Autonomous driving has been at the forefront of public interest, and a pivotal debate to widespread concerns is safety in the transportation system. Deep reinforcement learning (DRL) has been applied to autonomous driving to provide solutions for obstacle avoidance. However, in a road traffic junction scenario, the vehicle typically receives partial observations from the transportation environment, while DRL needs to rely on long-term rewards to train a reliable model by maximising the cumulative rewards, which may take the risk when exploring new actions and returning either a positive reward or a penalty in the case of collisions. Although safety concerns are usually considered in the design of a reward function, they are not fully considered as the critical metric to directly evaluate the effectiveness of DRL algorithms in autonomous driving. In this study, we evaluated the safety performance of three baseline DRL models (DQN, A2C, and PPO) and proposed a self-awareness module from an attention mechanism for DRL to improve the safety evaluation for an anomalous vehicle in a complex road traffic junction environment, such as intersection and roundabout scenarios, based on four metrics: collision rate, success rate, freezing rate, and total reward. Our two experimental results in the training and testing phases revealed the baseline DRL with poor safety performance, while our proposed self-awareness attention-DQN can significantly improve the safety performance in intersection and roundabout scenarios.
Oxford Brookes University（牛津布鲁克斯大学）；University of Naples Federico II（那不勒斯费德里科二世大学）；ETH Zurich（苏黎世联邦理工学院）；University of Science and Technology of Mazandaran（马赞达兰科技大学）；Siemens SpA（西门子股份公司（意大利））
Humans drive in a holistic fashion which entails, in particular, understanding dynamic road events and their evolution. Injecting these capabilities in autonomous vehicles can thus take situational awareness and decision making closer to human-level performance. To this purpose, we introduce the ROad event Awareness Dataset (ROAD) for Autonomous Driving, to our knowledge the first of its kind. ROAD is designed to test an autonomous vehicle's ability to detect road events, defined as triplets composed by an active agent, the action(s) it performs and the corresponding scene locations. ROAD comp…
Radio Resource Management and Path Planning in Intelligent Transportation Systems via Reinforcement Learning for Environmental Sustainability
Tarbiat Modares University（塔比亚特·莫达雷斯大学）；Doha University for Science and Technology（多哈科技大学）；TU Braunschweig（布伦瑞克工业大学）；Institute of Communications Technology（通信技术研究所）
Centre for AI and Robotics(CAIR), DRDO（国防研究与发展组织人工智能与机器人中心）；Indian Institute of Science（印度科学学院）
Path finding problems involve identification of a plan for conflict free movement of agents over a common road network. Most approaches to this problem handle the agents as point objects, wherein the size of the agent is significantly smaller than the road on which it travels. In this paper, we consider spatially extended agents which have a size comparable to the length of the road on which they travel. An optimal multi agent path finding approach for spatially-extended agents was proposed in the eXtended Conflict Based Search (XCBS) algorithm. As XCBS resolves only a pair of conflicts at a t…
With the development of autonomous driving, the improvement of autonomous driving technology for individual vehicles has reached the bottleneck. The advancement of vehicle-road cooperation autonomous driving technology can expand the vehicle's perception range, supplement the perception blind area and improve the perception accuracy, to promote the development of autonomous driving technology and achieve vehicle-road integration. This project mainly uses lidar to develop data fusion schemes to realize the sharing and combination of vehicle and road equipment data and achieve the detection and …
Jyoti Nivas College（乔蒂尼瓦斯学院）；VTU（维斯维萨亚理工大学）；CMR Institute of Technology（CMR理工学院）
The emergence of Internet of Things technology and recent advancement in sensor networks enabled transportation systems to a new dimension called Intelligent Transportation System. Due to increased usage of vehicles and communication among entities in road traffic scenarios, the amount of raw data generation in Intelligent Transportation System is huge. This raw data are to be processed to infer contextual information and provide new services related to different modes of road transport such as traffic signal management, accident prediction, object detection etc. To understand the importance o…
This article describes an approach to detect the wearing location of smart devices worn by pedestrians and cyclists. The detection, which is based solely on the sensors of the smart devices, is important context-information which can be used to parametrize subsequent algorithms, e.g. for dead reckoning or intention detection to improve the safety of vulnerable road users. The wearing location recognition can in terms of Organic Computing (OC) be seen as a step towards self-awareness and self-adaptation. For the wearing location detection a two-stage process is presented. It is subdivided into …
Center for Applied Intelligent Systems Research, Halmstad University, Sweden（哈尔姆斯塔德大学应用智能系统研究中心, 瑞典）；RISE Research Institutes of Sweden, Göteborg, Sweden（瑞典RISE研究机构, 哥德堡, 瑞典）
Smart Cities and Communities (SCC) constitute a new paradigm in urban development. SCC ideates on a data-centered society aiming at improving efficiency by automating and optimizing activities and utilities. Information and communication technology along with internet of things enables data collection and with the help of artificial intelligence (AI) situation awareness can be obtained to feed the SCC actors with enriched knowledge. This paper describes AI perspectives in SCC and gives an overview of AI-based technologies used in traffic to enable road vehicle automation and smart traffic cont…
Zhejiang University（浙江大学）；Imperial College London（帝国理工学院）；Baidu Inc.（百度公司）
Predicting traffic conditions from online route queries is a challenging task as there are many complicated interactions over the roads and crowds involved. In this paper, we intend to improve traffic prediction by appropriate integration of three kinds of implicit but essential factors encoded in auxiliary information. We do this within an encoder-decoder sequence learning framework that integrates the following data: 1) offline geographical and social attributes. For example, the geographical structure of roads or public social events such as national celebrations; 2) road intersection infor…
