Vehicle-in-Virtual-Environment (VVE) Method for Autonomous Driving System Development, Evaluation and Demonstration.

The current approach to connected and autonomous driving function development and evaluation uses model-in-the-loop simulation, hardware-in-the-loop simulation and limited proving ground use, followed by public road deployment of the beta version of software and technology. The rest of the road users are involuntarily forced into taking part in the development and evaluation of these connected and autonomous driving functions in this approach. This is an unsafe, costly and inefficient method. Motivated by these shortcomings, this paper introduces the Vehicle-in-Virtual-Environment (VVE) method of safe, efficient and low-cost connected and autonomous driving function development, evaluation and demonstration. The VVE method is compared to the existing state-of-the-art. Its basic implementation for a path-following task is used to explain the method where the actual autonomous vehicle operates in a large empty area with its sensor feeds being replaced by realistic sensor feeds corresponding to its location and pose in the virtual environment. It is possible to easily change the development virtual environment and inject rare and difficult events which can be tested very safely. Vehicle-to-Pedestrian (V2P) communication-based pedestrian safety is chosen as the application use case for the VVE in this paper, and corresponding experimental results are presented and discussed. A no-line-of-sight pedestrian and vehicle moving towards each other on intersecting paths with different speeds are used in the experiments. Their time-to-collision risk zone values are compared for determining severity levels. The severity levels are used to slow down or brake the vehicle. The results show that V2P communication of pedestrian location and heading can be used successfully to avoid possible collisions. It is noted that actual pedestrians and other vulnerable road users can be used very safely in this approach.

The Importance of Using Realistic 3D Canopy Models to Calculate Light Interception in the Field.

Quantifying canopy light interception provides insight into the effects of plant spacing, canopy structure, and leaf orientation on radiation distribution. This is essential for increasing crop yield and improving product quality. Canopy light interception can be quantified using 3-dimensional (3D) plant models and optical simulations. However, virtual 3D canopy models (VCMs) have often been used to quantify canopy light interception because realistic 3D canopy models (RCMs) are difficult to obtain in the field. This study aims to compare the differences in light interception between VCMs and RCM. A realistic 3D maize canopy model (RCM) was reconstructed over a large area of the field using an advanced unmanned aerial vehicle cross-circling oblique (CCO) route and the structure from motion-multi-view stereo method. Three types of VCMs (VCM-1, VCM-4, and VCM-8) were then created by replicating 1, 4, and 8 individual realistic plants constructed by CCO in the center of the corresponding RCM. The daily light interception per unit area (DLI), as computed for the 3 VCMs, exhibited marked deviation from the RCM, as evinced by the relative root mean square error (rRMSE) values of 20.22%, 17.38%, and 15.48%, respectively. Although this difference decreased as the number of plants used to replicate the virtual canopy increased, rRMSE of DLI for VCM-8 and RCM still reached 15.48%. It was also found that the difference in light interception between RCMs and VCMs was substantially smaller in the early stage (48 days after sowing [DAS]) than in the late stage (70 DAS). This study highlights the importance of using RCM when calculating light interception in the field, especially in the later growth stages of plants.

Estimation of amino acid contents in maize leaves based on hyperspectral imaging.

Estimation of the amino acid content in maize leaves is helpful for improving maize yield estimation and nitrogen use efficiency. Hyperspectral imaging can be used to obtain the physiological and biochemical parameters of maize leaves with the advantages of being rapid, non-destructive, and high throughput. This study aims to estimate the multiple amino acid contents in maize leaves using hyperspectral imaging data. Two nitrogen (N) fertilizer experiments were carried out to obtain the hyperspectral images of fresh maize leaves. The partial least squares regression (PLSR) method was used to build the estimation models of various amino acid contents by using the reflectance of all bands, sensitive band range, and sensitive bands. The models were then validated with the independent dataset. The results showed that (1) the spectral reflectance of most amino acids was more sensitive in the range of 400-717.08 nm than other bands. The estimation accuracy was better by using the reflectance of the sensitive band range than that of all bands; (2) the sensitive bands of most amino acids were in the ranges of 505.39-605 nm and 651-714 nm; and (3) among the 24 amino acids, the estimation models of the ß-aminobutyric acid, ornithine, citrulline, methionine, and histidine achieved higher accuracy than those of other amino acids, with the R 2, relative root mean square error (RE), and relative percent deviation (RPD) of the measured and estimated value of testing samples in the range of 0.84-0.96, 8.79%-19.77%, and 2.58-5.18, respectively. This study can provide a non-destructive and rapid diagnostic method for genetic sensitive analysis and variety improvement of maize.