A framework for testing independence between lane change and cooperative intelligent transportation system.

Mohammed Elhenawy,Mahmoud Masoud,Andry Rakotonirainy,Sébastien Glaser,Sébastien Demmel,Andy Bond

doi:10.1371/journal.pone.0229289

Abstract

Cooperative Intelligent Transportation Systems (C-ITS) are being deployed in several cities around the world. We are preparing for the largest Field Operational Test (FOT) in Australia to evaluate C-ITS safety benefits. Two of the safety benefit hypotheses we formulated assume a dependency between lane changes and C-ITS warnings displayed on the Human Machine Interface (HMI) during safety events. Lane change detection is done by processing many predictors from several sensors at the time of the safety event. However, in our planned FOT, the participating vehicles are only equipped with the vehicle C-ITS and the IMU. Therefore, in this paper, we propose a framework to test lane change and C-ITS dependency. In this framework, we train a random forest classifier using data collected from the IMU to detect lane changes. Consequently, the random forest output probabilities of the testing data in case of C-ITS and control are used to construct a 2x2 contingency table. Then we develop a permutation test to calculate the null hypothesis needed to test the independence of the lane change during safety events and the C-ITS.

Highlights

The United States was the first country to introduce the concept of intelligence into transportation systems in the 20th century [1]
We proposed a framework to test the dependency of lane change and the Cooperative Intelligent Transport Systems (C-ITS) warning in two use-cases, namely: the roadworks warning (RWW) and slow/stopped vehicle (SSV)
We used the longitudinal acceleration, lateral acceleration, roll, and yaw reading from the inertial measurement unit (IMU)

Summary

Introduction

The United States was the first country to introduce the concept of intelligence into transportation systems in the 20th century [1]. The research and development of ITS have moved to other countries such as Japan, the European Union, South Korea, Australia, and Qatar. In the 1970s, the United States started the Electronic Route Guidance System (EGRS), which is considered one of the initial ITS applications. In 1991, the Integrated Surface Transportation Efficiency Act (ISTEA) was enacted. The Transportation Equity Act for the 21st Century TEA-21 followed ISTEA. C-ITS is the technology that enables the components of ITS (road users, vehicles, roadside units) to communicate and cooperate via wireless networks. The interaction between ITS components is based on several standards developed by different organizations such as European Committee for Standardization (CEN) [2], the International Organization for Standardization

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