Browse Topic: Intelligent transportation systems

Items (174)

Investigating the Effect of Traffic Network Information on the Evolution of Traffic Flow in Intelligent Transportation Systems under Herd Effect

2025-01-721502/21/2025

Intelligent transportation has emerged as a critical paradigm in the transportation sector, underscoring the growing significance of digital information. The extent to which travelers comprehend transportation network information fundamentally influences the dynamics of traffic flow evolution. Traditional random user equilibrium models assume that travelers possess knowledge of segment flow information; however, they fail to account for route flow information. To date, research has yet to investigate how travelers’ decision-making behaviors are altered following the acquisition of route flow information. When endowed with such information, travelers frequently demonstrate behaviors influenced by the bandwagon effect, adjusting their routes to conform to the choices of the majority. This behavioral modification disrupts the existing equilibrium, resulting in a continued evolution of traffic flow until a new stable state is achieved. To examine the implications of transportation network

Zhou, Bojian, Yu, Yaofeng, Li, Shihao, Li, Kangjiao

Revolutionizing the Traffic Light

21AVEP01_0501/27/2025

Two start-ups are using cameras, sensors and AI to enable more efficient vehicle flow through intersections. Every motorist has experienced the frustration of waiting at a red light when there is no traffic in sight. These days, countless household devices use sensors, cameras and connectivity to understand and respond to the world - so why do most traffic lights languish in the analog age, causing our vehicles to unnecessarily stop and idle? In a spring 2019 report, Guidehouse Insights forecast that just 7% of North America's signalized intersections would use so-called adaptive traffic-control technology in 2020. On a global level, that number was 2.3%.

Berman, Bradley

A smart transportation system for existing vehicles and roads infrastructure to ease traffic and toll problems in India

2024-26-018101/16/2024

India is a highly populous country. The traffic problems faced by the people here are not uncommon. The increase in traffic leads to increase in accidents, pollution, inconvenience and frustration. It also comes with costs of additional fuel and time. Though public transport is extensively available in India, still it isn't sufficient for the population of India. Especially in Metro cities, public transport services are often crowded. So, to travel peacefully people are opting for commuting in their own vehicles. And as a result, more vehicles are coming on roads. Other major reasons for increasing traffic are lack of proper implementation of traffic rules and traffic signals out of sync. In addition to city traffic, congestion is also seen on highways, mainly at toll plazas. Although implementation of FASTag has reduced it to some extent, some toll plazas still face traffic congestion issues. This paper provides an idea to ease the traffic problems in the city and on the highways too

Jain, Pritesh

Indian Cooperative Intelligent Transport Systems

2024-26-018201/16/2024

India, like other expanding nations, is giving priority to modernizing its transport infrastructure in response to the growing need to increase mobility and road safety. The difficulties and implementation problems that were faced when implementing Intelligent Transportation Systems (ITS) in India are thoroughly technical analyzed in this study. This paper, which draws on worldwide research and case studies, offers insightful information about successful ITS deployment and the particular difficulties encountered in the Indian setting. A detailed understanding of cutting-edge technologies and how they integrate with current infrastructure is essential for India's adoption of ITS to be successful. Effective implementation depends on collaboration with a variety of stakeholders, such as governmental agencies, transportation authority, and technology companies. This study identifies the best stakeholder management practices using examples from around the world.

Rajak, Vipin, Sandhu, Jivraj Singh

Cyber Threats and its Mitigation to Intelligent Transportation System

2024-26-018401/16/2024

With the revolutionary advancements in modern transportation, offering advanced connectivity, automation, and data-driven decision-making has put the intelligent transportation systems (ITS) to a high risk from being exposed to cyber threats. Development of modern transportation infrastructure, connected vehicle technology and its dependency over the cloud with an aim to enhance safety, efficiency, reliability and sustainability of ITS comes with a lot more opportunities to protect the system from black hats. This abstract explores the landscape of cyber threats targeting Intelligent Transportation Systems, focusing on their potential impacts, vulnerabilities, and mitigation strategies. The cyber-attacks in ITS are not just limited to Unauthorized Access, Malware and Ransomware Attacks, Data Breaches, Denial of Service but also to Physical Infrastructure Attacks. These attacks may result in potentially disrupting critical transportation infrastructure, compromise user safety, and can

Dewangan, Kheelesh Kumar, Panda, Vibek, Ojha, Sunil, Shahapure, Anjali, Jahagirdar, Shweta Rajesh

"Objectifying Visual Perception for Automotive Screens through Vibration Targets"

2025-01-004305/05/2023

New mobility concepts with smart infrastructure have led to enhanced customer driving experience. The potential to develop safe cars with minimal driver intervention is a great need of the future. The cusp for fully autonomous driving has produced much technical talk, which has led to faster transition and adoption. One of the features that global OEMs have tried to focus on, is Human Machine Interface (HMI) solutions, popularly called display screens. The touchscreen HMIs are common in all mid-range budget cars. They offer driver support beyond just streaming music, including inputs for navigation, parking assistance, in-car technologies, ADAS, and infotainment. Poor display screen visibility is a phenomenon observed when a vehicle is driven over different road surfaces. This paper presents a user-centric approach for the right design & development of the HMI for a vibration free driving experience. The mounting strategies for the display screens, from the existing projects were

ADIL, MD SHAHZAD, C M, MITHUN, Mohammed, Riyazuddin, R, Prasath

Safety Spacing Control of Truck Platoon Based on Emergency Braking under Different Road Conditions

10-07-01-000510/13/2022

Vehicle platooning reduces fuel consumption, improves traffic throughput, and achieves smaller intervehicle spacing which increases the probability of danger during platoon braking. This article presents a sliding mode control based on the safety spacing policy for longitudinal control of a connected truck platoon with a focus on the predecessor following interactions. In particular, the modified safety spacing policy considering the intervehicle braking information communication delay, the sluggish nature of the brake actuator, the road conditions on each vehicle as well as the vehicle motion state is proposed. On this basis, an acceleration sliding mode controller is proposed, which takes into consideration the spacing error and speed error of the intervehicle, and the control error is zero, so as to obtain the expected acceleration of each vehicle in the platoon. Simulation results of truck platooning with six trucks using TurckSim have demonstrated the effectiveness of the proposed

Zhao, Qian, Zheng, Hongyu, Kaku, Chuyo, Cheng, Feihao, Zong, Changfu

Impact of Positioning Uncertainty on Connected and Automated Vehicle Applications

12-06-02-001008/05/2022

Many Connected and Automated Vehicle (CAV) applications assume that highly accurate positioning is always available. However, this is not the case in many real-life situations (e.g., when a satellite-based navigation system is used for positioning in urban canyons). Furthermore, very little research has been conducted to evaluate the impacts of position accuracy on CAV applications at the traffic level. The objective of this article is to investigate the positioning errors that could be tolerated by a sample of CAV applications. Toward this end, we (1) perform a general analysis of the positioning requirements of selected safety-, mobility- and environmental-focused applications and (2) examine in greater detail the effect of positioning errors on two representative CAV applications, Eco-Approach and Departure at Signalized Intersections (EAD) and High-Speed Differential Warning (HSDW). The results of (1) indicate that lane-level positioning accuracy is sufficient to enable most CAV

Williams, Nigel, Darian, Parisa Borhani, Wu, Guoyuan, Closas, Pau, Barth, Matthew

Road Rough Estimation for Autonomous Vehicle Based on Adaptive Unscented Kalman Filter Integrated with Minimum Model Error Criterion

2022-01-007703/29/2022

The accuracy of road input identifiaction for autonomous vehicles (AVs) system, especially in state-based AVs control for improving road handling and ride comfort, is a challenging task for the intelligent transport system. Due to the high fatality rate caused by inaccurate state-based control algorithm, how to precisely and effectively acquire road rough information and chose the reasonable road-based control algorithm become a hot topic in both academia and industry. Uncertainty is unavoidable for AVs system, e.g., varying center of gravity (C.G.) of sprung mass, controllable suspension damping force or variable spring stiffness. To tackle the above mentioned, this paper develops a novel observer approach, which combines unscented Kalman filter (UKF) and Minimum Model Error (MME) theory, to optimize the estimation accuracy of the road rough for AVs system. A full-car nonlinear model and road profile model are first established. Secondly, a MME criterion is proposed to deal with the

Wang, Zhenfeng, Yang, Jiansen, li, xin, Li, HongLiang

The Digital Foundation Platform - A Multi-layered SOA Architecture for Intelligent Connected Vehicle Operating System

2022-01-011603/29/2022

The advancement of E/E architecture has made modern EV a sophisticated and high performance computing system. High level AD/ADAS functions and applications require real time and accurate perception, localization, fusion, planning and control using computer vision or deep learning based AI algorithms to ensure functional safety and comfort user experiences. Legacy AD/ADAS development from OEMs centers around developing functions on ECUs using services provided by Autosar CP to meet automobile grade and mass production requirements. Additionally, Autosar AP has been maturing and provide richer services and function abstractions. Still the applications development and supporting system software and closely coupled together, this makes application development and enhancement less scalable or flexible, resulting in longer development cycle and slower time to market. This paper presents a multi-layered, service-oriented autonomous driving operating system foundation (we called it Digital

yu, david

Research of average speed of the vehicle depending of the established restrictions on the maximum speed of movement in a large city

2022-01-017003/29/2022

The paper examines of operating speed of the vehicles on the roads in a large city with a population of more than one million inhabitants. The purpose of the study is to assess the impact of the established restrictions on the maximum speed of vehicles on the efficiency of traffic organization. A feature of the study is the application of an empirical method for assessing the efficiency of traffic organization depending on the established speed limits of 50, 60, 70 and 80 km / h. Experimental studies, which confirm the correctness of the proposed empirical method, were conducted on three different routes of movement of vehicles under the same initial conditions. The studies were performed by repeating the experiments at least three times, which allowed to ensure high accuracy of the results. In the work, for visual assessment of the speed of the vehicle, information from the GPS navigator was used. As a result of mathematical processing of experimental data, the average values of such

Ryabushenko, Alexander, Leontiev PhD, Dmitry, Danets, Serhii

Motion Estimation of Connected and Automated Vehicles under Communication Delay and Packet Loss of V2X Communications

2021-01-010704/06/2021

The emergence of the connected and automated vehicle (CAV) technology enables numerous advanced applications in our transportation system, benefiting our daily travels in terms of safety, mobility, and sustainability. However, vehicular communication technologies such as Dedicated Short-Range Communications (DSRC) or Cellular-Based Vehicle-to-Everything (C-V2X) communications unavoidably introduce issues like communication delay and packet loss, which will downgrade the performances of any CAV applications. In this study, we propose a consensus-based motion estimation methodology to estimate the vehicle motion when the vehicular communication environment is not ideal. This methodology is developed based on the consensus-based feedforward/feedback motion control algorithm, estimating the position and speed of a CAV in the presence of communication delay and packet loss. The simulation study is conducted in a traffic scenario of unsignalized intersections, where CAVs coordinate with each

Wang, Ziran

Advancing Platooning with ADAS Control Integration and Assessment Test Results

2021-01-042904/06/2021

The application of cooperative adaptive cruise control (CACC) to heavy-duty trucks known as truck platooning has shown fuel economy improvements over test track ideal driving conditions. However, there are limited test data available to assess the performance of CACC under real-world driving conditions. As part of the Cummins-led U.S. Department of Energy Funding Opportunity Announcement award project, truck platooning with CACC has been tested under real-world driving conditions and the results are presented in this paper. First, real-world driving conditions are characterized with the National Renewable Energy Laboratory’s Fleet DNA database to define the test factors. The key test factors impacting long-haul truck fuel economy were identified as terrain and highway traffic with and without advanced driver-assistance systems (ADAS). Track and on-highway testing guided by SAE J1321 procedures were conducted to assess truck platooning operation under the characterized real-world

Borhan, Hoseinali, Lammert, Michael, Kelly, Kenneth, Zhang, Chen, Brady, Nathan, YU, Chia-Siung, Liu, Jingxuan

Letter from the Guest Editors

12-04-01-0001

03/17/2021

Letter from the Guest Editors

Hamid, Umar Zakir Abdul, Sandblom, Fredrik, Habibovic, Azra, Li, Bin

Vehicle Safety Communications Landscape Clarifies with Controversial FCC Ruling

21AVEP01_0601/01/2021

The vehicle-to-everything communications-technology debate is “solved” by federal regulators - and cellular vehicle-to-everything (C-V2X) appears to be the winner. After years of transportation-industry tussle over competing technologies to enable communications between vehicles and a “connected” environment, the Federal Communications Commission (FCC) has decided the matter. On Nov.18, 2020, the FCC ruled it will allow a portion of the 5.9-GHz “Safety Spectrum” long reserved for the transportation sector to be allocated to unlicensed private usage such as Wi-Fi internet connectivity. The ruling effectively eliminates the future for Wi-Fi-based Dedicated Short-Range Communications (DSRC) and locks in the advancing alternative, cellular vehicle-to-everything (C-V2X). Despite many experts' opinion that the decision to now limit transportation communications to just the upper 30 MHz of the 75-MHz spread within the 5.9-GHz (5.850-5.925 GHz) Safety Spectrum has not been sufficiently

Visnic, Bill

SAE TOMORROW TODAY: Media's Perspective on Mobility

1289907/23/2020

The mobility ecosystem covers a lot of ground, so who better to provide insight than someone reporting on every facet on a daily basis? It's a new perspective this week as Alan Ohnsman, Senior Editor of Future Mobility at Forbes, joins host Grayson Brulte to offer insight on the future of transportation. This wide-ranging conversation covers everything from electric vehicles and autonomous trucking to the re-emergence of passenger trains and how we'll traverse Los Angeles over the next decade, plus a look at some of the major players emerging in mobility. Alan kicks off the conversation at the beginning of his career in Japan, where his appreciation for trains, efficient mass transit and smart cities was born. Grayson and Alan quickly jump into a conversation about all things Tesla: what were Alan's initial impressions of the company back in 2006 and how has that perception changed, what would happen if Elon Musk ditched Twitter, and what happens to Tesla, A.E. (After Elon)? The

Hineman, Marcie

V2X Communications Message Set Dictionary™ ASN file

J2735ASN_202007 (Historical)07/23/2020

This Abstract Syntax Notation (ASN.1) File is the precise source code used for SAE International Standard J2735. As part of an international treaty, all US ITS standards are expressed in "ASN.1 syntax". ASN.1 Syntax is used to define the messages or "ASN specifications". Using the ASN.1 specification, a compiler tool produces the ASN library which will then be used to produce encodings (The J2735 message set uses UPER encoding). The library is a set of many separate files that collectively implement the encoding and decoding of the standard. The library is then used by any application (along with the additional logic of that application) to manage the messages. The chosen ASN tool is used to produce a new copy of the library when changes are made, and it is then linked to the final application being developed. The ASN library manages many of the details associated with ASN syntax, allowing for subtle manipulation to make the best advantage of the encoding style. The J2735 Standard

V2X Core Technical Committee

V2X Communications Message Set Dictionary™ Set

J2735SET_202007 (Historical)07/23/2020

V2X Core Technical Committee

Analysis of LiDAR and Camera Data in Real-World Weather Conditions for Autonomous Vehicle Operations

2020-01-009304/14/2020

Autonomous vehicle technology has the potential to improve the safety, efficiency, and cost of our current transportation system by removing human error. With sensors available today, it is possible for the development of these vehicles, however, there are still issues with autonomous vehicle operations in adverse weather conditions (e.g. snow-covered roads, heavy rain, fog, etc.) due to the degradation of sensor data quality and insufficiently robust software algorithms. Since autonomous vehicles rely entirely on sensor data to perceive their surrounding environment, this becomes a significant issue in the performance of the autonomous system. The purpose of this study is to collect sensor data under various weather conditions to understand the effects of weather on sensor data. The sensors used in this study were one camera and one LiDAR. These sensors were connected to an NVIDIA Drive Px2 which operated in a 2019 Kia Niro. Two custom scenarios (static and dynamic objects) were

Goberville, Nick, El-Yabroudi, Mohammad, Omwanas, Mark, Rojas, Johan, Meyer, Rick, Asher, Zachary, Abdel-Qader, Ikhlas

A Stability-Guaranteed Time-Delay Range for Feedback Control of Autonomous Vehicles

2020-01-009004/14/2020

The vehicles with level-5 autonomy (L5AVs) that have no human driver in the loop are also known as self-driving cars. L5AVs are assumed the next generation of ground transportation, which have growing attention from both industry and academia in most recent years. Most of the work related to feedback strategies of L5AVs are on developing mapping systems through a variety of sensors. These systems can be considered as an analogue to the perception and central nervous system of human drivers. For instance, innovative visualization systems are more powerful when compared to the visual perception system of a person, yet, mapping demands high computation loads. This burden causes delay in the feedback loop and thus, it might have an unfavorable influence on proper and safe control action. This study investigates the effect of time delay occurring in mapping systems on the stability of the controlled vehicle. An algorithm entitled as “Cluster Treatment of Characteristic Roots - CTCR” is used

Kirli, Ahmet, Arslan, Mehmet Selçuk

Trajectory Planning and Tracking for Four-Wheel-Steering Autonomous Vehicle with V2V Communication

2020-01-011404/14/2020

Lane-changing is a typical traffic scene effecting on road traffic with high request for reliability, robustness and driving comfort to improve the road safety and transportation efficiency. The development of connected autonomous vehicles with V2V communication provide more advanced control strategies to research of lane-changing. Meanwhile, four-wheel steering is an effective way to improve flexibility of vehicle. The front and rear wheels rotate in opposite direction to reduce the turning radius to improve the servo agility operation at the low speed while those rotate in same direction to reduce the probability of the slip accident to improve the stability at the high speed. Hence, this paper established Four-Wheel-Steering(4WS) vehicle dynamic model and quasi real lane-changing scenes to analyze the motion constraints of the vehicles. Then, the polynomial function was used for the lane-changing trajectory planning and the extended rectangular vehicle model was established to get

Ma, Fangwu, Shen, Yucheng, Nie, Jiahong, Li, Xiyu, Yang, Yu, Wang, Jiawei, Wu, Guanpu

A Secure and Privacy-Preserving Collaborative Machine Learning System for Intelligent Transportation System

2020-01-013904/14/2020

Autonomous vehicles assemble multiple intelligent mobility solutions to create an intelligent transportation system on the road. The intelligent mobility solutions across autonomous vehicles are achieved using advanced machine learning algorithms. The intelligence of the machine learning algorithms is proportional to the amount of variations in the training data fed into the algorithms. The static machine learning algorithms in the autonomous driving system fails to handle the new variations in the dynamic input data, which requires the continuous retraining of the machine learning models to adapt to the changes in input distribution. The dynamic driving environment through which the machine learning algorithms retrains differs from vehicle to vehicle. This difference in varied driving environments for different vehicles is reflected in terms of different retraining data for machine learning models which causes disproportional intelligence among difference vehicles for each driving

Agrawal, Vivek, Ansari, Asadullah, D H, Sharath

Optimization of Intersection Safety based on V2X Communication

2020-01-137604/14/2020

Intersections serve as nodes of multiple roads where multiple vehicles meet. Compared with straight roads the traffic environment of intersection is more complex. As a result, accidents in those areas, with the frequent occurrence and severe consequences, are the focus of the study. Vehicle-to-everything (V2X) improves road safety and traffic efficiency of Intelligent Transport System (ITS) in the future. Based on V2X cooperative communications, wireless interconnected vehicles, pedestrians, and infrastructures can collect and change the traffic environmental information with other road users in real-time. Therefore, the potentially dangerous situations in an extended time and space horizon can be perceived. The users of V2X communication devices can utilize computing systems with computers and extended sensors onboard. Based on the intersection road-side infrastructure, Vehicle-to-Infrastructure (V2I) communication has been actively considered to be used in the intersection areas

Wu, Biao, Liao, Maozhu, Ma, Zhixiong, Liu, Rui

Platooning Vehicles Control for Balancing Coupling Maintenance and Trajectory Tracking - Feasibility Study Using Scale-Model Vehicles

2020-01-012804/14/2020

Recently, car-sharing services using ultra-compact mobilities have been attracting attention as a means of transportation for one or two passengers in urban areas. A platooning system consisting of a manned leader vehicle and unmanned follower vehicles can reduce vehicle distributors. We have proposed a platooning system which controls vehicle motion based on the relative position and posture measured by non-contact coupling devices installed between vehicles. The feasibility of the coupling devices was validated through a HILS experiment. There are two basic requirements for realizing our platooning system; (1) all devices must remain coupled and (2) follower vehicles must be able to track the leader vehicle trajectory. Thus, this paper proposes two vehicle control method for satisfying those requirements. They are the “device coupling and trajectory tracking merging method” and the “trajectory shifting method”. The device coupling and trajectory tracking merging method consisting of

Fukui, Rui, Ye, Qiwei, Suzuki, Ayumi, Warisawa, Shin’ichi

Improved Potential Field-Based Collision Avoidance Control for Autonomous Vehicles

2020-01-012304/14/2020

Limiting factors for autonomous vehicle (AV) to be widely used are not only technical, but also psychological. Considering the psychological feelings of drivers during switching manned to unmanned driving status, this paper proposes an algorithm about avoiding collisions combining driver psychological feelings for AVs. The confidence-limit-distance of the driver is experimentally obtained by many real track tests which require the test driver to approach the obstacle as close as possible. The confidence-limit-distance from driver is defined as the distance between the obstacle and the last steering point allowed for the psychological limit of the driver to avoid collisions. Based on Artificial Potential Field (APF), a road potential field is accordingly established to characterize the characteristics and boundary constraints of the real road. To express the different influences of relative speed and direction on the driver's psychological feeling, the confidence potential field is

Deng, Weishun, Zhang, Kaijiong, Zhang, Xi, Yu, Fan, Shang, Shiliang, Guo, Mengge

Data-Driven Framework for Fuel Efficiency Improvement in Extended Range Electric Vehicle Used in Package Delivery Applications

2020-01-058904/14/2020

Extended range electric vehicles (EREVs) are a potential solution for fossil fuel usage mitigation and on-road emissions reduction. The use of EREVs can be shown to yield significant fuel economy improvements when proper energy management strategies (EMSs) are employed. However, many in-use EREVs achieve only moderate fuel reduction compared to conventional vehicles due to the fact that their EMS is far from optimal. This paper focuses on in-use rule-based EMSs to improve the fuel efficiency of EREV last-mile delivery vehicles equipped with two-way Vehicle-to-Could (V2C) connectivity. The method uses previous vehicle data collected on actual delivery routes and machine learning methods to improve the fuel economy of future routes. The paper first introduces the main challenges of the project, such as inherent uncertainty in human driver behavior and in the roadway environment. Then, the framework of our practical physics-model guided data-driven approach is introduced. For vehicles

Wang, Pengyue, Northrop, William

A New Approach of Generating Travel Demands for Smart Transportation Systems Modeling

2020-01-104704/14/2020

The transportation sector is facing three revolutions: shared mobility, electrification, and autonomous driving. To inform decision making and guide smart transportation system development at the city-level, it is critical to model and evaluate how travelers will behave in these systems. Two key components in such models are (1) individual travel demands with high spatial and temporal resolutions, and (2) travelers’ sociodemographic information and trip purposes. These components impact one’s acceptance of autonomous vehicles, adoption of electric vehicles, and participation in shared mobility. Existing methods of travel demand generation either lack travelers’ demographic information and trip purposes, or only generate trips at a zonal level. Higher resolution demand and sociodemographic data can enable analysis of trips’ shareability for car sharing and ride pooling and evaluation of electric vehicles’ charging needs. To address this data gap, we propose a new approach of travel

Wen, Ruoxi, Jiang, Zhen, Liang, Chen, Telenko, Cassandra, Wang, Bo, Fu, Yan, Cai, Hua

Observer for Faulty Perception Correction in Autonomous Vehicles

2020-01-069404/14/2020

Operation of an autonomous vehicle (AV) carries risk if it acts on inaccurate information about itself or the environment. The perception system is responsible for interpreting the world and providing the results to the path planning and other decision systems. The perception system performance is a result of the operating state of the sensors, e.g. is a sensor in fault or being adversely affected by the weather or environmental conditions, and approach to sensor measurement interpretation. We propose a trailing horizon switched system observer that minimizes the difference between reference tracking values developed from sensor fusion performed at an upper level and the values from a potentially faulty sensor based upon the convex combination of different sensor observation model outputs; the sensor observations models are associated with different sensor operating errors. The preferred observer target is a stationary landmark so as to remove additional uncertainty resulting from

Omwansa, Mark, Meyer, Rick, Asher, Zachary, Goberville, Nick

Defining Fundamental Vehicle Actions for the Development of Automated Driving Systems

2020-01-071204/14/2020

Automated Driving Systems (ADSs) show great potential to improve our transport systems. Safety validation, before market launch, is challenging due to the large number of miles required to gather enough evidence for a proven in use argumentation. Hence there is ongoing research to find more effective ways of verifying and validating the safety of ADSs. It is crucial both for the design as well as the validation to have a good understanding of the environment of the ADS. A natural way of characterizing the external conditions is by modelling and analysing data from real traffic. Towards this end, we present a framework with the primary ultimate objective to completely model and quantify the statistically relevant actions that other vehicles conduct on motorways. Two categories of fundamental actions are identified by recognising that a vehicle can only move longitudinally and laterally. The fundamental actions are defined in detail to create a set that is collectively exhaustive and

Gyllenhammar, Magnus, Zandén, Carl, Törngren, Martin

What’s Next in Mobility: WCX 2020 SAE World Congress Experience

TBMG-3616203/01/2020

The largest technical mobility event of the year, WCX 2020 SAE World Congress Experience draws nearly 9,000 mechanical, electrical, and software engineers; OEMs; Tier 1 suppliers; and R&D professionals to explore what’s next in mobility.

SAE STANDARDS NEWS

20AUTP03_0603/01/2020

SAE International and ISO, the International Organization for Standardization, announced in February 2020 the joint publication of a draft of a new Standard to address automotive cybersecurity engineering. The standard, ISO/SAE 21434, is designed to help industry define a structured process to ensure cybersecurity is incorporated into the design of road vehicles, including their components, subsystems, software and connections to external devices and networks. The project marks the first major collaboration between the two standards development organizations (SDOs). For this effort, SAE and ISO assembled a joint working group of more than 100 experts from 14 nations and 82 industry organizations across public, private and government sectors. SAE's Vehicle Cybersecurity Systems Engineering Committee and the ISO Technical Committee 22, Sub-committee 32 and Working Group 11 were heavily involved throughout development.

Lightweight HD Map Construction for Autonomous Vehicles in Non-Paved Roads

2020-01-502202/24/2020

High definition (HD) maps can provide comprehensive and accurate knowledge of the environment for highly autonomous vehicles. However, HD maps have large data volumes, which pose high demands on data acquisition, analysis, and storage. To balance data volume and map definition between HD maps and low-accuracy road network maps, this paper is focused on the construction of lightweight HD maps for autonomous vehicles running with non-paved roads. Firstly, we introduce the representation of a lightweight HD map which contains several special elements, e.g., operating areas, parking lot, junction, borders, and centerlines, to describe the closed environment. Then, we propose a border generation algorithm and a border expansion algorithm to find the real border of the map and construct the drivable area. Meanwhile, a two-step method is proposed to extract the centerline of the road. An experiment is conducted to demonstrate the effectiveness of the proposed algorithms. The proposed

Qingkai, Wei, Manjiang, Hu, Guotao, Xie, Xiaowei, Wang

A Real-Time Obstacle-Avoidance Trajectory Planner for On-Road Autonomous Vehicle

2020-01-501802/24/2020

A real-time obstacle-avoidance trajectory planner for on-road autonomous vehicle is proposed in this paper. A cubic B spline core is parametric to generate path with continuous curvature as well as taking the extreme curvature limited by steer system into account. By sampling the target sets via offsetting along the reference path, lots path sets are produced with same heading. As embedded with collision checker and path evaluator, a path selector could pick out the best one to planning speed profile for coupling trajectory to track. Finally, according to the change of path curvature, the speed profile scheduler addresses the conflict of curvature and deceleration. Referencing to the ISO3888-2:2011, a collision avoidance scenario was design to validate the planner. The test results of ten cycles test illustrate that the planner has high enough real-time performance as mean plan time less than 100ms with success rate about 100%.

Yishan, Li, Lu, Xiong, Dequan, Zeng, Puhang, Xu, Zhuoren, Li

The Navigator

20AVEP01_0201/01/2020

After years of heavy lobbying from the cable and wireless industry, the U.S. Federal Communications Commission (FCC) is on the verge of reallocating most of the spectrum that had been set aside for intelligent transportation systems including vehicle-to-everything (V2X) communications. While various automakers have been vocal in their support of V2X, the industry as a whole has only itself to blame for this development. The FCC first allocated 75 MHz of spectrum in the 5.9-GHz band for ITS (intelligent transportation systems) use 20 years ago. But precious little has been done with that spectrum since then, as other uses of wireless technology have been gobbling up the airwaves. For years, many automakers, suppliers and regulators worked to develop standards for V2X communications and large-scale pilot programs continue to operate in a number of cities including Ann Arbor, Mich., and Tampa, Fla.

Nonlinear IMM-SUKF Algorithm for Maneuvering Target Tracking with Bearings-Only Measurement

2019-01-600512/30/2019

Abstract In this paper, we present an efficient filtering algorithm to perform accurate estimation in jump Markov nonlinear systems, which we aim to contribute in solving the problem of model-based body motion estimation using bearings-only measurement, the Interacting Multiple Model (IMM) algorithm is specially designed to track accurately maneuvering targets whose state and/or measurement (assumed to be linear) models change during motion transition. However, when these models are nonlinear, the IMM algorithm must be modified in order to guarantee an accurate track. In this paper we propose to avoid the Extended Kalman Filter (EKF) because of its limitations and substitute it with the Scaled Unscented Kalman Filter (SUKF) which seems to be more efficient especially according to the simulation results obtained with the Interacting Multiple Model Scaled Unscented Kalman Filter (IMM-SUKF).

Sebbagh, Abdennour, Kechida, Sihem

Identifying Automated Driving Systems-Dedicated Vehicles (ADS-DVs) Passenger Issues for Persons with Disabilities

J3171_201911 (Current)11/19/2019

It is expected that Level 4 and 5 automated driving systems-dedicated vehicles (ADS-DVs) will eventually enable persons to travel at will who are otherwise unable to obtain a driver's license for a conventional vehicle, namely, persons with certain visual, cognitive, and/or physical impairments. This information report focuses on these disabilities, but also provides guidance for those with other disabilities. This report is limited to fleet operated on-demand shared mobility scenarios, as this is widely considered to be the first way people will be able to interact with ADS-DVs. To be more specific, this report does not address fixed route transit services or private vehicle ownership. Similarly, this report is focused on road-worthy vehicles; not scooters, golf carts, etc. Lastly, this report does not address the design of chair lifts, ramps, or securements for persons who use wheeled mobility devices (WHMD) (e.g., wheelchair, electric cart, etc.), as these matters are addressed by

On-Road Automated Driving (ORAD) committee

Design and Validation of a Prototype Underlying Control System for Autonomous Vehicles

2019-01-506211/04/2019

With the development of self-driving cars, large amounts of sensors controllers, actuators and other devices will be integrated into autonomous driving system and the electrical and electronic architecture of traditional vehicles needs to be changed and upgraded. Therefore, this paper proposes a kind of autonomous vehicle underlying control system, which inputs perception and decision information and outputs control instructions to complete autonomous driving. The original vehicle electrical system hardware and software had redesigned and developed and a new electronic and electrical architecture for self-driving vehicles is presented. The underlying control system was designed to solve the problem of system integration and meet the upgrading requirements of data calculation and real-time transmission in autonomous vehicles. In the paper, the overall designing scheme of underlying control system introduces the underlying control system architecture diagram and three-layer modular

Wang, Rong, Song, Juan, Feng, Shuoji, Zhang, Chaoyu

Mapping Canada - Centimeter by Centimeter

19AVEP11_0511/01/2019

A Montreal-based company leverages artificial intelligence to take on the task of developing high-definition maps of Canada. Fully-automated vehicles will only be as smart as the datasets they use to determine their driving pathways. Jakarto Cartographie 3D, a young company based in Montreal, Canada, is working on artificial-intelligence (AI)-powered, high-definition (HD) maps that it claims offer 2-3 cm (.787- to 1.2-inch) absolute precision and relative precision measured in millimeters. In other words, better maps that will allow for better automated vehicles (AVs). Started two years ago, Jakarto currently has three Nissan NV200 mapping vans equipped with a data collection unit that contains five cameras, a GPS unit and two ZF-supplied lidar sensors that each generate one million points per second. Jakarto calls the resulting maps RoadSkeleton, claiming they'll be beneficial for smart cities and AVs.

Blanco, Sebastian

Editorial

19AVEP11_0111/01/2019

After digesting some of the fascinating insights from surveys taken of automated-vehicle test riders - most of them first-timers - who participated in SAE International's Demo Days program (see pg. 31), you've got to conclude that the only thing predictable about the new-mobility landscape is its unpredictability. The year's not over yet and already it's been a wild ride.

Visnic, Bill

Dedicated Short Range Communications (DSRC) Performance Requirements for V2V Safety Awareness™ ASN File

J2945/2A_201907 (Current)07/01/2019

This Abstract Syntax Notation (ASN.1) File is the precise source code used for SAE International Standard J2945/2. As part of an international treaty, all US ITS standards are expressed in "ASN.1 syntax". ASN.1 Syntax is used to define the messages or "ASN specifications". Using the ASN.1 specification, a compiler tool produces the ASN library which will then be used to produce encodings (The J2945/2 message set uses UPER encoding). The library is a set of many separate files that collectively implement the encoding and decoding of the standard. The library is then used by any application (along with the additional logic of that application) to manage the messages. The chosen ASN tool is used to produce a new copy of the library when changes are made, and it is then linked to the final application being developed. The ASN library manages many of the details associated with ASN syntax, allowing for subtle manipulation to make the best advantage of the encoding style. This SAE Document

V2X Vehicular Applications Technical Committee

Dedicated Short Range Communications (DSRC) Performance Requirements for V2V Safety Awareness™ Set

J2945/2S_201907 (Current)07/01/2019

V2X Vehicular Applications Technical Committee

RDS Phrase Lists

J2540/1_201906 (Current)06/11/2019

This SAE Standard provides a table of textual messages meeting the requirements for expressing “Radio Data Systems” (RDS) phrases commonly used in the ITS industry. They can be used both over the RDS subcarrier transmission media as part of a 37-bit long “Group 8a message” as well as being used to provide a common content list of phrases used in a wide number of other media and applications. This document SHALL define the normative index values to be used, extending the CEN established list to provide phrases needed by US practitioners. This standard provides non-normative textual phrases which MAY be used by implementers to ensure intelligible results. This document SHALL follow the formats and rules established in SAE J2540 in the expressions, manipulations, and use of such tables. It should be pointed out that within the rules established by this document a variety of final table are all considered “compliant” with the document, and may vary as fits the needs of implementers.

V2X Core Technical Committee

National Names Phrase List

J2540/3_201906 (Current)06/11/2019

This SAE Standard provides a table of textual messages meeting the requirements for expressing the names of street and roads and some basic building blocks for phrases commonly used in the ITS industry. The tables provided herein are taken from SAE J2369, and follow the rules of SAE J2540 and therefore allow a local representation in various different languages, media expressions, etc. to allow true international use of these phrases. The phrases are predominantly intended to provide a means to express street names including pre and post fixes ( North Oak Street is an example name with a prefix “North” and main portion “Oak” and a suffix “Street”). Other phrases exist for other specific specialty areas of ITS, and all such phrases follow a set of encoding and decoding rules outlined in SAE J2540 to ensure that the use of these phrases in messages remain interoperable between disparate types of user equipment. Implementers are cautioned to obtain the most recent set of tables by means

V2X Core Technical Committee

On the Safety of Autonomous Driving: A Dynamic Deep Object Detection Approach

2019-01-104404/02/2019

To improve the safety of automated driving, the paramount target of this intelligent system is to detect and segment the obstacle such as car and pedestrian, precisely. Object detection in self-driving vehicle has chiefly accomplished by making decision and detecting objects through each frame of video. However, there are diverse group of methods in both machine learning and machine vision to improve the performance of system. It is significant to factor in the function of the time in the detection phase. In other word, considering the inputs of system, which have been emitted from eclectic type of sensors such as camera, radar, and LIDAR, as time-varying signals, can be helpful to engross ‘time’ as a fundamental feature in modeling for forecasting the object, while car is moving on the way. In this paper, we focus on eliciting a model through the time to increase the accuracy of object detection in self-driving vehicles. In fact, we designed a deep recurrent neural network, which is

Fekri, Pedram, Zadeh, Mehrdad, Dargahi, Javad

Trust-Based Control and Scheduling for UGV Platoon under Cyber Attacks

2019-01-107704/02/2019

Unmanned ground vehicles (UGVs) may encounter difficulties accommodating environmental uncertainties and system degradations during harsh conditions. However, human experience and onboard intelligence can may help mitigate such cases. Unfortunately, human operators have cognition limits when directly supervising multiple UGVs. Ideally, an automated decision aid can be designed that empowers the human operator to supervise the UGVs. In this paper, we consider a connected UGV platoon under cyber attacks that may disrupt safety and degrade performance. An observer-based resilient control strategy is designed to mitigate the effects of vehicle-to-vehicle (V2V) cyber attacks. In addition, each UGV generates both internal and external evaluations based on the platoons performance metrics. A cloud-based trust-based information management system collects these evaluations to detect abnormal UGV platoon behaviors. To deal with inaccurate information due to a V2C cyber attack, a RoboTrust

Li, Fangjian, Mikulski, Dariusz, Wagner, John R., Wang, Yue

A Topological Map-Based Path Coordination Strategy for Autonomous Parking

2019-01-069104/02/2019

This paper proposed a path coordination strategy for autonomous parking based on independently designed parking lot topological map. The strategy merges two types of paths at the three stages of path planning, to determinate mode switching timing between low-speed automated driving and automated parking. Firstly, based on the principle that parking spaces should be parallel or vertical to a corresponding path, a topological parking lot map is designed by using the point cloud data collected by LiDAR sensor. This map is consist of road node coordinates, adjacent matrix and parking space information. Secondly, the direction and lateral distance of the parking space to the last node of global path are used to decide parking type and direction at parking planning stage. Finally, the parking space node is used to connect global path and parking path at path coordination stage. After optimizing nodes and smoothing path utilizing a fourth-degree polar-polynomial function, those two types of

Wang, Yongsheng, Jiang, Fachao, Luo, Yugong, Qi, Yunlong, Kong, Weiwei, Yang, E-chuan

New Paradigm in Robust Infrastructure Scalability for Autonomous Applications

2019-01-049504/02/2019

Artificial Intelligence (A.I.) and Big Data are increasing become more applicable in the development of technology from machine design and mobility to bio-printing and drug discovery. The ability to quantify large amounts of data these systems generate will be paramount to establishing a robust infrastructure for interdisciplinary autonomous applications. This paper purposes an integrated approach to the environment, pre/post data processing, integration, and system security for robust systems in intelligent transportation systems. The systems integration is based on a FPGA embedded system design and computing (EDGE) platform utilizing image processing CNN algorithms from High Energy Physics (HEP) experiments in data centers with associative memory to ROS- FPGA technology in vehicles for hyper-scale infrastructure scalability. The ability to process data in the future is equivalent to collision particle detection that the Large Hadron Collider (LHC) produces at CERN. The future of

Brown, Kyle W.

A GPU Accelerated Particle Filter Based Localization Using 3D Evidential Voxel Maps

2019-01-049104/02/2019

An evidential theory is widely used for 2D grid-based localization in a robotics field because the theory has benefits to consider additional states such as 'unknown' and 'conflict'. However, there are some problems such as computational limitation and excessive resource share when the localization system is expanded from 2D grid to 3D voxel. In order to overcome the problems, this paper proposes the parallelized particle filter based localization system using 3D evidential voxel maps. A many-core processor based parallel computing framework with optimization techniques is applied to accelerate the computing power. Experiments were performed to evaluate the performance of the localization system in a complex environment, and to compare the computational time and resources between various types of processing units. The experimental results show that the proposed parallel particle filter is much more efficient than particle filter without parallel computing regarding computational cost.

Cho, Sungjin, Kim, Chansoo, Jo, Kichun, Sunwoo, Myoungho

Still Unsettled on Vehicle Connectivity Standard

19AVEP03_1003/01/2019

As data and data-sharing become more crucial to the transportation evolution, the auto sector has yet to gain consensus on the best connectivity format. As autonomous vehicles inch closer to reality, a diverse range of companies and public entities are exploring ways to maximize their positive impact on traffic flows and congestion. Communication at all levels, both between vehicles and between public and private interest groups, will be an important element for improving efficiency.

Costlow, Terry

Challenges in the Regulatory Framework of Automated Driving

2019-26-009701/09/2019

Automated Driving (AD) is foreseen to be one of the major social and technological challenges in the coming years. Many manufacturers are developing new models with cutting-edge functionalities, which are not included in the scope of the current regulatory framework. Apart from demonstrating their know-how and expertise about AD, their willingness to sell their AD models in the European market is accelerating the rule-making system. However, which is the roadmap for the European regulatory framework? Policy makers and regulatory bodies are pushing their boundaries at all levels (national and international) in order to introduce modifications in existing regulations. These regulations will enable the introduction of these new functionalities into the market. Without decreasing the standards of safety and security, the implementation of a clear and harmonized regulatory framework and approval process is extremely needed. The last amendments of the UN Regulation n°79 related to steering

Lafuente, Ignacio, Tobar, Marta, Luján, Carles, Martínez Rami, Estrella

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