Autonomous Vehicles Research Articles

Coordinated Ramp Metering Considering the Dynamics of Mixed-Autonomy Traffic

The introduction of connected autonomous vehicles may bring opportunities and challenges to traditional traffic control instruments, like ramp metering. This paper starts by constructing the fundamental diagram for mixed-autonomy traffic based on the car-following behaviors of both connected autonomous vehicles and human-driven vehicles. Then, analyses are performed on the main factors that influence the critical velocity, critical density, and road capacity under mixed-autonomy traffic. Two methods named COE-HERO and TRLCRM are developed to support the implementations of coordinated ramp metering for freeways with mixed-autonomy traffic. The COE-HERO method enhances the HERO method by incorporating a critical occupancy estimation module. Both COE-HERO and TRLCRM consider dynamic traffic flow parameters of mixed-autonomy traffic. The TRLCRM method is a reinforcement learning-based approach with a two-stage training framework, enabling it to adapt to varying mixed-autonomy demand scenarios. Extensive microscopic simulations show that the learning-based TRLCRM method can effectively alleviate bottleneck congestion and is robust to deal with various traffic scenarios. The COE-HERO method performs better than the HERO method, indicating the necessity of critical occupancy estimation in the implementations of coordinated ramp metering.

Upsampling Algorithm for V-PCC-Coded 3D Point Clouds

Point cloud (PC) compression is crucial to immersive visual applications such as autonomous vehicles to classify objects on the roads. The Motion Picture Experts Group (MPEG) standardization group has achieved a notable compression efficiency, called video-based PC compression (V-PCC), which consists of an encoder-decoder. The V-PCC encoder takes original 3D PC data and projects them onto multiple 2D planes to generate several 2D feature images. These images are then compressed using the well-established High-Efficiency Video Coding (HEVC) method. The V-PCC decoder uses compressed information and decoding techniques to reconstruct the 3D PC. However, the PCs produced by V-PCC are often sparse, non-uniform, and contain artifacts. In many practical applications, it is necessary to recover complete PCs from partial ones in real time. This article presents a method for enhancing decoded PCs as a post-processing step in the V-PCC with reduced computational time. Our approach involves a 2D upsampling for the V-PCC occupancy image, which increases the density of the PC, and a 2D high-resolution auxiliary information modification algorithm for the 2D-3D conversion of high-resolution 3D PCs, which improves the uniformity and reduces the noise in the PC. The 3D high-resolution PC has been further enhanced using the developed 3D outlier removal and point regeneration algorithm. Our proposed work can significantly simplify the state-of-the-art super resolution methods for PCs and reduce the time complexity of 61–75% while maintaining a high level of quality in PCs.

Exploiting neural networks bit-level redundancy to mitigate the impact of faults at inference

AbstractNeural networks are widely used in critical environments such as healthcare, autonomous vehicles, or video surveillance. To ensure the safety of the systems that rely on their functionality, it is essential to validate their correct behaviour in the presence of faults. This paper studies the behaviour of state-of-the-art neural network models with fault injection in their weights. For this purpose, we analyse the sensitivity of these models and identify the impact of bit flips on their accuracy. To mitigate the effects of faults, we introduce two mechanisms that leverage bit-level redundancy for protection. The first mechanism, Fixed Protection, safeguards consecutive sets of bits, while the second, Variable Protection, targets non-consecutive bits. Our findings demonstrate that, on average, random bit flip faults cause the accuracy of the original models to drop by 1.3% to over 3%. However, with our protection mechanisms in place, accuracy reductions are significantly minimised, ranging from only 0.0001% to 0.4%.

Camera-view supervision for bird's-eye-view semantic segmentation

Bird's-eye-view Semantic Segmentation (BEVSS) is a powerful and crucial component of planning and control systems in many autonomous vehicles. Current methods rely on end-to-end learning to train models, leading to indirectly supervised and inaccurate camera-to-BEV projections. We propose a novel method of supervising feature extraction with camera-view depth and segmentation information, which improves the quality of feature extraction and projection in the BEVSS pipeline. Our model, evaluated on the nuScenes dataset, shows a 3.8% improvement in Intersection-over-Union (IoU) for vehicle segmentation and a 30-fold reduction in depth error compared to baselines, while maintaining competitive inference times of 32 FPS. This method offers more accurate and reliable BEVSS for real-time autonomous driving systems. The codes and implementation details and code can be found at https://github.com/bluffish/sucam.

Exploring the Role of Transformer Models in Vision, Multi-Modal, and Orbital Data for Autonomous Driving

Abstract. Autonomous driving aims to reduce human error in driving, improve traffic efficiency, and provide a more comfortable driving experience. The integration of computer vision, advanced sensors, and machine learning has been pivotal in this advancement. The introduction of Transformer models has particularly revolutionized the field by offering a novel approach to processing data through attention mechanisms, which is crucial for tasks involving complex relationships between data elements. The paper categorizes research into three main approaches based on input data types: camera-based perception, multi-modal data fusion, and orbital data integration. As autonomous driving technology progresses towards higher levels of autonomy, with L2+ systems becoming standard, challenges remain in accurately interpreting complex environments, handling edge cases, and navigating legal and regulatory landscapes. The paper concludes that while Artificial Intelligence (AI) and deep learning advancements have brought autonomous driving closer to full realization, further research is necessary to address current limitations and ensure safe and reliable autonomous vehicle operation.

Learning Omni-Dimensional Spatio-Temporal Dependencies for Millimeter-Wave Radar Perception

Reliable environmental perception capabilities are a prerequisite for achieving autonomous driving. Cameras and LiDAR are sensitive to illumination and weather conditions, while millimeter-wave radar avoids these issues. Existing models rely heavily on image-based approaches, which may not be able to fully characterize radar sensor data or efficiently further utilize them for perception tasks. This paper rethinks the approach to modeling radar signals and proposes a novel U-shaped multilayer perceptron network (U-MLPNet) that aims to enhance the learning of omni-dimensional spatio-temporal dependencies. Our method involves innovative signal processing techniques, including a 3D CNN for spatio-temporal feature extraction and an encoder–decoder framework with cross-shaped receptive fields specifically designed to capture the sparse and non-uniform characteristics of radar signals. We conducted extensive experiments using a diverse dataset of urban driving scenarios to characterize the sensor’s performance in multi-view semantic segmentation and object detection tasks. Experiments showed that U-MLPNet achieves competitive performance against state-of-the-art (SOTA) methods, improving the mAP by 3.0% and mDice by 2.7% in RD segmentation and AR and AP by 1.77% and 2.03%, respectively, in object detection. These improvements signify an advancement in radar-based perception for autonomous vehicles, potentially enhancing their reliability and safety across diverse driving conditions.

Nonverbal Communication of In-Vehicle Humanoid Robot to Communicate Autonomous Vehicle Behavior

Nonverbal Communication of In-Vehicle Humanoid Robot to Communicate Autonomous Vehicle Behavior

The INS/GPS integrated navigation based on autonomous underwater vehicle using modified extended Kalman filter

Ensuring highhtab accuracy and robustness remains a paramount concern in the realm of underwater positioning and navigation research. This paper proposes a filtering algorithm grounded in Inertial Measurement Unit/Global Positioning System (INS/GPS) integrated navigation to effectively address the challenges posed by non-Gaussian noise, stemming from outliers and measurement inaccuracies. Currently, most filtering algorithms are developed based on the criteria of minimum mean square error (MMSE) or maximum entropy criteria (MCC). To address the challenge of handling complex non-Gaussian noises, this paper uses the Minimum Error Entropy Criterion (MEE) and Extended Kalman Filter (EKF) with Kernel Risk-Sensitive Loss (KRSL) instead of MMSE or MCC to develop an online filtering algorithm with a recursive process, and adjusts the kernel size of MEE within a reasonable range by constructing an adaptive factor to deal with outliers generated during measurement and excessive convergence caused by the inapplicability of the kernel size. Through extensive target tracking simulations and surface Autonomous Underwater Vehicle (AUV) localization experiments, results demonstrate the efficacy of the proposed algorithm. Notably, the algorithm optimizes kernel sizes for different types of noises, ensuring robust state estimation and rapid convergence without compromising filtering accuracy.

Anti-Collision Path Planning and Tracking of Autonomous Vehicle Based on Optimized Artificial Potential Field and Discrete LQR Algorithm

Anti-Collision Path Planning and Tracking of Autonomous Vehicle Based on Optimized Artificial Potential Field and Discrete LQR Algorithm

Analyzing Autonomous Vehicle Collision Types to Support Sustainable Transportation Systems: A Machine Learning and Association Rules Approach

The increasing presence of autonomous vehicles (AVs) in transportation, driven by advances in AI and robotics, requires a strong focus on safety in mixed-traffic environments to promote sustainable transportation systems. This study analyzes AV crashes in California using advanced machine learning to identify patterns among various crash factors. The main objective is to explore AV crash mechanisms by extracting association rules and developing a decision tree model to understand interactions between pre-crash conditions, driving states, crash types, severity, locations, and other variables. A multi-faceted approach, including statistical analysis, data mining, and machine learning, was used to model crash types. The SMOTE method addressed data imbalance, with models like CART, Apriori, RF, XGB, SHAP, and Pearson’s test applied for analysis. Findings reveal that rear-end crashes are the most common, making up over 50% of incidents. Side crashes at night are also frequent, while angular and head-on crashes tend to be more severe. The study identifies high-risk locations, such as complex unsignalized intersections, and highlights the need for improved AV sensor technology, AV–infrastructure coordination, and driver training. Technological advancements like V2V and V2I communication are suggested to significantly reduce the number and severity of specific types of crashes, thereby enhancing the overall safety and sustainability of transportation systems.

A queueing system for analysing traffic throughput in mixed traffic with semi- and fully-autonomous vehicles

As autonomous vehicles (AVs) integrate into transportation systems, a transitional period will emerge where semi-autonomous vehicles (semi-AVs), which still require an attentive driver for steering, coexist with fully-autonomous vehicles (fully-AVs). Focusing on this phase, this study proposes a novel framework that incorporates Markov chains into an M / G n / n max / n max state-dependent queueing system to capture the distinct platooning dynamics and their impacts on the long-term travel efficiency of mixed traffic. The developed Markov chain-based traffic queueing system enables the derivation of traffic throughput in mixed semi- and fully-AV traffic, accounting for their diverse platooning and car-following behaviours. Numerical experiments are used to assess the influence of fully- and semi-AVs on throughput and driving experience in the mixed traffic. This study advances the modelling and analysis of traffic flow efficiency during the transitional phase of mixed traffic, offering insights for managing and controlling semi-AV traffic in the near future.

Implementation of AI Transportation Routing in Reverse Logistics to Reduce CO2 Footprint

Purpose: This study explores the implementation of artificial intelligence (AI) in transportation routing within reverse logistics to reduce CO2 emissions. By optimizing routing processes, we aim to enhance the efficiency of logistics operations while minimizing environmental impact. Methodology: we analyze the implications of improved transportation strategies. Furthermore, we discuss the intersection of technological innovation and environmental economics in shaping sustainable practices. Findings: The findings underscore the importance of AI-driven decision-making frameworks (D81) and their role in advancing IT management in logistics. The study on AI-driven transportation routing in reverse logistics highlights significant implications for both businesses and the environment. By optimizing routes, AI reduces fuel consumption and CO₂ emissions, helping companies meet sustainability goals. This leads to cost savings, as AI improves route efficiency and fleet utilization, while also enhancing operational efficiency. AI’s ability to predict and adjust to real-time conditions ensures scalability and adaptability, making it easier to handle increasing returns volumes in e-commerce. Moreover, AI enables better inventory management and resource planning, reducing the need for urgent shipments. It also paves the way for innovations like autonomous vehicles, further transforming reverse logistics. Unique Contribution to Theory, Practice and Policy: The study shows how AI can help businesses comply with environmental regulations, providing a competitive edge. Ultimately, AI integration in reverse logistics contributes to both operational improvements and environmental sustainability, reinforcing corporate social responsibility.

Hybrid Oversampling and Undersampling Method (HOUM) via Safe-Level SMOTE and Support Vector Machine

The improvements in collecting and processing data using machine learning algorithms have increased the interest in data mining. This trend has led to the development of real-life decision support systems (DSSs) in diverse areas such as biomedical informatics, fraud detection, natural language processing, face recognition, autonomous vehicles, image processing, and each part of the real production environment. The imbalanced datasets in some of these studies, which result in low performance measures, have highlighted the need for additional efforts to address this issue. The proposed method (HOUM) is used to address the issue of imbalanced datasets for classification problems in this study. The aim of the model is to prevent the overfitting problem caused by oversampling and valuable data loss caused by undersampling in imbalanced data and obtain successful classification results. The HOUM is a hybrid approach that tackles imbalanced class distribution challenges, refines datasets, and improves model robustness. In the first step, majority-class data points that are distant from the decision boundary obtained via SVM are reduced. If the data are not balanced, SLS is employed to augment the minority-class data. This loop continues until the dataset becomes balanced. The main contribution of the proposed method is reproducing informative minority data using SLS and diminishing non-informative majority data using the SVM before applying classification techniques. Firstly, the efficiency of the proposed method, the HOUM, is verified by comparison with the SMOTE, SMOTEENN, and SMOTETomek techniques using eight datasets. Then, the results of the W-SIMO and RusAda algorithms, which were developed for imbalanced datasets, are compared with those of the HOUM. The strength of the HOUM is revealed through this comparison. The proposed HOUM algorithm utilizes a real dataset obtained from a project endorsed by The Scientific and Technical Research Council of Turkey. The collected data include quality control and processing parameters of yarn data. The aim of this project is to prevent yarn breakage errors during the weaving process on looms. This study introduces a decision support system (DSS) designed to prevent yarn breakage during fabric weaving. The high performance of the algorithm may encourage producers to manage yarn flow and enhance the HOUM’s efficiency as a DSS.

Efficient Data Processing Pipeline for Event-Based Vision Datasets: Techniques and Insights

Abstract Event-based vision datasets have emerged as a critical asset in advancing the capabilities of real-time perception systems, particularly in fields such as robotics, autonomous vehicles, and human-computer interaction. These datasets enable low-latency processing by capturing asynchronous, pixel-level changes in the scene, providing a distinct advantage over traditional frame-based systems. However, the diverse formats and characteristics of event-based datasets pose significant challenges for efficient processing and analysis, hindering their broader adoption and integration. In this paper, we present a versatile and comprehensive data processing pipeline designed to address these challenges by supporting multiple event-data formats, including newer formats such as EVT2 and EVT3. This pipeline not only converts data into widely supported formats like AEDAT and NPZ, but also ensures that the unique characteristics of event-based data—such as temporal precision and sparse event representation—are preserved throughout the conversion process. By applying this pipeline to several open-source datasets, we establish a standardized, efficient methodology for dataset manipulation that enhances compatibility and reproducibility in event-based vision research. Additionally, we introduce a novel high-resolution event-based action dataset, converted into various formats using our pipeline, which opens new avenues for exploring event-based techniques in action recognition. This dataset and our pipeline serve as valuable resources for the research community, enabling advancements in real-time vision applications and fostering greater collaboration and standardization across studies.

AI Tools in the Digital Transformation Programmes of Industrial Enterprises

This article is devoted to the study of the prospects for the development and implementation of AI in industry in the context of digital transformation. Autonomous factories, integrated supply chains, and autonomous vehicles is a real proof of technological advances that AI brings to life. The article highlights a number of problems and challenges for Russian industry based on the results of applied research conducted in November-December 2023 at 18 medium and large industrial enterprises. The main conclusions include not only the identified systemic problems and risks (shortcomings in digitalisation methodology, ambiguity in calculating economic parameters, lack of technical expertise), but also the most promising areas for the development of AI technologies. The study finds significant potential for enhancing the technologies of the Industry 3.0 and Industry 4.0 paradigms using AI tools. Also, it describe the necessary changes in enterprise management and regulatory government activities aimed at realising the identified potential. In conclusion, the article emphasises the need to optimise parallel imports, develop human capital and adequately analyse the economic parameters of industrial enterprises’ digital transformation project. The authors emphasise the relevance of studying the prospects for the development of AI in industry for Russian economic science in the period 2024–2026.

Tracking dynamic deadlines in switched max-plus linear systems with uncontrollable workloads

AbstractModern safety-critical cyber-physical systems such as medical imaging equipment or autonomous vehicles need to respect strict deadlines on received data-processing workloads. These deadlines and workloads are dynamic and uncontrollable and the systems typically have only a limited discrete number of system configurations to respond to dynamic changes. The number and types of processors allocated to a data-processing task, their operating voltage and frequency, and the resolution and frequency of sensing (e.g., images) are examples of controllable configuration parameters. Guaranteeing dynamically changing deadlines under uncontrollable workloads with a limited discrete number of response options can be phrased as a multi-objective tracking problem for a switched max-plus linear system. This results in a combined scheduling and control problem. We propose an integrated state-feedback and model-predictive control solution that minimizes the number of deadline misses and the cost of implementation (e.g., energy consumption). We demonstrate the effectiveness of our approach through simulation.

A Nonconvex Approach with Structural Priors for Restoring Underwater Images

Underwater image restoration is a crucial task in various computer vision applications, including underwater target detection and recognition, autonomous underwater vehicles, underwater rescue, marine organism monitoring, and marine geological survey. Among other categories, the physics-based methods restore underwater images by improving the transmission map through optimization or regularization techniques. Conventional optimization-based methods often do not consider the effect of structural differences between guidance and transmission maps. To address this issue, in this paper, we present a regularization-based method for restoring underwater images that uses coherent structures between the guidance map and the transmission map. The proposed approach models the optimization of transmission maps through a nonconvex energy function comprising data and smoothness terms. The smoothness term includes static and dynamic structural priors, and the optimization problem is solved using a majorize-minimize algorithm. We evaluate the proposed method on benchmark datasets, and the results demonstrate the superiority of the proposed method over state-of-the-art techniques in terms of improving transmission maps and producing high-quality restored images.

Advanced Computational Intelligence Techniques for Real-Time Decision-Making in Autonomous Systems

This research explores advanced computational intelligence techniques aimed at enhancing real-time decision-making in autonomous systems. The increasing reliance on autonomous technologies across sectors such as transportation, healthcare, and industrial automation demands robust, adaptive, and reliable decision-making frameworks. This study introduces a novel hybrid model that integrates Reinforcement Learning (RL), Deep Neural Networks (DNN), and Fuzzy Logic to enable autonomous systems to make accurate and timely decisions in complex, dynamic environments. The proposed framework leverages RL for adaptive decision-making, DNNs for pattern recognition and prediction, and Fuzzy Logic for handling uncertainty in system states. Experimental evaluations were conducted using high-fidelity simulations across three scenarios: autonomous vehicle navigation, real-time patient monitoring in healthcare, and robotic process automation. Results indicate a 25% improvement in decision accuracy, a 30% reduction in response time, and enhanced robustness against environmental variability compared to conventional decision-making methods. The findings underscore the effectiveness of computational intelligence in supporting critical decisions in real-time, marking a significant step toward more capable and reliable autonomous systems.

A Formally Integrated Adaptive Speed Management for Proactive Traffic Safety

The emergence of connected autonomous vehicles (CAVs) represents a key development in the quest to enhance traffic safety. CAVs hold significant promise for improving traffic safety and have great potential to contribute to transportation sustainability. However, their safety depends on the accuracy of the programmed rules and algorithms that guide their decision-making process. This paper introduces an adaptive traffic management system that integrates a formal traffic safety rule defined by pre-established bounds for Traffic Conflict Techniques. This system enables dynamic speed adjustments for vehicles violating the traffic safety rule in order to prevent potential collisions. To evaluate the effectiveness of our approach, we study a traffic flow on the SR528 highway in Orlando, Florida, and analyze the behavior of each vehicle in traffic based on extracted traffic safety indicators such as time-to-collision and space headway. This analysis is performed by the traffic safety rule to identify violating vehicles, and the speed update is achieved through the integration of the computer algebra system Mathematica and a micro-simulation tool called SUMO. Our study aims to improve the safety and efficiency of the traffic flow by combining simulation, TCTs analysis, and semi-formal tools like Mathematica to aid in the decision-making process of vehicles during traffic events, particularly shockwaves. Preliminary results demonstrate the efficacy of our approach in mitigating the impact of shockwaves. After applying the speed update, we observe an increase in time-to-collision and space headway. This indicates improved safety and reduced likelihood of collisions. Our findings highlight the potential of adaptive traffic management systems to enhance transportation safety and efficiency.

A Study to Investigate the Role and Challenges Associated with the Use of Deep Learning in Autonomous Vehicles

The application of deep learning in autonomous vehicles has surged over the years with advancements in technology. This research explores the integration of deep learning algorithms into autonomous vehicles (AVs), focusing on their role in perception, decision-making, localization, mapping, and navigation. It shows how deep learning, as a part of machine learning, mimics the human brain’s neural networks, enabling advancements in perception, decision-making, localization, mapping, and overall navigation. Techniques like convolutional neural networks are used for image detection and steering control, while deep learning is crucial for path planning, automated parking, and traffic maneuvering. Localization and mapping are essential for AVs’ navigation, with deep learning-based object detection mechanisms like Faster R-CNN and YOLO proving effective in real-time obstacle detection. Apart from the roles, this study also revealed that the integration of deep learning in AVs faces challenges such as dataset uncertainty, sensor challenges, and model training intricacies. However, these issues can be addressed through the increased standardization of sensors and real-life testing for model training, and advancements in model compression technologies can optimize the performance of deep learning in AVs. This study concludes that deep learning plays a crucial role in enhancing the safety and reliability of AV navigation. This study contributes to the ongoing discourse on the optimal integration of deep learning in AVs, aiming to foster their safety, reliability, and societal acceptance.