated version is available online at: https://doi.org/10.1007/s00138-017-0833-7 Journal ref: Machine Vision and Applications (2017) 28: 293

arXiv:1802.08027 [pdf, ps, other] eess.SP MEC-assisted End-to-End Latency Evaluations for C-V2X Communications Authors: Mustafa Emara, Miltiades C. Filippou, Dario Sabella Abstract: …sector, different Cellular Vehicle-to-Everything (C-V2X) use cases have been identified by the industrial and research world, referring to infotainment, automated driving and road… ▽ More Submitted 22 February, 2018; originally announced February 2018. Comments: Submitted to EuCNC'18

arXiv:1802.06274 [pdf, other] cs.RO Automatic Classification of Roof Shapes for Multicopter Emergency Landing Site Selection Authors: Jeremy D. Castagno, Ella M. Atkins Abstract: Geographic information systems (GIS) now provide accurate maps of terrain, roads, waterways, and building footprints and heights. Aircraft, particularly small unmanned aircraft systems, can exploit additional information such as building roof structure to improve navigation accuracy and safety particularly in urban reg… ▽ More Submitted 17 February, 2018; originally announced February 2018.

arXiv:1802.04104 [pdf, other] cs.CY cs.RO Driving Simulator Platform for Development and Evaluation of Safety and Emergency Systems Authors: Andrés E. Gómez, Tiago C. dos Santos, Carlos M. Massera, Arthur de M. Neto, Denis F. Wolf Abstract: According to data from the United Nations, more than 3000 people have died each day in the world due to road traffic collision. Considering recent researches, the human error may be considered as the main responsible for these fatalities. Because of this, researchers seek alternatives to transfer the vehicle control from people to autonomous systems. However… ▽ More Submitted 1 February, 2018; originally announced February 2018. Comments: 14 pages, 27 figures

arXiv:1802.04041 [pdf, other] eess.SP
doi 10.1109/MCOM.001.1800242 Cooperative Passive Coherent Location: A Promising 5G Service to Support Road Safety Authors: Reiner S. Thomä, Carsten Andrich, Giovanni Del Galdo, Michael Döbereiner, Matthias A. Hein, Martin Käske, Günter Schäfer, Steffen Schieler, Christian Schneider, Andreas Schwind, Philip Wendland Abstract: …the viewpoint of vehicle-to-vehicle/infrastructure (V2X) communication, it can definitely also be applied to many other applications in industry, transport, logistics, and for safety and security applications. ▽ More Submitted 1 October, 2019; v1 submitted 12 February, 2018; originally announced February 2018. Journal ref: IEEE Communications Magazine, vol. 57, no. 9, pp. 86-92, September 2019

arXiv:1802.00332 [pdf, other] cs.AI cs.LG Elements of Effective Deep Reinforcement Learning towards Tactical Driving Decision Making Authors: Jingchu Liu, Pengfei Hou, Lisen Mu, Yinan Yu, Chang Huang Abstract: …1) non-uniform action skipping as a more stable alternative to action-repetition frame skipping, 2) a counter-based penalty for lanes on which ego vehicle has less right-of-road, and 3) heuristic inference-time action masking for apparently undesirable actions. We evaluate the proposed components in a realistic driving simulator and compare them with several… ▽ More Submitted 1 February, 2018; originally announced February 2018. Comments: 7 pages, 2 figures

arXiv:1801.09510 [pdf, other] cs.NI Multi-Radio 5G Architecture for Connected and Autonomous Vehicles: Application and Design Insights Authors: Ioannis Mavromatis, Andrea Tassi, Giovanni Rigazzi, Robert J. Piechocki, Andrew Nix Abstract: …Vehicles (CAVs) will play a crucial role in next-generation Cooperative Intelligent Transportation Systems (C-ITSs). Not only is the information exchange fundamental to improve road safety and efficiency, but it also paves the way to a wide spectrum of advanced ITS applications enhancing efficiency, mobility and access… ▽ More Submitted 28 February, 2018; v1 submitted 29 January, 2018; originally announced January 2018. Comments: Invited paper on EAI Transactions on Industrial Networks and Intelligent Systems

arXiv:1801.06448 [pdf] cs.NI cs.CE A Congestion Control System Based on VANET for Small Length Roads Authors: Ruchin Jain Abstract: …vehicle to vehicle and vehicle to traffic infrastructure communication. The experiment was conducted using Network Simulator 2 (NS 2). The implementation required modelling the road side unit, traffic control unit, and on-board unit along the roadside. In the simulation, including traffic volume, the distance between two signals, end-to-end delay, packet del… ▽ More Submitted 9 January, 2018; originally announced January 2018. Journal ref: Annals of Emerging Technologies in Computing (AETiC), Print ISSN: 2516-0281, Online ISSN: 2516-029X, pp. 17-21, Vol. 2, No. 1, 1st January 2018, Published by International Association of Educators and Researchers (IAER)

arXiv:1801.05088 [pdf] cs.CL cs.AI cs.CY cs.IR cs.SI Real-time Road Traffic Information Detection Through Social Media Authors: Chandra Khatri Abstract: …and classification models are trained. Furthermore, this data is used for various kinds of spatial and temporal analysis. A mechanism to calculate level of traffic congestion, safety, and traffic perception for cities in U.S. is proposed. Traffic congestion and safety rankings for the various urban areas are obtained a… ▽ More Submitted 15 January, 2018; originally announced January 2018. Comments: 138 Pages, 21 Figures, 15 Tables. Masters Thesis in Computational Science & Engineering Group @ Georgia Tech. https://smartech.gatech.edu/bitstream/handle/1853/53889/KHATRI-THESIS-2015.pdf. arXiv admin note: text overlap with arXiv:1703.03921 by other author MSC Class: 97R40 ACM Class: I.2.7

arXiv:1712.06107 [pdf] cs.CV Railway Track Specific Traffic Signal Selection Using Deep Learning Authors: S Ritika, Shruti Mittal, Dattaraj Rao Abstract: …like traffic signals, crossings, switches, mileposts, etc. is of extreme importance. With the new Positive Train Control (PTC) regulation coming into effect, many railway safety rules will be tied directly to location of assets like mileposts and signals. Newer speed regulations will be enforced based on location of the Train with respect to a wayside asset.… ▽ More Submitted 17 December, 2017; originally announced December 2017.

arXiv:1712.04263 [pdf] cs.NI cs.CR Security Issues in Vehicular Ad Hoc Networks (VANET): a survey Authors: Ghassan Samara, Yousef Al-Raba'nah Abstract: Vehicular Ad Hoc Networks (VANET) is a technology that has been recently emerged, and bring a lot of interests. VANET can be used to improve road safety, reduce road traffic, serve interests of its users, and provide emergency services. The security is one of the most important i… ▽ More Submitted 12 December, 2017; originally announced December 2017. Report number: IJSAR, 2(4), 2015; 50-55 Journal ref: International Journal of Sciences & Applied Research, 2015

arXiv:1712.00537 [pdf, other] cs.IT Ultra-Reliable and Low-Latency Communications for Connected Vehicles: Challenges and Solutions Authors: Haojun Yang, Kan Zheng, Kuan Zhang, Jie Mei, Yi Qian Abstract: With the rapid development of communications and computing, the concept of connected vehicles emerges to improve driving safety, traffic efficiency and infotainment experience. Due to the limited capabilities of sensors and information processing on a single vehicle, vehicular networks (VNETs) play a vital role for the realization of connected vehicles. To a… ▽ More Submitted 2 April, 2019; v1 submitted 1 December, 2017; originally announced December 2017. Comments: 17 pages, 4 figures

arXiv:1711.10651 [pdf] cs.NI cs.CR Cybersecurity Attacks in Vehicle-to-Infrastructure (V2I) Applications and their Prevention Authors: Mhafuzul Islam, Mashrur Chowdhury, Hongda Li, Hongxin Hu Abstract: …and computing infrastructure systems that are vulnerable to the same cyberattacks as all traditional computing environments. Cyberattacks can jeopardize the expected safety, mobility, energy, and environmental benefits from connected vehicle applications. As cyberattacks can lead to severe traffic incidents, it has become one of the primary concerns in conn… ▽ More Submitted 28 November, 2017; originally announced November 2017. Comments: 22 pages, 4 figures, Will be published in the "2018 Transportation Research Board Conference Proceedings

arXiv:1711.05254 [pdf, other] physics.soc-ph eess.SY Research on two-dimensional traffic flow model based on psychological field theory Authors: Wenhao Li, Yu Nie, Zhongyao Yang, Shaochun Zheng, Dehui Wang Abstract: …the rules of vehicle state-changing. By simulating the system, we obtain the throughput of the toll plaza's input and output. Then we obtained the bearing pressure on the road by the max throughput and the demand of the… ▽ More Submitted 11 November, 2017; originally announced November 2017. Comments: 22 pages

arXiv:1710.05752 [pdf, other] physics.soc-ph Analysis of risk levels for traffic on a multi-lane highway Authors: Michael Herty, Giuseppe Visconti Abstract: We present an analysis of risk levels on multi-lane roads. The aim is to use the crash metrics to understand which direction of the flow mainly influences the safety in traffic flow. In fact, on multi-lane highways interactions among vehicles occur also with lane changing and we show that they strongly affect the level… ▽ More Submitted 13 October, 2017; originally announced October 2017. Comments: 6 pages

arXiv:1710.04502 [pdf, other] cs.AI cs.CY Clusters of Driving Behavior from Observational Smartphone Data Authors: Josh Warren, Jeff Lipkowitz, Vadim Sokolov Abstract: Understanding driving behaviors is essential for improving safety and mobility of our transportation systems. Data is usually collected via simulator-based studies or naturalistic driving studies. Those techniques allow for understanding relations between demographics,… ▽ More Submitted 11 January, 2018; v1 submitted 12 October, 2017; originally announced October 2017.

arXiv:1710.00778 [pdf, other] eess.SP cs.DC Proactive Doppler Shift Compensation in Vehicular Cyber-Physical Systems Authors: Jian Du, Xue Liu, Lei Rao Abstract: In vehicular cyber-physical systems (CPS), safety information, including vehicular speed and location information, is shared among vehicles via wireless waves at specific frequency. This helps control vehicle to alleviate traffic congestion and… ▽ More Submitted 13 September, 2017; originally announced October 2017.

arXiv:1709.09980 [pdf, other] math.OC physics.soc-ph doi 10.1016/j.ifacol.2018.07.012 Control strategies for road risk mitigation in kinetic traffic modelling Authors: Andrea Tosin, Mattia Zanella Abstract: In this paper we present a Boltzmann-type kinetic approach to the modelling of road traffic, which includes control strategies at the level of microscopic binary interactions aimed at the mitigation of speed-dependent… ▽ More Submitted 1 February, 2018; v1 submitted 26 September, 2017; originally announced September 2017. Journal ref: IFAC-PapersOnLine, 51(9):67-72, 2018

arXiv:1709.09412 [pdf, other] stat.AP physics.soc-ph A discrete choice model for solving conflict situations between pedestrians and vehicles in shared space Authors: F. Pascucci, N. Rinke, C. Schiermeyer, V. Berkhahn, B. Friedrich Abstract: When streets are designed according to the shared space principle, road user are encouraged to interact spontaneously with each other for negotiating the space. These interaction mechanisms do not follow clearly defined traffic rules but rather psychological and social principles related to aspects of… ▽ More Submitted 27 September, 2017; originally announced September 2017. Comments: 13 pages, 5 tables, 6 figures. This paper will be submitted soon to Transportation Research Part C

arXiv:1709.02557 [pdf, ps, other] cs.LO cs.MA doi 10.4204/EPTCS.257.5 A Rational Agent Controlling an Autonomous Vehicle: Implementation and Formal Verification Authors: Lucas E. R. Fernandes, Vinicius Custodio, Gleifer V. Alves, Michael Fisher Abstract: The development and deployment of Autonomous Vehicles (AVs) on our roads is not only realistic in the near future but can also bring significant benefits. In particular, it can potentially solve several problems relating to vehicles and traffic, for instance: (i) possible reduction of traffic congestion, with the consequence of improved fuel economy and redu… ▽ More Submitted 8 September, 2017; originally announced September 2017. Comments: In Proceedings FVAV 2017, arXiv:1709.02126 Journal ref: EPTCS 257, 2017, pp. 35-42

arXiv:1708.07193 [pdf, other] stat.ML cs.CY Applications of Trajectory Data from the Perspective of a Road Transportation Agency: Literature Review and Maryland Case Study Authors: Nikola Marković, Przemysław Sekuła, Zachary Vander Laan, Gennady Andrienko, Natalia Andrienko Abstract: …for government agencies to assess its value across different transportation domains. To overcome this issue, the current paper explores trajectory data from the perspective of a road transportation agency interested in acquiring trajectories to enhance its analyses. The paper provides a literature review illustrating applications of trajectory data in six ar… ▽ More Submitted 30 May, 2018; v1 submitted 23 August, 2017; originally announced August 2017. Comments: Revised after peer review

arXiv:1708.06374 [pdf, other] cs.RO cs.AI stat.ML On a Formal Model of Safe and Scalable Self-driving Cars Authors: Shai Shalev-Shwartz, Shaked Shammah, Amnon Shashua Abstract: In recent years, car makers and tech companies have been racing towards self driving cars. It seems that the main parameter in this race is who will have the first car on the road. The goal of this paper is to add to the equation two additional crucial parameters. The first is standardization of… ▽ More Submitted 27 October, 2018; v1 submitted 21 August, 2017; originally announced August 2017.

arXiv:1707.08945 [pdf, other] cs.CR cs.LG Robust Physical-World Attacks on Deep Learning Models Authors: Kevin Eykholt, Ivan Evtimov, Earlence Fernandes, Bo Li, Amir Rahmati, Chaowei Xiao, Atul Prakash, Tadayoshi Kohno, Dawn Song Abstract: …(DNNs) are vulnerable to adversarial examples, resulting from small-magnitude perturbations added to the input. Given that that emerging physical systems are using DNNs in safety-critical situations, adversarial examples could mislead these systems and cause dangerous situations.Therefore, understanding adversarial examples in the physical world is an import… ▽ More Submitted 10 April, 2018; v1 submitted 27 July, 2017; originally announced July 2017. Comments: Accepted to CVPR 2018

arXiv:1707.04918 [pdf, other] cs.NI cs.MM Towards Physiology-Aware DASH: Bandwidth-Compliant Prioritized Clinical Multimedia Communication in Ambulances Authors: Mohammad Hosseini, Yu Jiang, Richard R. Berlin, Lui Sha, Houbing Song Abstract: The ultimate objective of medical cyber-physical systems is to enhance the safety and effectiveness of patient care. To ensure safe and effective care during emergency patient transfer from rural areas to center tertiary hospitals, reliable and real-time communication is essential. Unfortunately, real-time monitoring of patients involves transmission of vari… ▽ More Submitted 16 July, 2017; originally announced July 2017. Comments: 15 pages, IEEE Transactions on Multimedia (TMM), 2017

arXiv:1707.03297 [pdf, other] cs.IT Fine-Grained vs. Average Reliability for V2V Communications around Intersections Authors: Mouhamed Abdulla, Henk Wymeersch Abstract: Intersections are critical areas of the transportation infrastructure associated with 47% of all road accidents. Vehicle-to-vehicle (V2V) communication has the potential of preventing up to 35% of such serious… ▽ More Submitted 10 July, 2017; originally announced July 2017. Comments: 5 pages, 4 figures. arXiv admin note: substantial text overlap with arXiv:1706.10011

arXiv:1707.00224 [pdf, other] eess.SY Sequential Experimentation to Efficiently Test Automated Vehicles Authors: Zhiyuan Huang, Henry Lam, Ding Zhao Abstract: Automated vehicles have been under heavy developments in major auto and tech companies and are expected to release into market in the foreseeable future. However, the road safety of these vehicles remains a concern. One approach to evaluate their safety is via on-track experiment… ▽ More Submitted 1 July, 2017; originally announced July 2017.

arXiv:1706.10011 [pdf, other] cs.IT Fine-Grained Reliability for V2V Communications around Suburban and Urban Intersections Authors: Mouhamed Abdulla, Henk Wymeersch Abstract: …where an end-to-end reliability of 0.99999 is expected for a vehicle-to-vehicle (V2V) transmission distance of 100-200 m. Since communications reliability is related to road-… ▽ More Submitted 5 July, 2017; v1 submitted 30 June, 2017; originally announced June 2017. Comments: 27 pages, 6 figures, submitted to IEEE Transactions on Wireless Communications

arXiv:1706.05552 [pdf, ps, other] cs.IT stat.AP doi 10.1109/TSP.2017.2788416 Performance Bounds for Finite Moving Average Change Detection: Application to Global Navigation Satellite Systems Authors: Daniel Egea-Roca, Gonzalo Seco-Granados, José A. López-Salcedo, H. Vincent Poor Abstract: Due to the widespread deployment of Global Navigation Satellite Systems (GNSSs) for critical road or urban applications, one of the major challenges to be solved is the provision of integrity to terrestrial environments, so that GNSS may be safety used in these applications. To do so, the integrity of the received GNSS… ▽ More Submitted 17 June, 2017; originally announced June 2017. Comments: 12 pages, 2 figures, transaction paper, IEEE Transaction on Signal Processing, 2017

arXiv:1706.00298 [pdf, ps, other] cs.IT cs.PF Modeling and Design of Millimeter-Wave Networks for Highway Vehicular Communication Authors: Andrea Tassi, Malcolm Egan, Robert J. Piechocki, Andrew Nix Abstract: …Transportation Systems (ITSs) and smart cities, in general. High-speed and low-latency wireless communication links will allow municipalities to warn vehicles against safety hazards, as well as support cloud-driving solutions to drastically reduce traffic jams and air pollution. To achieve these goals, vehicles need to be equipped with a wide range of sensor… ▽ More Submitted 15 August, 2017; v1 submitted 1 June, 2017; originally announced June 2017. Comments: Accepted for publication in IEEE Transactions on Vehicular Technology -- Connected Vehicles Series

arXiv:1705.00748 [pdf, other] eess.SY Robust, Informative Human-in-the-Loop Predictions via Empirical Reachable Sets Authors: Katherine Driggs-Campbell, Roy Dong, S. Shankar Sastry, Ruzena Bajcsy Abstract: …models of human behavior must be developed. In the case of intelligent vehicles, one can imagine the need for predicting driver behavior to develop minimally invasive active safety systems or to safely interact with other vehicles on the road. We present a optimization based method for approximating the stochastic reac… ▽ More Submitted 1 May, 2017; originally announced May 2017.

arXiv:1705.00568 [pdf, other] eess.SY The Impact of Road Configuration in V2V-based Cooperative Localization: Mathematical Analysis and Real-world Evaluation Authors: Macheng Shen, Jing Sun, Ding Zhao Abstract: …It has been shown, in our previous work, that the GNSS error can be reduced from several meters to sub-meter level by matching the biased GNSS positioning to a digital map with road constraints. While further error reduction is expected by increasing the number of participating vehicles, fundamental questions on how the vehicle membership within CMM affects… ▽ More Submitted 31 July, 2017; v1 submitted 1 May, 2017; originally announced May 2017. Comments: arXiv admin note: substantial text overlap with arXiv:1703.02098, arXiv:1703.08818

arXiv:1704.08125 [pdf, other] cs.NI Connected Vehicular Transportation: Data Analytics and Traffic-dependent Networking Authors: Cailian Chen, Tom Hao Luan, Xinping Guan, Ning Lu, Yunshu Liu Abstract: …Transportation System (ITS) service applications in fast-motion vehicles become ever demanding, which are highly expected to significantly improve the efficiency and safety of our daily on-road lives. The emerging ITS and vehicular applications, e.g., trip planning, however, require substantial efforts on the real-time… ▽ More Submitted 26 April, 2017; originally announced April 2017.

arXiv:1704.07553 [pdf, other] cs.IT
doi 10.1109/EuCNC.2017.7980726 Beyond WYSIWYG: Sharing Contextual Sensing Data Through mmWave V2V Communications Authors: Cristina Perfecto, Javier Del Ser, Mehdi Bennis, Miren Nekane Bilbao Abstract: In vehicular scenarios context awareness is a key enabler for road safety. However, the amount of contextual information that can be collected by a vehicle is stringently limited by the sensor technology itself (e.g., line-of-sight, coverage, weather robustness) and by the low bandwidths offered by current wireless veh… ▽ More Submitted 26 April, 2017; v1 submitted 25 April, 2017; originally announced April 2017. Comments: 6 pages, 4 figures, Accepted in EuCNC 2017, Oulu, Finland, June 12-15, 2017

arXiv:1704.06406 [pdf, other] eess.SY Road to safe autonomy with data and formal reasoning Authors: Chuchu Fan, Bolun Qi, Sayan Mitra Abstract: We present an overview of recently developed data-driven tools for safety analysis of autonomous vehicles and advanced driver assist systems. The core algorithms combine model-based, hybrid system reachability analysis with sensitivity analysis of components with unknown or inaccessible models. We illustrate the applicability of this approach with a new case… ▽ More Submitted 21 April, 2017; originally announced April 2017. Comments: 7 pages, 5 figures, under submission to IEEE Design & Test

arXiv:1704.06325 [pdf, ps, other] eess.SY Trajectory Planning Under Vehicle Dimension Constraints Using Sequential Linear Programming Authors: Mogens Graf Plessen, Pedro F. Lima, Jonas Martensson, Alberto Bemporad, Bo Wahlberg Abstract: …vehicles under actuator, obstacle avoidance, and vehicle dimension constraints. Starting from a nonlinear kinematic bicycle model, vehicle dynamics are transformed to a road-aligned coordinate frame with path along the… ▽ More Submitted 21 July, 2017; v1 submitted 20 April, 2017; originally announced April 2017. Comments: - 7 pages, 13 figures, extended version of ITSC 2017 conference paper

arXiv:1704.05746 [pdf, ps, other] cs.IT Vehicular Communications: A Physical Layer Perspective Authors: Le Liang, Haixia Peng, Geoffrey Ye Li, Xuemin Shen Abstract: Vehicular communications have attracted more and more attention recently from both industry and academia due to its strong potential to enhance road safety, improve traffic efficiency, and provide rich on-board information and entertainment services. In this paper, we discuss fundamental physical layer issues that enab… ▽ More Submitted 15 September, 2017; v1 submitted 19 April, 2017; originally announced April 2017. Comments: 13pages, 4 figures. Accepted by IEEE Trans. Veh. Technol

arXiv:1704.04663 [pdf, other] cs.RO Autonomous Robotic System using Non-Destructive Evaluation methods for Bridge Deck Inspection Authors: Tuan Le, Spencer Gibb, Hung Manh La, Logan Falk, Tony Berendsen Abstract: Bridge condition assessment is important to maintain the quality of highway roads for public transport. Bridge deterioration with time is inevitable due to aging material, environmental wear and in some cases, inadequate maintenance. Non-destructive evaluation (NDE) methods are preferred for condition assessment for bridges, concrete buildings, and other civ… ▽ More Submitted 15 April, 2017; originally announced April 2017.

arXiv:1704.01003 [pdf, other] eess.SY High-Speed Trajectory Planning for Autonomous Vehicles Using a Simple Dynamic Model Authors: Florent Altché, Philip Polack, Arnaud de la Fortelle Abstract: To improve safety and energy efficiency, autonomous vehicles are expected to drive smoothly in most situations, while maintaining their velocity below a predetermined speed limit. However, some scenarios such as low road adherence or inadequate speed limit may require vehicles to automatically adapt their velocity with… ▽ More Submitted 4 April, 2017; originally announced April 2017.

arXiv:1703.10983 [pdf, other] cs.NI eess.SY doi 10.1007/978-3-319-39207-3_7 Detection of malicious data in vehicular ad-hoc networks for traffic signal control applications Authors: Bartlomiej Placzek, Marcin Bernas Abstract: …data. Injection of malicious data can result in significantly decreased performance of such applications, increased vehicle delays, fuel consumption, congestion, or even safety threats. This paper introduces a method, which combines a model of expected driver behaviour with position verification in order to detect the malicious data injected by vehicle nodes… ▽ More Submitted 31 March, 2017; originally announced March 2017. Comments: 11 pages, 4 figures Journal ref: Computer Networks. CCIS, vol. 608, pp. 72-82, 2016

arXiv:1703.05926 [pdf, ps, other] stat.AP Quantifying the causal effect of speed cameras on road traffic accidents via an approximate Bayesian doubly robust estimator Authors: Daniel J Graham, Cian Naik, Emma J McCoy, Haojie Li Abstract: This paper quantifies the effect of speed cameras on road traffic collisions using an approximate Bayesian doubly-robust (DR) causal inference estimation method. Previous empirical work on this topic, which shows a diverse range of estimated effects, is based largely on outcome regression (OR) models using the Empirical Bayes approach or on simple before and… ▽ More Submitted 16 August, 2019; v1 submitted 17 March, 2017; originally announced March 2017.

arXiv:1703.05174 [pdf, ps, other] cs.NI On the Connectivity Problem of ETSI DCC Algorithm Authors: Seungho Kuk, Seungnam Yang, Yongtae Park, Hyogon Kim Abstract: The intelligent transportation systems (ITS) framework from European Telecommunication Standards Institute (ETSI) imposes requirements on the exchange of periodic safety messages between components of ITS such as vehicles. In particular, it requires ETSI standardized Decentralized Congestion Control (DCC) algorithm to regulate the beaconing activity of vehic… ▽ More Submitted 15 March, 2017; originally announced March 2017. Comments: 27 pages, 14 figures, for journal paper

arXiv:1703.01225 [pdf, other] eess.SY A Simple Dynamic Model for Aggressive, Near-Limits Trajectory Planning Authors: Florent Altché, Philip Polack, Arnaud de La Fortelle Abstract: In normal on-road situations, autonomous vehicles will be expected to have smooth trajectories with relatively little demand on the vehicle dynamics to ensure passenger comfort and driving… ▽ More Submitted 23 June, 2017; v1 submitted 3 March, 2017; originally announced March 2017. Comments: Published in the IEEE IV 2017 conference

arXiv:1702.08325 [pdf, ps, other] eess.SY System and source identification from operational vehicle responses: A novel modal model accounting for the track-vehicle interaction Authors: Giovanni De Filippis, Davide Palmieri, Leonardo Soria, Luigi Mangialardi Abstract: …modal parameters. In this paper, we develop a specialised modal model, that we refer to as the Track-Vehicle Interaction Modal Model, able to incorporate the character of road/rail inputs acting on vehicles during operation. Since in this novel modal model the relationship between vehicle system outputs and modal parameters is given explicitly, the developme… ▽ More Submitted 7 January, 2017; originally announced February 2017. MSC Class: 74H50; 93E12

arXiv:1702.06827 [pdf, other] eess.SY cs.CR Towards Secure and Safe Appified Automated Vehicles Authors: Yunhan Jack Jia, Ding Zhao, Qi Alfred Chen, Z. Morley Mao Abstract: …automakers and end users. Some pioneering companies in the automotive industry have made the move to open the platform so that developers are allowed to test their code on the road. Such openness, however, brings serious security and… ▽ More Submitted 27 March, 2017; v1 submitted 22 February, 2017; originally announced February 2017.

arXiv:1701.08915 [pdf, other] eess.SY cs.RO Accelerated Evaluation of Automated Vehicles Using Piecewise Mixture Models Authors: Zhiyuan Huang, Ding Zhao, Henry Lam, David J. LeBlanc Abstract: The process to certify highly Automated Vehicles has not yet been defined by any country in the world. Currently, companies test Automated Vehicles on public roads, which is time-consuming and inefficient. We proposed the Accelerated Evaluation concept, which uses a modified statistics of the surrounding vehicles and the Importance Sampling theory to reduce… ▽ More Submitted 30 January, 2017; originally announced January 2017. Comments: 11 pages, 13 figures

arXiv:1701.08449 [pdf, other] cs.RO cs.CV SafeDrive: A Robust Lane Tracking System for Autonomous and Assisted Driving Under Limited Visibility Authors: Junaed Sattar, Jiawei Mo Abstract: We present an approach towards robust lane tracking for assisted and autonomous driving, particularly under poor visibility. Autonomous detection of lane markers improves road… ▽ More Submitted 29 January, 2017; originally announced January 2017.

arXiv:1701.03580 [pdf, other] math.OC eess.SY doi 10.1109/TCNS.2017.2714340 Distributed control of vehicle strings under finite-time and safety specifications Authors: Pavankumar Tallapragada, Jorge Cortes Abstract: This paper studies an optimal control problem for a string of vehicles with safety requirements and finite-time specifications on the approach time to a target region. Our problem formulation is motivated by scenarios involving autonomous vehicles circulating on arterial… ▽ More Submitted 13 July, 2017; v1 submitted 13 January, 2017; originally announced January 2017.

arXiv:1701.02641 [pdf, other] cs.NI cs.DC eess.SY Distributed Algorithm for Collision Avoidance at Road Intersections in the Presence of Communication Failures Authors: Vladimir Savic, Elad M. Schiller, Marina Papatriantafilou Abstract: …that cooperate via V2V communications, and propose a novel distributed IC algorithm that can handle an unknown number of communication failures. Our analysis shows that both safety and liveness requirements are satisfied in all realistic situations. We also found, based on a real data set, that the crossing delay is only slightly increased even in the presen… ▽ More Submitted 10 January, 2017; originally announced January 2017.

arXiv:1701.01768 [pdf, other] math.OC doi 10.1080/0305215X.2016.1271880 Multi-Haul Quasi Network Flow Model for Vertical Alignment Optimization Authors: Vahid Beiranvand, Warren Hare, Yves Lucet, Shahadat Hossain Abstract: The vertical alignment optimization problem for road design aims to generate a vertical alignment of a new road with a minimum cost, while satisfying safety and design constraints. We present a new model called multi-haul quasi network flow (MH-QNF) for vertical alignment optimiz… ▽ More Submitted 6 January, 2017; originally announced January 2017. Comments: 23 pages, 4 figures The Version of Record of this manuscript has been published and is available in Engineering Optimization (GENO); Estimated publication date: Jan 12, 2017 (online); http://dx.doi.org/10.1080/0305215X.2016.1271880 MSC Class: 90C90 (Primary); 90C11 (Secondary) ACM Class: G.1.6; I.6.4; J.6

arXiv:1612.02795 [pdf, ps, other] math.OC cs.AI eess.SY Safety Verification and Control for Collision Avoidance at Road Intersections Authors: Heejin Ahn, Domitilla Del Vecchio Abstract: This paper presents the design of a supervisory algorithm that monitors safety at… ▽ More Submitted 8 December, 2016; originally announced December 2016. Comments: 12 pages

arXiv:1612.01894 [pdf] cs.NI Analysis and Evaluation of Real-time and Safety Characteristics of IEEE 802.11p protocol in VANET Authors: Hossein Ahmadvand, Amir Hossein Jahangir, Ataollah Fatahi Baarzi Abstract: The need for safety in transportation systems has increased the popularity and applicability of Vehicular Ad-Hoc Networks (VANETs) in recent years. On-time reception and processing of alarms caused by possible accidents as well as the preventive actions have important roles in reducing human and financial losses in… ▽ More Submitted 6 December, 2016; originally announced December 2016. Comments: 21 pages, 10 figures

arXiv:1611.08788 [pdf, other] cs.CV cs.AI SAD-GAN: Synthetic Autonomous Driving using Generative Adversarial Networks Authors: Arna Ghosh, Biswarup Bhattacharya, Somnath Basu Roy Chowdhury Abstract: Autonomous driving is one of the most recent topics of interest which is aimed at replicating human driving behavior keeping in mind the safety issues. We approach the problem of learning synthetic driving using generative neural networks. The main idea is to make a controller trainer network using images plus key press data to mimic human learning. We used… ▽ More Submitted 27 November, 2016; originally announced November 2016. Comments: 5 pages; 4 figures; Accepted at the Deep Learning for Action and Interaction Workshop, 30th Conference on Neural Information Processing Systems (NIPS 2016), Barcelona, Spain; All authors have equal contribution

arXiv:1611.08583 [pdf, other] cs.CV Learning from Maps: Visual Common Sense for Autonomous Driving Authors: Ari Seff, Jianxiong Xiao Abstract: …up-to-date, safe autonomous vehicles must be able to corroborate the map's information via a real time sensor-based system. Our goal in this work is to develop a model for road layout inference given imagery from on-board cameras, without any reliance on high-definition maps. However, no sufficient dataset for training such a model exists. Here, we lever… ▽ More Submitted 7 December, 2016; v1 submitted 25 November, 2016; originally announced November 2016.

arXiv:1611.05735 [pdf, other] cs.AI Optimal Dynamic Coverage Infrastructure for Large-Scale Fleets of Reconnaissance UAVs Authors: Yaniv Altshuler, Alex Pentland, Shlomo Bekhor, Yoram Shiftan, Alfred Bruckstein Abstract: …of a small number of self-organizing swarms, manually guided by a human operator. Drones-based monitoring is of great importance in variety of civilian domains, such as road… ▽ More Submitted 17 November, 2016; originally announced November 2016. Comments: 35 pages, 19 figures

arXiv:1611.03618 [pdf, other] cs.CY cs.HC Smartphone-based Vehicle Telematics - A Ten-Year Anniversary Authors: Johan Wahlström, Isaac Skog, Peter Händel Abstract: …social life, the fast growth of smartphone ownership is now beginning to revolutionize the driving experience and change how we think about automotive insurance, vehicle safety systems, and traffic research. This paper summarizes the first ten years of research in smartphone-based vehicle telematics, with a focus on user-friendly implementations and the chal… ▽ More Submitted 11 November, 2016; originally announced November 2016.

arXiv:1610.09450 [pdf, other] eess.SY Evaluation of Automated Vehicles in the Frontal Cut-in Scenario - an Enhanced Approach using Piecewise Mixture Models Authors: Zhiyuan Huang, Ding Zhao, Henry Lam, David J. LeBlanc, Huei Peng Abstract: Evaluation and testing are critical for the development of Automated Vehicles (AVs). Currently, companies test AVs on public roads, which is very time-consuming and inefficient. We proposed the Accelerated Evaluation concept which uses a modified statistics of the surrounding vehicles and the Importance Sampling theory to reduce the evaluation time by severa… ▽ More Submitted 30 January, 2017; v1 submitted 28 October, 2016; originally announced October 2016. Comments: 6 pages, 8 figures MSC Class: accepted by ICRA

arXiv:1610.03393 [pdf, other] cs.CV Crossing the Road Without Traffic Lights: An Android-based Safety Device Authors: Adi Perry, Dor Verbin, Nahum Kiryati Abstract: In the absence of pedestrian crossing lights, finding a safe moment to cross the road is often hazardous and challenging, especially for people with visual impairments. We present a reliable low-cost solution, an Android device attached to a traffic sign or lighting pole near the crossing, indicating whether it is safe to cross the… ▽ More Submitted 11 October, 2016; originally announced October 2016. Comments: Planned submission to "Pattern Recognition Letters"

arXiv:1610.03295 [pdf, other] cs.AI cs.LG stat.ML Safe, Multi-Agent, Reinforcement Learning for Autonomous Driving Authors: Shai Shalev-Shwartz, Shaked Shammah, Amnon Shashua Abstract: Autonomous driving is a multi-agent setting where the host vehicle must apply sophisticated negotiation skills with other road users when overtaking, giving way, merging, taking left and right turns and while pushing ahead in unstructured urban roadways. Since there are many possible scenarios, manually tackling all possible cases will likely yield a too sim… ▽ More Submitted 11 October, 2016; originally announced October 2016.

arXiv:1610.02765 [pdf, other] cs.IT Vehicle-to-Vehicle Communications with Urban Intersection Path Loss Models Authors: Mouhamed Abdulla, Erik Steinmetz, Henk Wymeersch Abstract: Vehicle-to-vehicle (V2V) communication can improve road safety and traffic efficiency, particularly around critical areas such as intersections. We analytically derive V2V success probability near an urban intersection, based on empirically supported line-of-sight (LOS), weak-line-of-sight (WLOS), and non-line-of-sight… ▽ More Submitted 9 October, 2016; originally announced October 2016. Comments: Proc. of IEEE Global Communications Conference (GLOBECOM'16)

arXiv:1609.03876 [pdf] cs.NI C-ITS Deployment in Europe - Current Status and Outlook Authors: Katrin Sjöberg, Peter Andres, Teodor Buburuzan, Achim Brakemeier Abstract: …Intelligent Transport Systems (C-ITS) refers to applications using vehicle-to-vehicle and vehicle-to-infrastructure communications at a carrier frequency of 5.9 GHz to increase road traffic safety and road traffic efficiency in Europe (a.k.a. connected vehicle technology in the U… ▽ More Submitted 16 January, 2017; v1 submitted 13 September, 2016; originally announced September 2016. Comments: 7 pages, 2 figures, Accepted for publication in IEEE Vechicular Technology Magazine during 2017

arXiv:1608.08589 [pdf, other] cs.AI cs.GT Game-Theoretic Modeling of Driver and Vehicle Interactions for Verification and Validation of Autonomous Vehicle Control Systems Authors: Nan Li, Dave Oyler, Mengxuan Zhang, Yildiray Yildiz, Ilya Kolmanovsky, Anouck Girard Abstract: …the development of the autonomous driving control algorithms by providing a venue where acceptable initial control calibrations can be achieved quickly and safely before actual road tests. In this paper, we present a game theoretic traffic model that can be used to 1) test and compare various autonomous vehicle decision and control systems and 2) calibrate t… ▽ More Submitted 30 August, 2016; originally announced August 2016. Comments: 13 pages, 16 figures

arXiv:1608.04311 [pdf, other] math.OC Optimal Control of Connected Automated Vehicles at Urban Traffic Intersections: A Feasibility Enforcement Analysis Authors: Yue Zhang, Christos G. Cassandras, Andreas A. Malikopoulos Abstract: …in an urban area. A solution, when it exists, allows the vehicles to cross the intersections without the use of traffic lights, without creating congestion on the connecting road, and under the hard safety constraint of collision avoidance. We establish the conditions under which such solutions exist and show that they… ▽ More Submitted 20 February, 2017; v1 submitted 15 August, 2016; originally announced August 2016. Comments: 8 pages, 7 figures. arXiv admin note: text overlap with arXiv:1509.08689

arXiv:1607.07849 [pdf] cs.CY cs.SE Facing ADAS validation complexity with usage oriented testing Authors: Laurent Raffaëlli, Frédérique Vallée, Guy Fayolle, Philippe De Souza, Xavier Rouah, Matthieu Pfeiffer, Stéphane Géronimi, Frédéric Pétrot, Samia Ahiad Abstract: …widespread in the automotive field. ADAS bring extra comfort to drivers, and this has become a selling point. But these functions, while useful, must not affect the general safety of the vehicle which is the manufacturer's responsibility. A significant number of current ADAS are based on vision systems, and applications such as obstacle detection and det… ▽ More Submitted 22 February, 2016; originally announced July 2016. Journal ref: ERTS 2016, Jan 2016, Toulouse, France. 2016

arXiv:1607.03775 [pdf, other] stat.ME Causal inference to detect selection bias in road safety epidemiology Authors: Marine Dufournet, Emilie Lanoy, Jean-Louis Martin, Vivian Viallon Abstract: In the field of road safety, it is common to use responsibility analyses to assess the effect of a given factor on the risk of being responsible for an accident, among drivers involved in an accident only. Even if this design is now widely adopted in the field, the question of selection bias is often raised. The struct… ▽ More Submitted 14 October, 2018; v1 submitted 13 July, 2016; originally announced July 2016.

arXiv:1607.02687 [pdf] cs.OH Accelerated Evaluation of Automated Vehicles in Car-Following Maneuvers Authors: Ding Zhao, Xianan Huang, Huei Peng, Henry Lam, David J. LeBlanc Abstract: The safety of Automated Vehicles (AVs) must be assured before their release and deployment. The current approach to evaluation relies primarily on (i) testing AVs on public… ▽ More Submitted 19 February, 2017; v1 submitted 9 July, 2016; originally announced July 2016. Comments: 11 pages, 11 figures

arXiv:1606.08365 [pdf] cs.NI eess.SY doi 10.1109/TITS.2017.2649538 Empirical Study of DSRC Performance Based on Safety Pilot Model Deployment Data Authors: Xianan Huang, Ding Zhao, Huei Peng Abstract: …transportation system applications. Sharing information among cars and between cars and the infrastructure, pedestrians, or "the cloud" has great potential to improve safety, mobility and fuel economy. DSRC is being considered by the US Department of Transportation to be required for ground vehicles. In the past, their performance has been assessed t… ▽ More Submitted 16 June, 2016; originally announced June 2016.

arXiv:1606.06709 [pdf, other] math.OC
doi 10.1109/ITSC.2016.7795574 Guaranteed Cost Model Predictive Control-based Driver Assistance System for Vehicle Stabilization Under Tire Parameters Uncertainties Authors: Carlos M. Massera, Marco H. Terra, Denis F. Wolf Abstract: Road traffic crashes have been the leading cause of death among young people. Most of these accidents occur when the driver becomes distracted and a loss-of-control situation occurs. Steer-by-Wire systems were recently proposed as an alternative to mitigate such accidents. This technology enables the decoupling of the front wheel steering angles from the dri… ▽ More Submitted 20 September, 2016; v1 submitted 21 June, 2016; originally announced June 2016. Comments: Submitted to IEEE Intelligent Transportation Systems Conference

arXiv:1606.01561 [pdf, other] cs.CV Shallow Networks for High-Accuracy Road Object-Detection Authors: Khalid Ashraf, Bichen Wu, Forrest N. Iandola, Mattthew W. Moskewicz, Kurt Keutzer Abstract: The ability to automatically detect other vehicles on the road is vital to the safety of partially-autonomous and fully-autonomous vehicles. Most of the high-accuracy techniques for this task are based on R-CNN or one of its faster variants. In the research community, much emphasis has been applied to using 3D vision o… ▽ More Submitted 5 June, 2016; originally announced June 2016. Comments: 9 pages, 5 figures

arXiv:1606.01479 [pdf] cs.CY Short range networks of wearables for safer mobility in smart cities Authors: Kapil Sharma, Christian Claudel Abstract: Ensuring safe and efficient mobility is a critical issue for smart city operators. Increasing safety not only reduces the likelihood of road injuries and fatalities, but also reduces traffic congestion and disruptions caused by accidents, increasing efficiency. While new vehicles are increasingly equipped with semi-aut… ▽ More Submitted 5 June, 2016; originally announced June 2016. Comments: Workshop on System and Control Perspectives for Smart City, IEEE CDC 2015

arXiv:1605.07493 [pdf, other] math.OC
doi 10.1109/TITS.2017.2679098 Safely Optimizing Highway Traffic with Robust Model Predictive Control-based Cooperative Adaptive Cruise Control Authors: Carlos M. Massera, Marco H. Terra, Denis F. Wolf Abstract: Road traffic crashes have been the leading cause of death among young people. Most of these accidents occur when the driver becomes distracted due to fatigue or external factors. Vehicle platooning systems such as Cooperative Adaptive Cruise Control (CACC) are one of the results of the effort devoted to the development of technologies for decreasing the numb… ▽ More Submitted 2 June, 2016; v1 submitted 24 May, 2016; originally announced May 2016. Comments: Submitted to Transactions on Intelligent Transportation Systems

arXiv:1605.06462 [pdf, other] physics.soc-ph Simulating the interaction of road users: A glance to complexity of Venezuelan traffic Authors: Juan C. Correa, Mario I. Caicedo, Ana L. C. Bazzan, Klaus Jaffe Abstract: …motorcyclists drive in between the lanes of stopped or slow-moving vehicles. This later driving mode is a Venezuelan pervasive practice of mobilization that clearly jeopardizes road… ▽ More Submitted 20 May, 2016; originally announced May 2016. Comments: 10 pages, 4 figures, 2 tables

arXiv:1605.04965 [pdf] cs.RO
doi 10.1109/TITS.2016.2582208 Accelerated Evaluation of Automated Vehicles Safety in Lane Change Scenarios Based on Importance Sampling Techniques Authors: Ding Zhao, Henry Lam, Huei Peng, Shan Bao, David J. LeBlanc, Kazutoshi Nobukawa, Christopher S. Pan Abstract: …before their release and deployment. A widely-used evaluation approach is the Naturalistic-Field Operational Test (N-FOT), which tests prototype vehicles directly on the public roads. Due to the low exposure to… ▽ More Submitted 15 June, 2016; v1 submitted 16 May, 2016; originally announced May 2016. Comments: submitted to IEEE ITSC

arXiv:1604.03984 [pdf, other] eess.SY
doi 10.1109/IVS.2016.7535419 Predicting Lane Keeping Behavior of Visually Distracted Drivers Using Inverse Suboptimal Control Authors: Felix Schmitt, Hans-Joachim Bieg, Dietrich Manstetten, Michael Herman, Rainer Stiefelhagen Abstract: Driver distraction strongly contributes to crash-risk. Therefore, assistance systems that warn the driver if her distraction poses a hazard to road safety, promise a great safety benefit. Current approaches either seek to detect critical situations using environmental sensors or… ▽ More Submitted 29 April, 2016; v1 submitted 13 April, 2016; originally announced April 2016. Comments: 7 pages, 6 figures, accepted for 2016 IEEE Intelligent Vehicles Symposium ACM Class: I.2.8

arXiv:1604.03563 [pdf] cs.CY Toward a Science of Autonomy for Physical Systems: Construction Authors: Miroslaw Skibniewski, Mani Golparvar-Fard Abstract: Today, ensuring and improving safety, productivity, quality, and sustainability in construction, operation, and maintenance of national civil infrastructure systems through advances in robotics and automation is a national imperative. By "national civil infrastructure" we refer to the 4.5M commercial buildings, 3.9M miles of public… ▽ More Submitted 12 April, 2016; originally announced April 2016. Comments: A Computing Community Consortium (CCC) white paper, 6 pages

arXiv:1604.02122 [pdf, other] cs.RO Modeling Concurrency and Reconfiguration in Vehicular Systems: A π-calculus Approach Authors: Joseph Campbell, Cumhur Erkan Tuncali, Theodore P. Pavlic, Georgios Fainekos Abstract: As autonomous or semi-autonomous vehicles are deployed on the roads, they will have to eventually start communicating with each other in order to achieve increased efficiency and safety. Current approaches in the control of collaborative vehicles primarily consider homogeneous simplified vehicle dynamics and usually ig… ▽ More Submitted 7 April, 2016; originally announced April 2016.

arXiv:1603.08635 [pdf, other] eess.SY
doi 10.4204/EPTCS.205.4 Development and Validation of Functional Model of a Cruise Control System Authors: Avinash Visagan Varadarajan, Marcel Romijn, Bart Oosthoek, Joanna van de Mortel-Fronczak, Jos Beijer Abstract: …of the system framework present and traceability is lost or becomes very tricky in the process. This hugely impacts the development phase of an automobile, in which, the safety and reliability of the automobile design should be ensured. Hence, there is a need to ensure operational… ▽ More Submitted 29 March, 2016; originally announced March 2016. Comments: In Proceedings FESCA 2016, arXiv:1603.08371 Journal ref: EPTCS 205, 2016, pp. 45-58

arXiv:1603.06669 [pdf] cs.CV Implementation of a FPGA-Based Feature Detection and Networking System for Real-time Traffic Monitoring Authors: Jieshi Chen, Benjamin Carrion Schafer, Ivan Wang-Hei Ho Abstract: …second. By integrating the feature detection and data transmission functions, the presented system can be further developed for various VANET application scenarios to improve road safety and traffic efficiency. For example, detection of vehicles that violate traffic rules, parking enforcement, etc. ▽ More Submitted 22 March, 2016; originally announced March 2016.

arXiv:1602.08141 [pdf, other] cs.RO cs.CV Autonomous navigation for low-altitude UAVs in urban areas Authors: Thomas Castelli, Aidean Sharghi, Don Harper, Alain Tremeau, Mubarak Shah Abstract: …Unmanned Aerial Vehicles have become very popular, everyone can buy and fly a drone without previous experience, which raises concern in regards to regulations and public safety. In this paper, we present a novel approach towards enabling safe operation of such vehicles in urban areas. Our method uses geodetically accurate dataset images with Geographical In… ▽ More Submitted 25 February, 2016; originally announced February 2016.

arXiv:1602.01358 [pdf, other] eess.SY cs.FL math.OC Towards Scalable Synthesis of Stochastic Control Systems Authors: Majid Zamani, Ilya Tkachev, Alessandro Abate Abstract: …scalable) than existing approaches. We elucidate the effectiveness of the proposed approach by synthesizing a schedule for the coordination of two traffic lights under some safety and fairness requirements for a road traffic model. Further we argue that this 5-dimensional linear stochastic control system cannot be stud… ▽ More Submitted 3 February, 2016; originally announced February 2016. Comments: 22 pages, 3 figures. arXiv admin note: text overlap with arXiv:1407.2730 MSC Class: 93E03; 68Q60; 93C10 ACM Class: D.2.4; B.1.2; B.5.2; I.2.8

arXiv:1601.08027 [pdf] cs.NI TrAD: Traffic Adaptive Data Dissemination Protocol for Both Urban and Highway VANETs Authors: Bin Tian, K. M. Hou, Jianjin Li Abstract: Vehicular Ad hoc Networks (VANETs) aim to improve transportation activities that include traffic safety, transport efficiency and even infotainment on the wheels, in which a great number of traffic event-driven messages are needed to disseminate in a region of interest timely. However, due to the nature of VANETs, highly dynamic mobility and frequent disconn… ▽ More Submitted 29 January, 2016; originally announced January 2016. Comments: Accepted by the 30-th IEEE International Conference on Advanced Information Networking and Applications (AINA-2016)

arXiv:1601.05535 [pdf] cs.CV On the Diagnostic of Road Pathway Visibility Authors: Pierre Charbonnier, Jean-Philippe Tarel, Francois Goulette Abstract: Visibility distance on the road pathway plays a significant role in… ▽ More Submitted 21 January, 2016; originally announced January 2016. Comments: in Transport Research Arena Europe, 2010, Bruxelles, France. 2010

arXiv:1601.01527 [pdf] cs.NI
doi 10.5121/ijcsit.2015.7607 Congestion Aware Spray And Wait Protocol: A Congestion Control Mechanism For The Vehicular Delay Tolerant Network Authors: Chuka Oham, Milena Radenkovic Abstract: …leads to message drops. To minimize the rate of message drops and so optimize the probability of message delivery so that drivers are increasingly aware of the situation of the road, we propose a congestion control mechanism: Congestion Aware Spray and Wait (CASaW) protocol in this work so as to optimize the rate of message delivery to its destination and so… ▽ More Submitted 7 January, 2016; originally announced January 2016. Comments: 13 pages, 9 figures Journal ref: IJCSIT Vol 7, No 6, December 2015, pp. 83-95

arXiv:1510.06607 [pdf, ps, other] cs.NI Reliable and Efficient Autonomous Driving: the Need for Heterogeneous Vehicular Networks Authors: Kan Zheng, Qiang Zheng, Haojun Yang, Long Zhao, Lu Hou, Periklis Chatzimisios Abstract: Autonomous driving technology has been regarded as a promising solution to reduce road accidents and traffic congestion, as well as to optimize the usage of fuel and lane. Reliable and high efficient Vehicle-to-Vehicle (V2V) and Vehicle-to-Infrastructure (V2I) communications are essential to let commercial autonomous driving vehicles be on the… ▽ More Submitted 22 October, 2015; originally announced October 2015.

arXiv:1510.03933 [pdf] cond-mat.mtrl-sci Elastic Composite, Reinforced Lightweight Concrete as a Type of Resilient Composite Systems Authors: Kamyar Esmaeili Abstract: …low-thickness bending elements as slabs, is being unlocked. . This simple, applied technology and the related components and systems can have several applications in "the Road and Building Industries" too. . Regarding the "strategic importance of the Lightweight & Integrated Construction in practical increase of the resistance and… ▽ More Submitted 13 October, 2015; originally announced October 2015. Comments: 22 pages, 5 figures in The Internet Journal of Innovative Technology and Creative Engineering (IJITCE); 2012; 2(8): 1-22. (English) [URL: http://ia800305.us.archive.org/34/items/IJITCE/vol2no801.pdf ( http://www.webcitation.org/6B2pFPpBh )]

arXiv:1510.01125 [pdf] cs.NI An empirical study of Unfairness and Oscillation in ETSI DCC Authors: Fatma Marzouk, Rachid Zagrouba, Anis Laouiti, Paul Muhlethaler Abstract: …node density situation has long been a major field of studies. Particular attention has been paid to the frequent exchange of Cooperative Awareness Messages (CAMs) on which many road safety applications rely. In the present paper, se focus on the European Telecommunications Standard Institute (ETSI) Decentralized Conge… ▽ More Submitted 5 October, 2015; originally announced October 2015. Journal ref: International Conference on Performance Evalutaion and Modeling in Wired and Wireless networks PEMWN' 2015, Nov 2015, Hammamet, Tunisia

arXiv:1509.08689 [pdf, other] math.OC
doi 10.1109/ACC.2016.7526648 Optimal Control and Coordination of Connected and Automated Vehicles at Urban Traffic Intersections Authors: Yue J. Zhang, Andreas A. Malikopoulos, Christos G. Cassandras Abstract: …fuel consumption. The solu- tion, when it exists, allows the vehicles to cross the intersections without the use of traffic lights, without creating congestion on the connecting road, and under the hard safety constraint of collision avoidance. The effectiveness of the proposed solution is validated through simulation… ▽ More Submitted 16 June, 2017; v1 submitted 29 September, 2015; originally announced September 2015. Comments: 6 pages, 4 figures

arXiv:1509.04636 [pdf] eess.SY Driver Friendly Headlight Controller for Driving in Developing Countries Authors: Dhruv Gupta, Gunvantsinh Gohil, Mehul S. Raval Abstract: In developing countries, night driving is extremely unsafe mainly due to; 1). Poorly followed traffic rules and 2) bad road conditions. The number of accidents is increasing at a frightening pace, necessitating the development of a low cost automatic headlight control system to ensure safety. In most accident cases, fa… ▽ More Submitted 15 September, 2015; originally announced September 2015.

arXiv:1508.05344 [pdf, ps, other] cs.NI A Multi-Scale Spatiotemporal Perspective of Connected and Automated Vehicles: Applications and Wireless Networking Authors: Rajit Johri, Jayanthi Rao, Hai Yu, Hongwei Zhang Abstract: …of connected and automated vehicles (CAVs). Given the heterogeneity of both wireless communication technologies and CAV applications, one question that is critical to technology road-mapping and policy making is which communication technology is more suitable for a specific CAV application. Focusing on the technical aspect of this question, we present a mult… ▽ More Submitted 21 August, 2015; originally announced August 2015.

arXiv:1506.07674 [pdf] cs.NI Evaluation of Synchronous and Asynchronous Reactive Distributed Congestion Control Algorithms for the ITS G5 Vehicular Systems Authors: Oyunchimeg Shagdar Abstract: The IEEE 802.11p is the technology dedicated to vehicular communications to support road… ▽ More Submitted 7 September, 2015; v1 submitted 25 June, 2015; originally announced June 2015.

arXiv:1506.05422 [pdf, other] physics.soc-ph math-ph doi 10.4310/CMS.2017.v15.n1.a10 Proposal of a risk model for vehicular traffic: A Boltzmann-type kinetic approach Authors: Paolo Freguglia, Andrea Tosin Abstract: This paper deals with a Boltzmann-type kinetic model describing the interplay between vehicle dynamics and safety aspects in vehicular traffic. Sticking to the idea that the macroscopic characteristics of traffic flow, including the distribution of the driving risk along a… ▽ More Submitted 11 May, 2016; v1 submitted 12 June, 2015; originally announced June 2015. Comments: 23 pages, 3 figures, Commun. Math. Sci., 2016 MSC Class: 35Q20; 35Q70; 90B20 Journal ref: Commun. Math. Sci., 15(1):213-236, 2017

arXiv:1506.03588 [pdf, other] cs.CR Private reputation retrieval in public - a privacy-aware announcement scheme for VANETs Authors: Liqun Chen, Qin Li, Keith M. Martin, Siaw-Lynn Ng Abstract: An announcement scheme is a system that facilitates vehicles to broadcast road-related information in vehicular ad hoc networks (VANETs) in order to improve road safety and efficiency. Here we propose a new cryptographic primitive for public updating of reputation score based on… ▽ More Submitted 18 May, 2016; v1 submitted 11 June, 2015; originally announced June 2015. Comments: This paper is a preprint of a paper submitted to IET Information Security and is subject to Institution of Engineering and Technology Copyright. If accepted, the copy of record will be available at IET Digital Library MSC Class: 94A62

arXiv:1502.00054 [pdf, other] cs.OH doi 10.1016/j.comcom.2016.05.015 ECPR: Environment- and Context-aware Combined Power and Rate Distributed Congestion Control for Vehicular Communications Authors: Bengi Aygun, Mate Boban, Alexander M. Wyglinski Abstract: Safety and efficiency applications in vehicular networks rely on the exchange of periodic messages between vehicles. These messages contain position, speed, heading, and other vital information that makes the vehicles aware of their surroundings. The drawback of exchanging periodic cooperative messages is that they generate significant channel load. Decentra… ▽ More Submitted 5 June, 2016; v1 submitted 30 January, 2015; originally announced February 2015. Comments: 37 Pages, 12 Figures, 5 Tables, Elsevier Computer Communications, May 2016 Report number: COMCOM5336

arXiv:1411.1594 [pdf, other] stat.ME Joint estimation of K related regression models with simple L1-norm penalties Authors: Edouard Ollier, Vivian Viallon Abstract: …various settings on synthetic data: these empirical results confirm that our approach performs at least similarly to its competitors. As a final illustration, an analysis of road safety data is provided. ▽ More Submitted 6 November, 2014; originally announced November 2014. Comments: 33 pages, 7 figures

arXiv:1406.1794 [pdf] cs.NI Advanced vehicle safety and content distribution system Authors: Anita B, Beena Sheril, Ramesh B. E Abstract: …APs storage, bandwidth and load on the origin APs which is connected to internet. With the features Advanced System to distribute the content the system takes care of improving road safety, delivery accuracy and important content distribution. ▽ More Submitted 7 June, 2014; originally announced June 2014. Comments: 4 pages, 2 figures, Published with International Journal of Engineering Trends and Technology (IJETT) Journal ref: Volume 11 Number 9 - May 2014, IJETT-V11P284

arXiv:1403.6013 [pdf] cs.NI Simulation Based: Study and Analysis of Routing Protocol in Vehicular Ad-hoc Network Environment Authors: Vaishali D. Khairnar, Dr. S. N. Pradhan Abstract: …which communicate with each other and exchange data via wireless communication links available between the vehicles which are in communication ranges of vehicles to improve the road… ▽ More Submitted 24 March, 2014; originally announced March 2014. Comments: 09 pages,18 figures Journal ref: Int.J.Computer Technology & Applications,Vol 3(2),617-625 ISSN 2229-6093,March - April 2012

arXiv:1401.3623 [pdf] cs.OH
doi 10.5120/14820-3050 Transport Information System using Query Centric Cyber Physical Systems (QCPS) Authors: Ankit Mundra, Geetanjali Rathee, Meenu Chawla, Nitin Rakesh, Ashsutosh Soni Abstract: …have been introduced. Recently several GPS equipped smart phones and sensor based frameworks have been proposed which provide various services i.e. environment estimation, road… ▽ More Submitted 15 January, 2014; originally announced January 2014. Comments: 5 pages, 4 Figures Journal ref: International Journal of Computer Applications 85(3):12-16, January 2014. Published by Foundation of Computer Science, New York, USA

arXiv:1401.2405 [pdf] cs.NI Dynamic Safety Message Power Control in VANET Using PSO Authors: Ghassan Samara, Tareq Alhmiedat, Amer O. Abu Salem Abstract: …years Vehicular Ad hoc Networks (VANET) became one of the most challenging research area in the field of Mobile Ad hoc Networks (MANET). Vehicles in VANET send emergency and safety periodic messages through one control channel having a limited bandwidth, which causes a growing collision to the channel especially in dense traffic situations. In this paper a p… ▽ More Submitted 21 January, 2014; v1 submitted 10 January, 2014; originally announced January 2014. Comments: 9 pages. arXiv admin note: substantial text overlap with arXiv:1311.2364 Journal ref: The World of Computer Science and Information Technology Journal (WSCIT). 2013, Volume 3, Issue 10. pp. 176.184

arXiv:1310.0315 [pdf] cs.CV Computer Vision Systems in Road Vehicles: A Review Authors: Kristian Kovačić, Edouard Ivanjko, Hrvoje Gold Abstract: The number of road vehicles significantly increased in recent decades. This trend accompanied a build-up of… ▽ More Submitted 1 October, 2013; originally announced October 2013. Comments: Part of the Proceedings of the Croatian Computer Vision Workshop, CCVW 2013, Year 1 Report number: UniZg-CRV-CCVW/2013/0014

arXiv:1309.1928 [pdf, other] eess.SY Rollover Preventive Force Synthesis at Active Suspensions in a Vehicle Performing a Severe Maneuver with Wheels Lifted off Authors: Nigam Chandra Parida, Soumyendu Raha, Anand Ramani Abstract: Among the intelligent safety technologies for… ▽ More Submitted 8 September, 2013; originally announced September 2013.

arXiv:1305.2836 [pdf] cs.NI Infrastructure to Vehicle Real Time Secured Communication Authors: Smita Pathak, Urmila Shrawankar Abstract: …communication systems, security and privacy are critical factors and significant challenges to be met. This Vehicular communication (VC) system has the potential to improve road safety and driving comfort. Nevertheless, securing the operation is a prerequisite for deployment so in this paper we are focusing on real tim… ▽ More Submitted 10 May, 2013; originally announced May 2013. Comments: Pages: 05 Figures: 04, Proceedings of International Symposium on Computing, Communication, and Control, ISBN 978-1-84626, 2009. arXiv admin note: text overlap with arXiv:0912.5391 by other authors

arXiv:1305.1102 [pdf, other] cs.RO Incremental Sampling-based Algorithm for Minimum-violation Motion Planning Authors: Luis I. Reyes Castro, Pratik Chaudhari, Jana Tumova, Sertac Karaman, Emilio Frazzoli, Daniela Rus Abstract: This paper studies the problem of control strategy synthesis for dynamical systems with differential constraints to fulfill a given reachability goal while satisfying a set of safety rules. Particular attention is devoted to goals that become feasible only if a subset of the… ▽ More Submitted 5 November, 2013; v1 submitted 6 May, 2013; originally announced May 2013. Comments: 8 pages, final version submitted to CDC '13

arXiv:1304.5190 [pdf] cs.NI
doi 10.5120/6390-8811 DEMO: Simulation of Realistic Mobility Model and Implementation of 802.11p (DSRC) for Vehicular Networks (VANET) Authors: Saurabh D. Patil, D. V. Thombare, Vaishali D. Khairnar Abstract: An ad hoc network of vehicles (VANET) consists of vehicles that exchange information via radio in order to improve road safety, traffic management and do better distribution of traffic load in time and space. Along with this it allows Internet access for passengers and users of vehicles. A significant characteristic wh… ▽ More Submitted 18 April, 2013; originally announced April 2013. Comments: 4 pages, 6 figures, International Journal of Computer Application

arXiv:1304.5181 [pdf] cs.NI
doi 10.5120/7196-9967 Comparative Study of Simulation for Vehicular Ad-hoc Network Authors: Vaishali D. Khairnar, S. N. Pradhan Abstract: In this paper we have discussed about the number of automobiles that has been increased on the road in the past few years. Due to high density of vehicles, the potential threats and… ▽ More Submitted 18 April, 2013; originally announced April 2013. Comments: 4 pages, International Journal of Computer Applications

arXiv:1304.4350 [pdf, ps, other] cs.NI Analysis of urban traffic data sets for VANETs simulations Authors: Alice Castellano, Francesca Cuomo Abstract: …few years vehicular traffic is attracting a growing attention from both industry and research, due to the importance of the related applications, ranging from traffic control to road safety. However, less attention has been paid to the modeling of realistic user mobility through real empirical data that would allow to… ▽ More Submitted 16 April, 2013; originally announced April 2013. Comments: Abstract presented at INFOCOM 2013 N2WOMEN workshop

arXiv:1304.3357 [pdf] cs.NI
doi 10.5121/ijnsa.2013.5212 Performance of Vehicle-to-Vehicle Communication using IEEE 802.11p in Vehicular Ad-hoc Network Environment Authors: Vaishali D. Khairnar, Ketan Kotecha Abstract: Traffic safety applications using vehicle-to-vehicle (V2V) communication is an emerging and promising area within the ITS environment. Many of these applications require real-time communication with high reliability. To meet a real-time deadline, timely and predictable access to the channel is paramount. The medium access method used in 802.11p, CSMA with co… ▽ More Submitted 11 April, 2013; originally announced April 2013. Comments: 28 pages, 18 figures, International Journal of Network Security & Its Applications, International Journal of Network Security & Its Applications (IJNSA), Vol.5, No.2, March 2013

arXiv:1301.7170 [pdf] cs.NI Increasing Network Visibility Using Coded Repetition Beacon Piggybacking Authors: Ghassan Samara Abstract: …areas in the field of Mobile Ad Hoc Networks. In this research, we propose a new mechanism for increasing network visibility, by taking the information gained from periodic safety messages (beacons), and inserting it into a 'neighbor' table. The table will be propagated to all neighbors giving a wider vision for each vehicle belonging to the network.… ▽ More Submitted 30 January, 2013; originally announced January 2013. Comments: 8 Pages Journal ref: World Applied Sciences Journal 13 (1); 100-108, 2011, ISSN 1818-4952, \c{opyright}IDOSI Publications, 2011

arXiv:1301.2264 [pdf] cs.AI stat.AP Using Bayesian Networks to Identify the Causal Effect of Speeding in Individual Vehicle/Pedestrian Collisions Authors: Gary A. Davis Abstract: On roads showing significant violations of posted speed limits, one measure of the safety effect of speeding is the difference between the road's actual accident count and the count that would have occurred if the posted speed limit had been strictly obeyed. An estimate of th… ▽ More Submitted 10 January, 2013; originally announced January 2013. Comments: Appears in Proceedings of the Seventeenth Conference on Uncertainty in Artificial Intelligence (UAI2001) Report number: UAI-P-2001-PG-105-111

arXiv:1212.4804 [pdf] cs.RO Low Speed Automation, a French Initiative Authors: Sébastien Glaser, Maurice Cour, Lydie Nouveliere, Alain Lambert, Fawzi Nashashibi, Jean-Christophe Popieul, Benjamin Mourllion Abstract: Nowadays, vehicle safety is constantly increasing thanks to the improvement of vehicle passive and active safety. However, on a daily usage of the car, traffic jams remains a problem. With limited space for road infrastructure, automation of the driving task on specific situation… ▽ More Submitted 19 December, 2012; originally announced December 2012. Comments: TRA (2012)

arXiv:1212.2866 [pdf] cs.CY cs.AI cs.ET doi 10.5121/cseij.2012.2307 Speed Optimization In Unplanned Traffic Using Bio-Inspired Computing And Population Knowledge Base Authors: Prasun Ghosal, Arijit Chakraborty, Sabyasachee Banerjee, Satabdi Barman Abstract: Bio-Inspired Algorithms on Road Traffic Congestion and safety is a very promising research problem. Searching for an efficient optimization method to increase the degree of speed optimization and thereby increasing the traffic Flow in an unplanned zone is a widely concerning issue. However, there has been a limited res… ▽ More Submitted 12 December, 2012; originally announced December 2012. Comments: 19 pages MSC Class: 68T05; 68T35 ACM Class: I.2; I.2.6 Journal ref: Computer Science & Engineering: An International Journal (CSEIJ), Vol.2, No.3, June 2012, pp. 79 - 97

arXiv:1208.3138 [pdf] cs.OH Personal Safety Triggering System on Android Mobile Platform Authors: Ashokkumar Ramalingam, Prabhu Dorairaj, Saranya Ramamoorthy Abstract: …application using Google's Android Mobile Platform is addressed. Emergency is divided into three categories: heart beat based emergency, security threats like personal safety and road accidents. This application is targeted to a person who is driving a vehicle. Heart rate monitoring device is integrated with our ap… ▽ More Submitted 10 August, 2012; originally announced August 2012. Comments: 19 pages, International Journal of Network Security & Its Applications (IJNSA), July 2012

arXiv:1207.0967 [pdf] cs.CR A New Security Mechanism for Vehicular Communication Networks Authors: Ghassan Samara Abstract: Vehicular communication networks is a promising and emerging technology to facilitat road safety, Safety of life, traffic management, and infotainment dissemination for drivers and passengers. One of the ultimate goals in the design of such networking is to resist various malicio… ▽ More Submitted 4 July, 2012; originally announced July 2012. Comments: 5 Pages Journal ref: International Conference on Cyber Security, CyberWarfare and Digital Forensic (CyberSec2012), Kuala Lumpur, Malaysia. P. 18 - 22

arXiv:1206.6281 [pdf] cs.NI Data Collection through Vehicular Sensor Networks by using TCDGP Authors: P. Radha Krishna Reddy, P. Joshna, G. Sireesha, A. Thirupathaiah Abstract: …to install wireless connectivity equipment in their vehicles to enable communications with "roadside base station" and also between vehicles, for the purposes of safety, driving assistance, and entertainment. One distinct feature is that vehicles are highly mobile, with speed up to 30 m/s, though their mobility patterns are more predictable than thos… ▽ More Submitted 19 August, 2012; v1 submitted 27 June, 2012; originally announced June 2012. Comments: Published Journal ref: CSCV01I1001, August 2012

arXiv:1206.0323 [pdf] cs.NI Fairness and Stability Analysis of Congestion Control Schemes in Vehicular Ad-hoc Networks Authors: Neda Nasiriani, Yaser P. Fallah, Hariharan Krishnan Abstract: Cooperative vehicle safety (CVS) systems operate based on broadcast of vehicle position and… ▽ More Submitted 1 June, 2012; originally announced June 2012.

arXiv:1203.2195 [pdf] cs.NI cs.PF Performance Evaluation of Realistic Vanet Using Traffic Light Scenario Authors: Nidhi, D. K. Lobiyal Abstract: …and the automotive industry to improve the services of Intelligent Transportation System (ITS). As today's transportation system faces serious challenges in terms of road… ▽ More Submitted 9 March, 2012; originally announced March 2012. Journal ref: International Journal of Wireless & Mobile Networks (IJWMN) Vol. 4, No. 1, February 2012

arXiv:1202.5938 [pdf] cs.RO Intelligent Car System Authors: Qasim Siddique Abstract: In modern life the road safety has becomes the core issue. One single move of a driver can cause horrifying accident. The main goal of intelligent car system is to make communication with other cars on the road. The system is able to control to speed, direction and the distance b… ▽ More Submitted 27 February, 2012; originally announced February 2012. Comments: 12 pages Journal ref: Ann. Univ. Tibiscus Comp. Sci. Series VII/2 (2009), 113-124

arXiv:1111.1598 [pdf] cs.SE Design and Validation of Safety Cruise Control System for Automobiles Authors: Jagannath Aghav, Ashwin Tumma Abstract: …recent humongous growth of the human population worldwide, there has also been a voluminous and uncontrolled growth of vehicles, which has consequently increased the number of road accidents to a large extent. In lieu of a solution to the above mentioned issue, our system is an attempt to mitigate the same using synchronous programming language. The aim is t… ▽ More Submitted 7 November, 2011; originally announced November 2011.

arXiv:1108.2776 [pdf] cs.NI Vehicular Ad Hoc and Sensor Networks; Principles and Challenges Authors: Mohammad Jalil Piran, G. Rama Murthy, G. Praveen Babu Abstract: …nodes. In VASNET there are two kinds of sensor nodes, some are embedded on the vehicles-vehicular nodes- and others are deployed in predetermined distances besides the highway road, known as… ▽ More Submitted 13 August, 2011; originally announced August 2011.

arXiv:1108.2095 [pdf] cs.NI cs.SI Mobile Agent as an Approach to Improve QoS in Vehicular Ad Hoc Network Authors: Rakesh Kumar, Mayank Dave Abstract: …more stringent demands are being placed upon the available real time traffic data. In this paper we have proposed mobile agent as a mechanism to handle the traffic problem on road. Mobile software agents can be used to provide the better QoS (Quality of Service) in vehicular ad hoc network to improve the safety applic… ▽ More Submitted 10 August, 2011; originally announced August 2011. Comments: 6 pages,5 figures; IJCA Special Issue on "Mobile Ad-hoc Networks" 2011

arXiv:1107.4855 [pdf, ps, other] stat.AP
doi 10.1214/10-AOAS440 Causal inference in transportation safety studies: Comparison of potential outcomes and causal diagrams Authors: Vishesh Karwa, Aleksandra B. Slavković, Eric T. Donnell Abstract: The research questions that motivate transportation safety studies are causal in nature.… ▽ More Submitted 25 July, 2011; originally announced July 2011. Comments: Published in at http://dx.doi.org/10.1214/10-AOAS440 the Annals of Applied Statistics (http://www.imstat.org/aoas/) by the Institute of Mathematical Statistics (http://www.imstat.org) Report number: IMS-AOAS-AOAS440 Journal ref: Annals of Applied Statistics 2011, Vol. 5, No. 2B, 1428-1455

arXiv:1007.4106 [pdf, other] cs.OH The Dynamics of Vehicular Networks in Urban Environments Authors: Nicholas Loulloudes, George Pallis, Marios D. Dikaiakos Abstract: Vehicular Ad hoc NETworks (VANETs) have emerged as a platform to support intelligent inter-vehicle communication and improve traffic safety and performance. The road-constrained, high mobility of vehicles, their unbounded power source, and the emergence of roadside wireless infrastructures make VANETs a challenging res… ▽ More Submitted 4 October, 2011; v1 submitted 23 July, 2010; originally announced July 2010. Comments: Revised our testbed with even more realistic mobility traces. Used the location of real Wi-Fi hotspots to simulate RSUs in our study. Used a larger, real mobility trace set, from taxis in Shanghai. Examine the implications of our findings in the design of VANET routing protocols by implementing in ns-3 two routing protocols (GPCR & VADD). Updated the bibliography section with new research works

arXiv:1003.6052 [pdf] cs.CV Development of an automated Red Light Violation Detection System (RLVDS) for Indian vehicles Authors: Satadal Saha, Subhadip Basu, Mita Nasipuri, Dipak Kumar Basu Abstract: Integrated Traffic Management Systems (ITMS) are now implemented in different cities in India to primarily address the concerns of road-… ▽ More Submitted 22 January, 2015; v1 submitted 31 March, 2010; originally announced March 2010. Comments: National Conference on Computing and Communication Systems (COCOSYS-09)

arXiv:0811.3644 [pdf, ps, other] stat.AP stat.ME Markov switching multinomial logit model: an application to accident injury severities Authors: Nataliya V. Malyshkina, Fred L. Mannering Abstract: …logit models are proposed for statistical modeling of accident injury severities. These models assume Markov switching in time between two unobserved states of roadway safety. The states are distinct, in the sense that in different states accident severity outcomes are generated by separate multinomial logit processes. To demonstrate the applicability of the… ▽ More Submitted 21 November, 2008; originally announced November 2008. Comments: 24 pages, 1 figure, 3 tables Journal ref: Accident Analysis and Prevention, 2009, volume 41, issue 4, pages 829-838

arXiv:0808.1448 [pdf, ps, other] stat.AP stat.ME Markov switching models: an application to roadway safety Authors: Nataliya V. Malyshkina Abstract: …this research, two-state Markov switching models are proposed to study accident frequencies and severities. These models assume that there are two unobserved states of roadway safety, and that roadway entities (e.g., roadway segments) can switch between these states over time. The states are distinct, in the sense that in the different states accident freque… ▽ More Submitted 8 December, 2008; v1 submitted 11 August, 2008; originally announced August 2008. Comments: PhD dissertation (Purdue University), 122 pages, 7 figures, 19 tables

arXiv:0806.1354 [pdf] stat.AP Analysis of the Effect of Speed Limit Increases on Accident-Injury Severities Authors: Nataliya V. Malyshkina, Fred L. Mannering Abstract: The influence of speed limits on roadway safety has been a subject of continuous debate in the State of Indiana and nationwide. In Indiana, highway-related accidents result in about 900 fatalities and forty thousand injuries annually and place an incredible social and economic burden on the state. Still, speed limits posted on highways and other… ▽ More Submitted 8 June, 2008; originally announced June 2008. Comments: 14 pages, 2 tables, accepted for publication in Transportation Research Record Journal ref: Transportation Research Record, 2008, Issue 2083, pages 122-127

arXiv:0803.3436 [pdf] stat.AP Influence of Speed Limit on Roadway Safety in Indiana Authors: Nataliya V. Malyshkina Abstract: The influence of speed limits on roadway safety is an extremely important social issue and is subject to an extensive debate in the State of Indiana and nationwide. With around 800-900 fatalities and thousands of injuries annually in Indiana, traffic accidents place an incredible social and economic burden on the state. Still, speed limits posted on highways… ▽ More Submitted 24 March, 2008; originally announced March 2008. Comments: MS thesis (with additional data included), 161 pages, 16 figures, 20 tables

arXiv:0705.0602 [pdf] cs.NE Risk Assessment Algorithms Based On Recursive Neural Networks Authors: Alejandro Chinea Manrique De Lara, Michel Parent Abstract: The assessment of highly-risky situations at road intersections have been recently revealed as an important research topic within the context of the automotive industry. In this paper we shall introduce a novel approach to compute risk functions by using a combination of a highly non-linear processing model in conjunction with a powerful information encoding… ▽ More Submitted 4 May, 2007; originally announced May 2007. Journal ref: Dans International Joint Conference On Neural Networks - IJCNN 2007 (2007)

arXiv:physics/0611261 [pdf, ps, other] physics.data-an physics.comp-ph
doi 10.3141/1999-01 Autonomous detection and anticipation of jam fronts from messages propagated by inter-vehicle communication Authors: Martin Schönhof, Martin Treiber, Arne Kesting, Dirk Helbing Abstract: …crucial for the successful introduction of inter-vehicle communication. The short-term prediction of jam fronts is not only useful for the driver, but is essential for enhancing road safety and road capacity by intelligent adaptive cruise control systems. ▽ More Submitted 27 November, 2006; originally announced November 2006. Comments: Published in the Proceedings of the Annual Meeting of the Transportation Research Board 2007 Journal ref: Transportation Research Record, Volume 1999, Pages 3-12 (2007)

arXiv:physics/0507178 [pdf, ps, other] physics.soc-ph doi 10.1103/PhysRevE.72.046130 Analytical investigation of oscillations in intersecting flows of pedestrian and vehicle traffic Authors: Dirk Helbing, Rui Jiang, Martin Treiber Abstract: …many-particle streams, one can often find the emergence of oscillatory patterns. Here, we investigate the interaction of pedestrians with vehicles, when they try to cross a road. A numerical study of this coupled pedestrian-vehicle delay problem has been presented in a previous paper. Here, we focus on the analytical treatment of the problem, which requires… ▽ More Submitted 25 July, 2005; originally announced July 2005. Comments: Submitted to Phys. Rev. E Journal ref: Physical Review E 72, 046130 (2005)

arXiv:adap-org/9704001 [pdf, ps, other] nlin.AO doi 10.1088/0305-4470/30/10/012 Car accidents and number of stopped cars due to road blockage on a one-lane highway Authors: N. Boccara, H. Fuks, Q. Zeng Abstract: Within the framework of a simple model of car traffic on a one-lane highway, we study the probability for car accidents to occur when drivers do not respect the safety distance between cars, and, as a result of the blockage during the time T necessary to clear the road, we determine the number of stopped cars as a fu… ▽ More Submitted 8 April, 1997; originally announced April 1997. Comments: 7 pages, 3 figures Journal ref: J. Phys. A: Math. Gen. 30 (1997) 3329-3332