An Eco-Driving Strategy at Multiple Fixed-Time Signalized Intersections Considering Traffic Flow Effects.

To encourage energy saving and emission reduction and improve traffic efficiency in the multiple signalized intersections area, an eco-driving strategy for connected and automated vehicles (CAVs) considering the effects of traffic flow is proposed for the mixed traffic environment. Firstly, the formation and dissipation process of signalized intersection queues are analyzed based on traffic wave theory, and a traffic flow situation estimation model is constructed, which can estimate intersection queue length and rear obstructed fleet length. Secondly, a feasible speed set calculation method for multiple signalized intersections is proposed to enable vehicles to pass through intersections without stopping and obstructing the following vehicles, adopting a trigonometric profile to generate smooth speed trajectory to ensure good riding comfort, and the speed trajectory is optimized with comprehensive consideration of fuel consumption, emissions, and traffic efficiency costs. Finally, the effectiveness of the strategy is verified. The results show that traffic performance and fuel consumption benefits increase as the penetration rate of CAVs increases. When all vehicles on the road are CAVs, the proposed strategy can increase the average speed by 9.5%, reduce the number of stops by 78.2%, reduce the stopped delay by 82.0%, and reduce the fuel consumption, NOx, and HC emissions by 20.4%, 39.4%, and 46.6%, respectively.

Does connected environment contribute to the driving safety and traffic efficiency improvement in emergency events?

A connected environment is crucial for improving road traffic safety and efficiency. However, it remains unclear how different connected environments affect the interaction between vehicles and their impact on driving safety and traffic efficiency in scenarios with potential risks, such as forced lane changes during emergency events. To investigate the effects of different connected environments on drivers' interaction characteristics and their impact on driving safety and traffic efficiency, a group of simulated driving test was implemented in a multi-agent interactive intelligent connected vehicle driving simulation platform. Four types of connected environments were designed, Non-Connected Vehicles (NCV), Front Vehicle Single-Connected Vehicles (FCV), Rear Vehicle Single-Connected Vehicles (RCV), and Double-Connected Vehicles (DCV). Additionally, four different initial headways were tested (10 m, 20 m, 30 m, and 40 m). 40 drivers were recruited to participate in driving simulation experiments, and simulated driving data were collected. The research results indicate that for the front vehicle (FV), connectivity significantly reduces the collision risk with the accident vehicle (TTCFCV = 4.238 s, TTCDCV = 4.385 s), decreases the maximum longitudinal deceleration of FV (FCV = -1.212 m/s2, DCV = -1.022 m/s2), and reduces the speed fluctuation of FV (FCV = 4.748 km/h, DCV = 3.784 km/h). For the rear vehicle (RV), benefits are observed only in the FCV environment, where connectivity helps reduce the maximum deceleration of RV (FCV = -1.545 m/s2), decrease its speed fluctuation (FCV = 3.852 km/h), and enhance overall traffic efficiency (FCV = 12.133 s). Additionally, the minimum time difference to collision (TDTC) in the RCV environment (2.679 s) is significantly higher compared to other connected environments, and the number of cases with TDTC < 1.5 s (49) is notably lower than in other connected environments (NCV = 101, FCV = 107, DCV = 80). This suggests that the RCV environment effectively reduces the lateral collision risk during lane changes. Overall, while single-vehicle connectivity may help reduce driving risks and improve traffic efficiency, DCV may not significantly enhance vehicle safety and traffic efficiency. When the vehicle headway between FV and RV is 20 m (1.651 s), lateral conflicts between the vehicles are most severe. The maximum longitudinal deceleration of FV and RV also significantly decreases with increasing vehicle headway, and when the vehicle headway exceeds 30 m, the maximum longitudinal deceleration of RV nearly ceases to decrease (-1.993 m/s2 at 30 m, -1.948 m/s2 at 40 m). As the distance between the front and rear vehicles (DHWFV-RV) increases, the speed of FV becomes more stable, particularly when DHWFV-RV is 40 m (M = 4.204 km/h), where the speed fluctuations of FV are significantly lower compared to other vehicle headways. A 30-meter vehicle headway (M = 5.684 km/h) is more effective in maintaining speed stability for RV. Although travel time increases with the increase in DHWFV-RV, this change does not show a significant difference. Overall, to ensure traffic efficiency, a vehicle headway of 30 m generally satisfies lane-change safety requirements and provides more stable vehicle speed and acceleration.

An Improved Longitudinal Driving Car-Following System Considering the Safe Time Domain Strategy.

Car-following models are crucial in adaptive cruise control systems, making them essential for developing intelligent transportation systems. This study investigates the characteristics of high-speed traffic flow by analyzing the relationship between headway distance and dynamic desired distance. Building upon the optimal velocity model theory, this paper proposes a novel traffic car-following computing system in the time domain by incorporating an absolutely safe time headway strategy and a relatively safe time headway strategy to adapt to the dynamic changes in high-speed traffic flow. The interpretable physical law of motion is used to compute and analyze the car-following behavior of the vehicle. Three different types of car-following behaviors are modeled, and the calculation relationship is optimized to reduce the number of parameters required in the model's adjustment. Furthermore, we improved the calculation of dynamic expected distance in the Intelligent Driver Model (IDM) to better suit actual road traffic conditions. The improved model was then calibrated through simulations that replicated changes in traffic flow. The calibration results demonstrate significant advantages of our new model in improving average traffic flow speed and vehicle speed stability. Compared to the classic car-following model IDM, our proposed model increases road capacity by 8.9%. These findings highlight its potential for widespread application within future intelligent transportation systems. This study optimizes the theoretical framework of car-following models and provides robust technical support for enhancing efficiency within high-speed transportation systems.

Complying with ISO 26262 and ISO/SAE 21434: A Safety and Security Co-Analysis Method for Intelligent Connected Vehicle.

A cyber-physical system (CPS) integrates communication and automation technologies into the operational processes of physical systems. Nowadays, as a complex CPS, an intelligent connected vehicle (ICV) may be exposed to accidental functional failures and malicious attacks. Therefore, ensuring the ICV's safety and security is crucial. Traditional safety/security analysis methods, such as failure mode and effect analysis and attack tree analysis, cannot provide a comprehensive analysis for the interactions between the system components of the ICV. In this work, we merge system-theoretic process analysis (STPA) with the concept phase of ISO 26262 and ISO/SAE 21434. We focus on the interactions between components while analyzing the safety and security of ICVs to reduce redundant efforts and inconsistencies in determining safety and security requirements. To conquer STPA's abstraction in describing causal scenarios, we improved the physical component diagram of STPA-SafeSec by adding interface elements. In addition, we proposed the loss scenario tree to describe specific scenarios that lead to unsafe/unsecure control actions. After hazard/threat analysis, a unified risk assessment process is proposed to ensure consistency in assessment criteria and to streamline the process. A case study is implemented on the autonomous emergency braking system to demonstrate the validation of the proposed method.

Investigating the impact of HMI on drivers' merging performance in intelligent connected vehicle environment.

Intelligent Connected Vehicle (ICV) is considered one of the most promising active safety technologies to address current transportation challenges. Human-Machine Interface (HMI) plays a vital role in enhancing user driving experience with ICV technology. However, in an ICV environment, drivers may exhibit excessive reliance on HMI, resulting in diminished proactive observation and analysis of the road environment, and subsequently leading to a potential decrease in drivers' situational awareness. This reduced situational awareness may consequently lead to a decline in their overall engagement in driving tasks. Therefore, to comprehensively investigate the impact of HMI on driver performance in various ICV environments, this study incorporates three distinct HMI systems: Control group, Warning group, and Guidance group. The Control group provides basic information, the Warning group adds front vehicle icon and real-time headway information, while the Guidance group further includes speed and voice guidance features. Additionally, the study considers three types of mainline vehicle gaps, namely, 30 m, 20 m, and 15 m. Through our self-developed ICV testing platform, we conducted driving simulation experiments on 43 participants in a freeway interchange merging area. The findings reveal that, drivers in the Guidance group exhibited explicit acceleration while driving on the ramp. Drivers in the Guidance and Warning groups demonstrated smoother speed change trends and lower mean longitudinal acceleration upon entering the acceleration lane compared to the Control group, indicating a preference for more cautious driving strategies. During the pre-merging section, drivers in the Warning group demonstrated a more cautious and smooth longitudinal acceleration. The Guidance group's HMI system assisted drivers in better speed control during the post-merging section. Differences in mainline vehicle gaps did not significantly impact the merging positions of participants across the three HMI groups. Drivers in the Guidance group merged closest to the left side of the taper section, while the Control group merged farthest. The research findings offer valuable insights for developing dynamic human-machine interfaces tailored to specific driving scenarios in the environment of ICVs. Future research should investigate the effects of various HMIs on driver safety, workload, energy efficiency, and overall driving experience. Conducting real-world tests will further validate the findings obtained from driving simulators.

Post Take-Over Performance Varies in Drivers of Automated and Connected Vehicle Technology in Near-Miss Scenarios.

OBJECTIVE: This study examined the impact of monitoring instructions when using an automated driving system (ADS) and road obstructions on post take-over performance in near-miss scenarios. BACKGROUND: Past research indicates partial ADS reduces the driver's situation awareness and degrades post take-over performance. Connected vehicle technology may alert drivers to impending hazards in time to safely avoid near-miss events. METHOD: Forty-eight licensed drivers using ADS were randomly assigned to either the active driving or passive driving condition. Participants navigated eight scenarios with or without a visual obstruction in a distributed driving simulator. The experimenter drove the other simulated vehicle to manually cause near-miss events. Participants' mean longitudinal velocity, standard deviation of longitudinal velocity, and mean longitudinal acceleration were measured. RESULTS: Participants in passive ADS group showed greater, and more variable, deceleration rates than those in the active ADS group. Despite a reliable audiovisual warning, participants failed to slow down in the red-light running scenario when the conflict vehicle was occluded. Participant's trust in the automated driving system did not vary between the beginning and end of the experiment. CONCLUSION: Drivers interacting with ADS in a passive manner may continue to show increased and more variable deceleration rates in near-miss scenarios even with reliable connected vehicle technology. Future research may focus on interactive effects of automated and connected driving technologies on drivers' ability to anticipate and safely navigate near-miss scenarios. APPLICATION: Designers of automated and connected vehicle technologies may consider different timing and types of cues to inform the drivers of imminent hazard in high-risk scenarios for near-miss events.

In-vehicle network intrusion detection systems: a systematic survey of deep learning-based approaches.

Developments in connected and autonomous vehicle technologies provide drivers with many convenience and safety benefits. Unfortunately, as connectivity and complexity within vehicles increase, more entry points or interfaces that may directly or indirectly access in-vehicle networks (IVNs) have been introduced, causing a massive rise in security risks. An intrusion detection system (IDS) is a practical method for controlling malicious attacks while guaranteeing real-time communication. Regarding the ever-evolving security attacks on IVNs, researchers have paid more attention to employing deep learning-based techniques to deal with privacy concerns and security threats in the IDS domain. Therefore, this article comprehensively reviews all existing deep IDS approaches on in-vehicle networks and conducts fine-grained classification based on applied deep network architecture. It investigates how deep-learning techniques are utilized to implement different IDS models for better performance and describe their possible contributions and limitations. Further compares and discusses the studied schemes concerning different facets, including input data strategy, benchmark datasets, classification technique, and evaluation criteria. Furthermore, the usage preferences of deep learning in IDS, the influence of the dataset, and the selection of feature segments are discussed to illuminate the main potential properties for designing. Finally, possible research directions for follow-up studies are provided.

Holistic Spatio-Temporal Graph Attention for Trajectory Prediction in Vehicle-Pedestrian Interactions.

Ensuring that intelligent vehicles do not cause fatal collisions remains a persistent challenge due to pedestrians' unpredictable movements and behavior. The potential for risky situations or collisions arising from even minor misunderstandings in vehicle-pedestrian interactions is a cause for great concern. Considerable research has been dedicated to the advancement of predictive models for pedestrian behavior through trajectory prediction, as well as the exploration of the intricate dynamics of vehicle-pedestrian interactions. However, it is important to note that these studies have certain limitations. In this paper, we propose a novel graph-based trajectory prediction model for vehicle-pedestrian interactions called Holistic Spatio-Temporal Graph Attention (HSTGA) to address these limitations. HSTGA first extracts vehicle-pedestrian interaction spatial features using a multi-layer perceptron (MLP) sub-network and max pooling. Then, the vehicle-pedestrian interaction features are aggregated with the spatial features of pedestrians and vehicles to be fed into the LSTM. The LSTM is modified to learn the vehicle-pedestrian interactions adaptively. Moreover, HSTGA models temporal interactions using an additional LSTM. Then, it models the spatial interactions among pedestrians and between pedestrians and vehicles using graph attention networks (GATs) to combine the hidden states of the LSTMs. We evaluate the performance of HSTGA on three different scenario datasets, including complex unsignalized roundabouts with no crosswalks and unsignalized intersections. The results show that HSTGA outperforms several state-of-the-art methods in predicting linear, curvilinear, and piece-wise linear trajectories of vehicles and pedestrians. Our approach provides a more comprehensive understanding of social interactions, enabling more accurate trajectory prediction for safe vehicle navigation.

Control Architecture for Connected Vehicle Platoons: From Sensor Data to Controller Design Using Vehicle-to-Everything Communication.

A suitable control architecture for connected vehicle platoons may be seen as a promising solution for today's traffic problems, by improving road safety and traffic flow, reducing emissions and fuel consumption, and increasing driver comfort. This paper provides a comprehensive overview concerning the defining levels of a general control architecture for connected vehicle platoons, intending to illustrate the options available in terms of sensor technologies, in-vehicle networks, vehicular communication, and control solutions. Moreover, starting from the proposed control architecture, a solution that implements a Cooperative Adaptive Cruise Control (CACC) functionality for a vehicle platoon is designed. Also, two control algorithms based on the distributed model-based predictive control (DMPC) strategy and the feedback gain matrix method for the control level of the CACC functionality are proposed. The designed architecture was tested in a simulation scenario, and the obtained results show the control performances achieved using the proposed solutions suitable for the longitudinal dynamics of vehicle platoons.

Mitigation of signalized intersection collision risks with trajectory based dynamic dilemma zone protection.

Dilemma zone is one of the major factors causing red-light violations, right-angled and rear-end crashes at signalized intersections. In this paper, a dilemma zone protection system is introduced, which employs a dynamic vehicular trajectory optimization approach to guide vehicles approaching a signalized intersection. Unlike conventional methods that aim to eliminate dilemma zones, this system adjusts the speed profiles of individual vehicles to shift the distribution of dilemma zones and prevent vehicles from becoming trapped. Extensive simulated experiments were conducted to test and validate the proposed system for both individual vehicles and platoons. Results demonstrate that the system offers superior protection for individual vehicles, with full coverage across various settings of initial speeds and distances to the stop line. In the traffic environment with realistic platooning settings, the proposed system significantly reduces the number of vehicles in the dilemma zone, resulting in improved operational and safety benefits such as reduced risks of hazardous maneuvers and savings in vehicular delay.

Understanding the impact of vehicle dynamics, geometric and non-geometric roadway attributes on surrogate safety measure using connected vehicle data.

Traditional safety research mostly relies on accident data to analyze the precedents to a crash. Alternatively, surrogate safety measures have the potential to proactively evaluate safety events. The era of connected vehicles and smart sensing has brought about tremendous innovations in safety research. GPS data from such vehicles form a useful case of big data analytics where surrogate safety measures have largely been unexplored. In this paper, we propose time to collision estimation from connected vehicle GPS data. The vehicle dynamics such as speed, acceleration, yaw rate, etc. are then coupled with geometric and non-geometric roadway attributes to understand the contributing factors for a traffic conflict. The dataset contains 2,568,421 GPS points from 14,753 unique journeys. 1:4 ratio of conflict to non-conflict events was used to select 15,258 samples with 28 independent vehicle dynamics, geometric, and non-geometric variables. Binary logit model was used to investigate the relationship of these variables with conflicts. Model results showed that out of 28 independent variables, 6 independent variables and 7 interaction variables were found significant. The results showed some interesting and unique relations of these variables with conflicts. Based on these significant variables, k-means clustering was performed to understand the threshold for the significant values for which the number of conflicts is significantly increased. Results from k-means clustering and two sample binomial proportion t-tests revealed that when absolute acceleration crossed 0.8 m/s2, conflict probability increased by 8 percentage points.​ Moreover, when the yaw rate crossed 8 degrees/s, the conflict probability doubled. Besides, vehicles traveling at more than 140% of the recommended speed limit increased conflict probability by 7 percentage points.

Analysis of Co-Channel Coexistence Mitigation Methods Applied to IEEE 802.11p and 5G NR-V2X Sidelink.

Direct communication between vehicles and surrounding objects, called vehicle-to-everything (V2X), is ready for the market and promises to raise the level of safety and comfort while driving. To this aim, specific bands have been reserved in some countries worldwide and different wireless technologies have been developed; however, these are not interoperable. Recently, the issue of co-channel coexistence has been raised, leading the European Telecommunications Standards Institute (ETSI) to propose a number of solutions, called mitigation methods, for the coexistence of the IEEE 802.11p based ITS-G5 and the 3GPP fourth generation (4G) long term evolution (LTE)-V2X sidelink. In this work, several of the envisioned alternatives are investigated when adapted to the coexistence of the IEEE 802.11p with its enhancement IEEE 802.11bd and the latest 3GPP standards, i.e., the fifth generation (5G) new radio (NR)-V2X. The results, obtained through an open-source simulator that is shared with the research community for the evaluation of additional proposals, show that the methods called A and C, which require modifications to the standards, improve the transmission range of one or both systems without affecting the other, at least in low-density scenarios.

Modelling and Mitigating Secondary Crash Risk for Serial Tunnels on Freeway via Lighting-Related Microscopic Traffic Model with Inter-Lane Dependency.

This paper models and mitigates the secondary crash (SC) risk for serial tunnels on the freeway which is incurred by traffic turbulence after primary crash (PC) occurrence and location-heterogeneous lighting conditions along serial tunnels. A traffic conflict approach is developed where SC risk is quantified using a surrogate safety measure based on the simulated vehicle trajectories after PC occurs from a lighting-related microscopic traffic model with inter-lane dependency. Numerical examples are presented to validate the model, illustrate SC risk pattern over time, and evaluate the countermeasures for SC, including adaptive tunnel lighting control (ATLC) and advanced speed and lane-changing guidance (ASLG) for connected vehicles (CVs). The results demonstrate that the tail of the stretching queue on the PC occurrence lane, the adjacent lane of the PC-incurred queue, and areas near tunnel portals are high-risk locations. In serial tunnels, creating a good lighting condition for drivers is more effective than advanced warnings in CVs to mitigate SC risk. Combined ATLC and ASLG is promising since ASLG informs CVs of an immediate response to traffic turbulence on the lane where PC occurs and ATLC alleviates SC risks on adjacent lanes via smoothing the lighting condition variations and reducing inter-lane dependency.

Collision-avoidance lane change control method for enhancing safety for connected vehicle platoon in mixed traffic environment.

In a mixed traffic environment, the connected vehicle platoon cannot communicate and collaborate with the surrounding vehicles. In this case, there is a high risk of collision in large vehicle platoon's lane change scenario where the non-connected surrounding vehicle occupies the target lane-changing space of the platoon. This study proposes a collision-avoidance lane change control method for a connected bus platoon to elude the non-connected vehicle in the target lane for completing lane change in the mixed traffic environment safely. A platoon vehicle sensor system with low-cost and low data processing complexity is designed, which equips with multiple sensors in longitudinal and lateral directions. Under control of the proposed platoon controller on the basis of vehicle-to-vehicle (V2V) communication, the platoon following vehicles are fully autonomous in both longitudinal and lateral directions. The safe lane change decision-maker is designed based on the Finite State Machine (FSM). The decision-maker fuses multiple sensor data and determines the lane change operation of the following vehicles. To verify the effectiveness of the proposed method, a three-vehicle platoon is carried out the lane change experiments in a high-fidelity mixed traffic scenario built by the PreScan-Simulink joint simulation platform. Exposure-to-Risk Index (ERI) of the platoon vehicles is adopted to evaluate the collision risk of the platoon during lane changing process. Three typical case scenarios are tested, including unimpeded lane change, passive waiting lane change, and active accelerating lane change. The simulation results show that all platoon vehicles have an excellent success rate in lane change without collision with the non-connected surrounding vehicle in these scenarios. The proposed method exhibits compelling benefits on improving the safety of platoon vehicles in the mixed traffic environment.

Research on a Cooperative Adaptive Cruise Control (CACC) Algorithm Based on Frenet Frame with Lateral and Longitudinal Directions.

Research on the cooperative adaptive cruise control (CACC) algorithm is primarily concerned with the longitudinal control of straight scenes. In contrast, the lateral control involved in certain traffic scenes such as lane changing or turning has rarely been studied. In this paper, we propose an adaptive cooperative cruise control (CACC) algorithm that is based on the Frenet frame. The algorithm decouples vehicle motion from complex motion in two dimensions to simple motion in one dimension, which can simplify the controller design and improve solution efficiency. First, the vehicle dynamics model is established based on the Frenet frame. Through a projection transformation of the vehicles in the platoon, the movement state of the vehicles is decomposed into the longitudinal direction along the reference trajectory and the lateral direction away from the reference trajectory. The second is the design of the longitudinal control law and the lateral control law. In the longitudinal control, vehicles are guaranteed to track the front vehicle and leader by satisfying the exponential convergence condition, and the tracking weight is balanced by a sigmoid function. Laterally, the nonlinear group dynamics equation is converted to a standard chain equation, and the Lyapunov method is used in the design of the control algorithm to ensure that the vehicles in the platoon follow the reference trajectory. The proposed control algorithm is finally verified through simulation, and validation results prove the effectiveness of the proposed algorithm.

A Novel Markov Model-Based Traffic Density Estimation Technique for Intelligent Transportation System.

An intelligent transportation system (ITS) aims to improve traffic efficiency by integrating innovative sensing, control, and communications technologies. The industrial Internet of things (IIoT) and Industrial Revolution 4.0 recently merged to design the industrial Internet of things-intelligent transportation system (IIoT-ITS). IIoT sensing technologies play a significant role in acquiring raw data. The application continuously performs the complex task of managing traffic flows effectively based on several parameters, including the number of vehicles in the system, their location, and time. Traffic density estimation (TDE) is another important derived parameter desirable to keep track of the dynamic state of traffic volume. The expanding number of vehicles based on wireless connectivity provides new potential to predict traffic density more accurately and in real time as previously used methodologies. We explore the topic of assessing traffic density by using only a few simple metrics, such as the number of surrounding vehicles and disseminating beacons to roadside units and vice versa. This research paper investigates TDE techniques and presents a novel Markov model-based TDE technique for ITS. Finally, an OMNET++-based approach with an implementation of a significant modification of a traffic model combined with mathematical modeling of the Markov model is presented. It is intended for the study of real-world traffic traces, the identification of model parameters, and the development of simulated traffic.

Calibrating stochastic traffic simulation models for safety and operational measures based on vehicle conflict distributions obtained from aerial and traffic camera videos.

Proper calibration process is of considerable importance for traffic safety evaluations using simulation models. Allowing for a pure with and without comparison under identical circumstances that is not directly testable in the field, microsimulation-based approach has drawn considerable attention for the performance evaluation of emerging technologies, such as connected vehicle (CV) safety applications. Different from the traditional approaches to evaluate mobility impacts, safety evaluations of such applications demand the simulation models to be well calibrated to match real-world safety conditions. This paper proposes a novel calibration framework which combines traffic conflict techniques and multi-objective stochastic optimization so that the operational and safety measures can be calibrated simultaneously. The conflict distribution of different severity levels categorized by time-to-collision (TTC) is applied as the safety performance measure. Simultaneous perturbation stochastic approximation (SPSA) algorithm, which can efficiently approximate the gradient of the multi-objective stochastic loss function, is used for model parameters optimization that minimizes the total simulation error of both operational and safety performance measures. The proposed calibration methodology is implemented using an open-source software SUMO on a simulation network of the Flatbush Avenue corridor in Brooklyn, NY. 17 key parameters are calibrated using the SPSA algorithm and are compared with the real-world traffic conflicts extracted using vehicle trajectories from 14 h' high-resolution aerial and traffic surveillance videos. Representative days are identified to create variation envelopes for performance measures. Four acceptability criteria, including control for time-variant outliers and inliers, bounded dynamic absolute and system errors are adopted for results analysis. The results show that the calibrated parameters can significantly improve the performance of the simulation model to represent real-world safety conditions (i.e., traffic conflicts) as well as operational conditions. The case study also demonstrates the usefulness of aerial imagery and the applicability of the proposed model calibration framework, so the calibrated model can be used to evaluate the safety benefits of CV applications more accurately.

Predicting intersection crash frequency using connected vehicle data: A framework for geographical random forest.

Accurate crash frequency prediction is critical for proactive safety management. The emerging connected vehicles technology provides us with a wealth of vehicular motion data, which enables a better connection between crash frequency and driving behaviors. However, appropriately dealing with the spatial dependence of crash frequency and multitudinous driving features has been a difficult but critical challenge in the prediction process. To this end, this study aims to investigate a new Artificial Intelligence technique called Geographical Random Forest (GRF) that can address spatial heterogeneity and retain all potential predictors. By harnessing more than 2.2 billion high-resolution connected vehicle Basic Safety Message (BSM) observations from the Safety Pilot Model Deployment in Ann Arbor, MI, 30 indicators of driving volatility are extracted, including speed, longitudinal and lateral acceleration, and yaw rate. The developed GRF was implemented to predict rear-end crash frequency at intersections. The results show that: 1) rear-end crashes are more likely to happen at intersections connecting minor roads compared to major roads; 2) a higher number of hard acceleration and deceleration events beyond two standard deviations in the longitudinal direction is a leading indicator of rear-end crashes; 3) the optimal GRF significantly outperforms Global Random Forest, with a 9% lower test error and a substantially better fit; and 4) geographical visualization of variable importance highlights the presence of spatial non-stationarity. The proposed framework can proactively identify at-risk intersections and alert drivers when leading indicators of driving volatility tend to worsen.

Real-time crash identification using connected electric vehicle operation data.

As the automobile market gradually develops towards intelligence, networking, and information-orientated, intelligent identification based on connected vehicle data becomes a key technology. Specifically, real-time crash identification using vehicle operation data can enable automotive companies to obtain timely information on the safety of user vehicle usage so that timely customer service and roadside rescue can be provided. In this paper, an accurate vehicle crash identification algorithm is developed based on machine learning techniques using electric vehicles' operation data provided by SAIC-GM-Wuling. The point of battery disconnection is identified as a potential crash event. Data before and after the battery disconnection is retrieved for feature extraction. Two different feature extraction methods are used: one directly extracts the descriptive statistical features of various variables, and the other directly unfolds the multivariate time series data. The AdaBoost algorithm is used to classify whether a potential crash event is a real crash using the constructed features. Models trained with the two different features are fused for the final outputs. The results show that the final model is simple, effective, and has a fast inference speed. The model has an F1 score of 0.98 on testing data for crash classification, and the identified crash times are all within 10 s around the true crash times. All data and code are available at https://github.com/MeixinZhu/vehicle-crash-identification.

Using Connected Vehicle Trajectory Data to Evaluate the Impact of Automated Work Zone Speed Enforcement.

Work zone safety is a high priority for transportation agencies across the United States. Enforcing speed compliance in work zones is an important factor for reducing the frequency and severity of crashes. This paper uses connected vehicle trajectory data to evaluate the impact of automated work zone speed enforcement on three work zones in Pennsylvania and two work zones in Indiana. Analysis was conducted on more than 300 million datapoints from over 71 billion records between April and August 2021. Speed distribution and speed compliance studies with and without automated enforcement were conducted along every tenth of a mile, and the results found that overall speed compliance inside the work zones increased with the presence of enforcement. In the three Pennsylvania work zones analyzed, the proportions of vehicles travelling within the allowable 11 mph tolerance were 63%, 75% and 84%. In contrast, in Indiana, a state with no automated enforcement, the proportions of vehicles travelling within the same 11 mph tolerance were found to be 25% and 50%. Shorter work zones (less than 3 miles) were associated with better compliance than longer work zones. Spatial analysis also found that speeds rebounded within 1-2 miles after leaving the enforcement location.