The Impact of Line-of-Sight and Connected Vehicle Technology on Mitigating and Preventing Crash and Near-Crash Events.

Line-of-sight (LOS) sensors developed in newer vehicles have the potential to help avoid crash and near-crash scenarios with advanced driving-assistance systems; furthermore, connected vehicle technologies (CVT) also have a promising role in advancing vehicle safety. This study used crash and near-crash events from the Second Strategic Highway Research Program Naturalistic Driving Study (SHRP2 NDS) to reconstruct crash events so that the applicable benefit of sensors in LOS systems and CVT can be compared. The benefits of CVT over LOS systems include additional reaction time before a predicted crash, as well as a lower deceleration value needed to prevent a crash. This work acts as a baseline effort to determine the potential safety benefits of CVT-enabled systems over LOS sensors alone.

Influence of emotions on the aggressive driving behavior of online -car-hailing drivers based on association rule mining.

Emotion is an important factor that can lead to the occurrence of aggressive driving. This paper proposes an association rule mining-based method for analysing contributing factors associated with aggressive driving behaviour among online car-hailing drivers. We collected drivers' emotion data in real time in a natural driving setting. The findings show that 29 of the top 50 association rules for aggressive driving are related to emotions, revealing a strong relationship between driver emotions and aggressive driving behaviour. The emotions of anger, surprised, happy and disgusted are frequently associated with aggressive driving behaviour. Negative emotions combined with other factors (for example, driving at high speeds and high acceleration rates and with no passengers in the vehicle) are more likely to lead to aggressive driving behaviour than negative emotions alone. The results of this study provide practical implications for the supervision and training of car-hailing drivers.

Based on the association rule mining method, we found a close connection between drivers' emotional states and the manifestation of aggressive driving behaviours. The findings indicate that the combination of negative emotions and various contributing factors significantly amplifies the likelihood of aggressive driving.

A Decision-Making Strategy for Car Following Based on Naturalist Driving Data via Deep Reinforcement Learning.

To improve the satisfaction and acceptance of automatic driving, we propose a deep reinforcement learning (DRL)-based autonomous car-following (CF) decision-making strategy using naturalist driving data (NDD). This study examines the traits of CF behavior using 1341 pairs of CF events taken from the Next Generation Simulation (NGSIM) data. Furthermore, in order to improve the random exploration of the agent's action, the dynamic characteristics of the speed-acceleration distribution are established in accordance with NDD. The action's varying constraints are achieved via a normal distribution 3σ boundary point-to-fit curve. A multiobjective reward function is designed considering safety, efficiency, and comfort, according to the time headway (THW) probability density distribution. The introduction of a penalty reward in mechanical energy allows the agent to internalize negative experiences. Next, a model of agent-environment interaction for CF decision-making control is built using the deep deterministic policy gradient (DDPG) method, which can explore complicated environments. Finally, extensive simulation experiments validate the effectiveness and accuracy of our proposal, and the driving strategy is learned through real-world driving data, which is better than human data.

Correlation Analysis of Noise, Vibration, and Harshness in a Vehicle Using Driving Data Based on Big Data Analysis Technique.

A new development process for the noise, vibration, and harshness (NVH) of a vehicle is presented using data analysis and machine learning with long-term NVH driving data. The process includes exploratory data analysis (EDA), variable importance analysis, correlation analysis, sensitivity analysis, and development target selection. In this paper, to dramatically reduce the development period and cost related to vehicle NVH, we propose a technique that can accurately identify the precise connectivity and relationship between vehicle systems and NVH factors. This new technique uses whole big data and reflects the nonlinearity of dynamic characteristics, which was not considered in existing methods, and no data are discarded. Through the proposed method, it is possible to quickly find areas that need improvement through correlation analysis and variable importance analysis, understand how much room noise increases when the NVH level of the system changes through sensitivity analysis, and reduce vehicle development time by improving efficiency. The method could be used in the development process and the validation of other deep learning and machine learning models. It could be an essential step in applying artificial intelligence, big data, and data analysis in the vehicle and mobility industry as a future vehicle development process.

Estimating the Necessary Amount of Driving Data for Assessing Driving Behavior.

The aim of this paper was to provide a methodological framework for estimating the amount of driving data that should be collected for each driver in order to acquire a clear picture regarding their driving behavior. We examined whether there is a specific discrete time point for each driver, in the form of total driving duration and/or the number of trips, beyond which the characteristics of driving behavior are stabilized over time. Various mathematical and statistical methods were employed to process the data collected and determine the time point at which behavior converges. Detailed data collected from smartphone sensors are used to test the proposed methodology. The driving metrics used in the analysis are the number of harsh acceleration and braking events, the duration of mobile usage while driving and the percentage of time driving over the speed limits. Convergence was tested in terms of both the magnitude and volatility of each metric for different trips and analysis is performed for several trip durations. Results indicated that there is no specific time point or number of trips after which driving behavior stabilizes for all drivers and/or all metrics examined. The driving behavior stabilization is mostly affected by the duration of the trips examined and the aggressiveness of the driver.

CoDR: Correlation-based Data Reduction Scheme for Efficient Gathering of Heterogeneous Driving Data.

A variety of deep learning techniques are actively employed for advanced driver assistance systems, which in turn require gathering lots of heterogeneous driving data, such as traffic conditions, driver behavior, vehicle status and location information. However, these different types of driving data easily become more than tens of GB per day, forming a significant hurdle due to the storage and network cost. To address this problem, this paper proposes a novel scheme, called CoDR, which can reduce data volume by considering the correlations among heterogeneous driving data. Among heterogeneous datasets, CoDR first chooses one set as a pivot data. Then, according to the objective of data collection, it identifies data ranges relevant to the objective from the pivot dataset. Finally, it investigates correlations among sets, and reduces data volume by eliminating irrelevant data from not only the pivot set but also other remaining datasets. CoDR gathers four heterogeneous driving datasets: two videos for front view and driver behavior, OBD-II and GPS data. We show that CoDR decreases data volume by up to 91%. We also present diverse analytical results that reveal the correlations among the four datasets, which can be exploited usefully for edge computing to reduce data volume on the spot.

Using Topic Modeling to Develop Multi-level Descriptions of Naturalistic Driving Data from Drivers with and without Sleep Apnea.

One challenge in using naturalistic driving data is producing a holistic analysis of these highly variable datasets. Typical analyses focus on isolated events, such as large g-force accelerations indicating a possible near-crash. Examining isolated events is ill-suited for identifying patterns in continuous activities such as maintaining vehicle control. We present an alternative approach that converts driving data into a text representation and uses topic modeling to identify patterns across the dataset. This approach enables the discovery of non-linear patterns, reduces the dimensionality of the data, and captures subtle variations in driver behavior. In this study topic models are used to concisely described patterns in trips from drivers with and without untreated obstructive sleep apnea (OSA). The analysis included 5000 trips (50 trips from 100 drivers; 66 drivers with OSA; 34 comparison drivers). Trips were treated as documents, and speed and acceleration data from the trips were converted to "driving words." The identified patterns, called topics, were determined based on regularities in the co-occurrence of the driving words within the trips. This representation was used in random forest models to predict the driver condition (i.e., OSA or comparison) for each trip. Models with 10, 15 and 20 topics had better accuracy in predicting the driver condition, with a maximum AUC of 0.73 for a model with 20 topics. Trips from drivers with OSA were more likely to be defined by topics for smaller lateral accelerations at low speeds. The results demonstrate topic modeling as a useful tool for extracting meaningful information from naturalistic driving datasets.

Gap Acceptance During Lane Changes by Large-Truck Drivers-An Image-Based Analysis.

This paper presents an analysis of rearward gap acceptance characteristics of drivers of large trucks in highway lane change scenarios. The range between the vehicles was inferred from camera images using the estimated lane width obtained from the lane tracking camera as the reference. Six-hundred lane change events were acquired from a large-scale naturalistic driving data set. The kinematic variables from the image-based gap analysis were filtered by the weighted linear least squares in order to extrapolate them at the lane change time. In addition, the time-to-collision and required deceleration were computed, and potential safety threshold values are provided. The resulting range and range rate distributions showed directional discrepancies, i.e., in left lane changes, large trucks are often slower than other vehicles in the target lane, whereas they are usually faster in right lane changes. Video observations have confirmed that major motivations for changing lanes are different depending on the direction of move, i.e., moving to the left (faster) lane occurs due to a slower vehicle ahead or a merging vehicle on the right-hand side, whereas right lane changes are frequently made to return to the original lane after passing.

A comparison of licensed driver counts from the Federal Highway Administration and driver licensing agencies in 11 states.

Objective: Those who study motor vehicle crashes may rely on counts of licensed drivers to estimate crash, injury, or fatality rates. These counts may be obtained from the U.S. Department of Transportation Federal Highway Administration's (FHWA) annual Highway Statistics Series or directly from state driver licensing agencies. However, previous studies have questioned the accuracy of these counts provided by the FHWA.Methods: To investigate this issue, we compared counts of licensed drivers from the FHWA and state licensing agencies in 11 states, categorized by sex and age group, from 2013 through 2017. We then assessed the impact of any potential differences by fitting two sets of Poisson regression models to estimate age- and sex-based driver fatality rate ratios. One set of models used counts from the FHWA as the offset and the other used counts from state licensing agencies.Results: Our analysis found that the differences between FHWA and state counts varied markedly. Seven states had substantial differences for at least one age group that spanned the entire study period. In several cases, these differences in license counts were large enough to produce directly contradictory driver fatality rate ratio estimates when comparing age groups.Conclusions: These findings highlight the continued concern regarding the accuracy of licensed driver counts from the FHWA and extend previous studies by illustrating the impact of using FHWA counts on statistical inference. We recommend against using these data for traffic safety research or policy evaluation. Nevertheless, we acknowledge the need for a centralized, easily accessible database for licensed driver data.

Modeling road user response timing in naturalistic traffic conflicts: A surprise-based framework.

There is currently no established method for evaluating human response timing across a range of naturalistic traffic conflict types. Traditional notions derived from controlled experiments, such as perception-response time, fail to account for the situation-dependency of human responses and offer no clear way to define the stimulus in many common traffic conflict scenarios. As a result, they are not well suited for application in naturalistic settings. We present a novel framework for measuring and modeling response times in naturalistic traffic conflicts applicable to automated driving systems as well as other traffic safety domains. The framework suggests that response timing must be understood relative to the subject's current (prior) belief and is always embedded in, and dependent on, the dynamically evolving situation. The response process is modeled as a belief update process driven by perceived violations to this prior belief, that is, by surprising stimuli. The framework resolves two key limitations with traditional notions of response time when applied in naturalistic scenarios: (1) The strong situation dependence of response timing and (2) how to unambiguously define the stimulus. Resolving these issues is a challenge that must be addressed by any response timing model intended to be applied in naturalistic traffic conflicts. We show how the framework can be implemented by means of a relatively simple heuristic model fit to naturalistic human response data from real crashes and near crashes from the SHRP2 dataset and discuss how it is, in principle, generalizable to any traffic conflict scenario. We also discuss how the response timing framework can be implemented computationally based on evidence accumulation enhanced by machine learning-based generative models and the information-theoretic concept of surprise.

Effects of executive load on crashes and near-crashes for young versus older drivers.

With the increasing use of infotainment systems in vehicles, secondary tasks requiring executive demand may increase crash risk, especially for young drivers. Naturalistic driving data were examined to determine if secondary tasks with increasing executive demand would result in increasing crash risk. Data were extracted from the Second Strategic Highway Research Program Naturalistic Driving Study, where vehicles were instrumented to record driving behavior and crash/near-crash data. executive and visual-manual tasks paired with a second executive task (also referred to as dual executive tasks) were compared to the executive and visual-manual tasks performed alone. Crash/near-crash odds ratios were computed by comparing each task condition to driving without the presence of any secondary task. Dual executive tasks resulted in greater odds ratios than those for single executive tasks. The dual visual-manual task odds ratios did not increase from single task odds ratios. These effects were only found in young drivers. The study shows that dual executive secondary task load increases crash/near-crash risk in dual task situations for young drivers. Future research should be conducted to minimize task load associated with vehicle infotainment systems that use such technologies as voice commands.

Unveiling pre-crash driving behavior common features based upon behavior entropy.

Driving behavior is considered as the primary crash influencing factor, whereas studies claimed that over 90% crashes were attributed by behavior features. Therefore, unveil pre-crash driving behavior features is of great importance for crash prevention. Previous studies have established the correlations between features such as vehicle speed, speed variability, and the probability of crash occurrences, but these analyses have concluded inconsistent results. This is due to the varying operating characteristics among roadway facilities, where given the same driving behavior statistical features, the corresponding traffic states are not identical. In this study, a behavioral entropy index was proposed to address the abovementioned issue. First, through comparing the individual driving behavior with the group distribution, behavioral entropy index was calculated to quantify the abnormality of driving behavior. Then, crash classification models were established by comparing the behavioral entropy prior to crash events and normal driving conditions. The empirical analyses have been conducted based on 1,634,770 naturalistic driving trajectories and 1027 crash events. And models have been carried out for urban roadway sections, urban intersections, and highway sections separately. The results showed that utilizing the behavior entropy instead of the statistical features could enhance the crash classification accuracy by 11.3%. And common pre-crash features of increased behavioral entropy were identified. Moreover, the speed coefficient of variation (QCV) entropy was concluded as the most influencing factor, which can be used for real-time driving risk monitoring and enables individual-level hazard mitigation.

Determinants of speed variability on the horizontal curves of two-lane undivided rural highways passing through mountainous terrain.

Drivers traversing the horizontal curves are expected to complete the deceleration manoeuvre on the tangent and transition curve and maintain a constant speed upon reaching the curve. However, this may not be true for the horizontal curves constituting a two-lane undivided rural highway passing through mountainous terrain. The objective of this study is to investigate the speed variability on a two-lane rural highway passing through mountainous terrain and to identify its determinants. The continuous speed profiles of vehicles traversing the curves were extracted using the video image processing technique. Individual speed profiles, as well as the operating speed profiles obtained through quantile regression, indicate a significant speed variability on the horizontal curve. Speed variability on the curve was modelled in terms of the 85th percentile of maximum speed difference (MaxΔ85V) using the Robust Weighted Least Square (RWLS) Method. The findings indicate that the curvature change rate, length of the curve and the speed at the point of curvature affect the maximum speed difference on a curve. The findings also suggest that the operating speed estimated based on the spot speed data collected at the curve centre might lead to erroneous estimation of design and operating speed consistencies.

Pedestrian safety in an automated driving environment: Calibrating and evaluating the responsibility-sensitive safety model.

The severity of vehicle-pedestrian crashes has prompted authorities worldwide to concentrate on improving pedestrian safety. The situation has only become more urgent with the approach of automated driving scenarios. The Responsibility-Sensitive Safety (RSS) model, introduced by Mobileye®, is a rigorous mathematical model developed to facilitate the safe operation of automated vehicles. The RSS model has been calibrated for several vehicle conflict scenarios; however, it has not yet been tested for pedestrian safety. Therefore, this study calibrates and evaluates the RSS model for pedestrian safety using data from the Shanghai Naturalistic Driving Study. Nearly 400 vehicle-pedestrian conflicts were extracted from 8,000 trips by the threshold and manual check method, and then divided into 16 basic scenarios in three categories. Because crossing conflicts were the most serious and frequent, they were reproduced in MATLAB's Simulink with each vehicle replaced with a virtual automated vehicle loaded with the RSS controller module. With the objectives of maximizing safety and minimizing conservativeness, the non-dominated sorting genetic algorithm II was applied to calibrate the RSS model for vehicle-pedestrian conflicts. The safety performance of the RSS model was then compared with that of the commonly used active safety function, autonomous emergency braking (AEB), and with human driving. Findings verified that the RSS model was safer in vehicle-pedestrian conflicts than both the AEB model and human driving. Its performance also yielded the best test results in producing smooth and stable driving. This study provides a reliable reference for the safe control of automated vehicles with respect to pedestrians.

On the forces of driver distraction: Explainable predictions for the visual demand of in-vehicle touchscreen interactions.

With modern infotainment systems, drivers are increasingly tempted to engage in secondary tasks while driving. Since distracted driving is already one of the main causes of fatal accidents, in-vehicle touchscreens must be as little distracting as possible. To ensure that these systems are safe to use, they undergo elaborate and expensive empirical testing, requiring fully functional prototypes. Thus, early-stage methods informing designers about the implication their design may have on driver distraction are of great value. This paper presents a machine learning method that, based on anticipated usage scenarios, predicts the visual demand of in-vehicle touchscreen interactions and provides local and global explanations of the factors influencing drivers' visual attention allocation. The approach is based on large-scale natural driving data continuously collected from production line vehicles and employs the SHapley Additive exPlanation (SHAP) method to provide explanations leveraging informed design decisions. Our approach is more accurate than related work and identifies interactions during which long glances occur with 68% accuracy and predicts the total glance duration with a mean error of 2.4s. Our explanations replicate the results of various recent studies and provide fast and easily accessible insights into the effect of UI elements, driving automation, and vehicle speed on driver distraction. The system can not only help designers to evaluate current designs but also help them to better anticipate and understand the implications their design decisions might have on future designs.

Application of naturalistic driving data: A systematic review and bibliometric analysis.

The application of naturalistic driving data (NDD) has the potential to answer critical research questions in the area of driving behavior assessment, as well as the impact of exogenous and endogenous factors on driver safety. However, the presence of a large number of research domains and analysis foci makes a systematic review of NDD applications challenging in terms of information density and complexity. While previous research has focused on the execution of naturalistic driving studies and on specific analysis techniques, a multifaceted aggregation of NDD applications in Intelligent Transportation System (ITS) research is still unavailable. In spite of the current body of work being regularly updated with new findings, evolutionary nuances in this field remain relatively unknown. To address these deficits, the evolutionary trend of NDD applications was assessed using research performance analysis and science mapping. Subsequently, a systematic review was conducted using the keywords "naturalistic driving data" and "naturalistic driving study data". As a result, a set of 393 papers, Published between January 2002-March 2022, was thematically clustered based on the most common application areas utilizing NDD. the results highlighted the relationship between the most crucial research domains in ITS, where NDD had been incorporated, and application areas, modeling objectives, and analysis techniques involving naturalistic databases.

Detecting mild cognitive impairment and dementia in older adults using naturalistic driving data and interaction-based classification from influence score.

Several recent studies indicate that atypical changes in driving behaviors appear to be early signs of mild cognitive impairment (MCI) and dementia. These studies, however, are limited by small sample sizes and short follow-up duration. This study aims to develop an interaction-based classification method building on a statistic named Influence Score (i.e., I-score) for prediction of MCI and dementia using naturalistic driving data collected from the Longitudinal Research on Aging Drivers (LongROAD) project. Naturalistic driving trajectories were collected through in-vehicle recording devices for up to 44 months from 2977 participants who were cognitively intact at the time of enrollment. These data were further processed and aggregated to generate 31 time-series driving variables. Because of high dimensional time-series features for driving variables, we used I-score for variable selection. I-score is a measure to evaluate variables' ability to predict and is proven to be effective in differentiating between noisy and predictive variables in big data. It is introduced here to select influential variable modules or groups that account for compound interactions among explanatory variables. It is explainable regarding to what extent variables and their interactions contribute to the predictiveness of a classifier. In addition, I-score boosts the performance of classifiers over imbalanced datasets due to its association with the F1 score. Using predictive variables selected by I-score, interaction-based residual blocks are constructed over top I-score modules to generate predictors and ensemble learning aggregates these predictors to boost the prediction of the overall classifier. Experiments using naturalistic driving data show that our proposed classification method achieves the best accuracy (96%) for predicting MCI and dementia, followed by random forest (93%) and logistic regression (88%). In terms of F1 score and AUC, our proposed classifier achieves 98% and 87%, respectively, followed by random forest (with an F1 score of 96% and an AUC of 79%) and logistic regression (with an F1 score of 92% and an AUC of 77%). The results indicate that incorporating I-score into machine learning algorithms could considerably improve the model performance for predicting MCI and dementia in older drivers. We also performed the feature importance analysis and found that the right to left turn ratio and the number of hard braking events are the most important driving variables to predict MCI and dementia.

An interpretable prediction model of illegal running into the opposite lane on curve sections of two-lane rural roads from drivers' visual perceptions.

Illegal running into the opposite lane (IROL) on curve sections of two-lane rural roads is a frequently hazardous behavior and highly prone to fatal crashes. Although driving behaviors are always determined by the information from drivers' visual perceptions, current studies do not consider visual perceptions in predicting the occurrence of IROL. In addition, most machine learning methods belong to black-box algorithms and lack the interpretation of prediction results. Therefore, this study aims to propose an interpretable prediction model of IROL on curve sections of two-lane rural roads from drivers' visual perceptions. A new visual road environment model, consisting of five different visual layers, was established to better quantify drivers' visual perceptions by using deep neural networks. In this study, naturalistic driving data was collected on curve sections of typical two-lane rural roads in Tibet, China. There were 25 input variables extracted from the visual road environment, vehicle kinematics, and driver characteristics. Then, XGBoost (eXtreme Gradient Boosting) and SHAP (SHapley Additive exPlanation) methods were combined to build a prediction model. The results showed that our prediction model performed well, with an accuracy of 86.2% and an AUC value of 0.921. The average lead time of this prediction model was 4.4 s, sufficient for drivers to respond. Due to the advantages of SHAP, this study interpreted the impacting factors on this illegal behavior from three aspects, including relative importance, specific impacts, and variable dependency. After offering more quantitative information on the visual road environment, the findings of this study could improve the current prediction model and optimize road environment design, thereby reducing IROL on curve sections of two-lane rural roads.

Multimodal driver state modeling through unsupervised learning.

Naturalistic driving data (NDD) can help understand drivers' reactions to each driving scenario and provide personalized context to driving behavior. However, NDD requires a high amount of manual labor to label certain driver's state and behavioral patterns. Unsupervised analysis of NDD can be used to automatically detect different patterns from the driver and vehicle data. In this paper, we propose a methodology to understand changes in driver's physiological responses within different driving patterns. Our methodology first decomposes a driving scenario by using a Bayesian Change Point detection model. We then apply the Latent Dirichlet Allocation method on both driver state and behavior data to detect patterns. We present two case studies in which vehicles were equipped to collect exterior, interior, and driver behavioral data. Four patterns of driving behaviors (i.e., harsh brake, normal brake, curved driving, and highway driving), as well as two patterns of driver's heart rate (HR) (i.e., normal vs. abnormal high HR), and gaze entropy (i.e., low versus high), were detected in these two case studies. The findings of these case studies indicated that among our participants, the drivers' HR had a higher fraction of abnormal patterns during harsh brakes, accelerating and curved driving. Additionally, free-flow driving with close to zero accelerations on the highway was accompanied by more fraction of normal HR as well as a lower gaze entropy pattern. With the proposed methodology we can better understand variations in driver's psychophysiological states within different driving scenarios. The findings of this work, has the potential to guide future autonomous vehicles to take actions that are fit to each specific driver.

An exploratory study of pedestrian crossing speeds at midblock crossing in India using LiDAR.

OBJECTIVE: Understanding pedestrian road crossing behavior is essential from the perspectives of traffic flow and pedestrian safety. Limited research is available on pedestrian behavior in low- and middle-income countries. The main objective of this study is to understand pedestrian-vehicle interactions during midblock crossings in heterogeneous traffic conditions. Specifically, this study aims to understand whether pedestrians alter their crossing behavior depending on the type of approaching vehicles. METHODS: To better understand pedestrian road crossing behavior at midblock crossings, an instrumented vehicle collected data from Kanpur, a large city in Uttar Pradesh, India. Because light detection and ranging provides point clouds at high frequency, an algorithm was developed to identify and track vehicles and pedestrians. Specifically, 2 types of interactions at midblock crossings were studied: car-pedestrian and motorized bike-pedestrian. The walking speed profiles and trajectories of the pedestrians were analyzed. RESULTS: The results show that pedestrians are more willing to engage in risky road crossing behavior in front of motorized bikes than in front of cars. Pedestrian walking speed profiles were unaffected by motorized bikes, but for cars, pedestrians tended to increase their speed in the first half of road crossing and then decrease in the second half. CONCLUSIONS: Pedestrian crossing speed profiles play an essential role in understanding pedestrian midblock crossing behavior. The speed data for pedestrians at various points of crossing are challenging to capture, but this study shows that LiDAR can be used to capture detailed pedestrian movements. The findings from this study demonstrate the importance of considering vehicle heterogeneity when analyzing pedestrian risk exposure and designing pedestrian crossing facilities.