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arXiv 2511.19952cs.LG
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具有自适应风险感知决策的分层时空注意力网络用于复杂场景的前方碰撞预警

Hierarchical Spatio-Temporal Attention Network with Adaptive Risk-Aware Decision for Forward Collision Warning in Complex Scenarios

organization= School of Automation \& School of Industrial Internet, Chongqing University of Posts;organization= Platform Technology Development Department, AVATR Technology Co. LTD. , city= Chongqing , postcode= 400000 , country= China;organization= School of Vehicle;Mobility, Tsinghua University , city= Beijing , postcode= 100084 , country= China

Haoran Hu, Junren Shi, Shuo Jiang, Kun Cheng, Xia Yang, Changhao Piao

AI总结:

本文提出一种结合分层时空注意力网络和动态风险阈值调整算法的前方碰撞预警框架,通过高效模型和自适应机制提升复杂场景下的预警精度与可靠性。

摘要:

前方碰撞预警系统对于车辆安全和自动驾驶至关重要,但当前方法往往难以在精确的多智能体交互建模与实时决策适应性之间取得平衡,这体现在边缘部署的高计算成本以及简化交互模型导致的不可靠性。为克服这些双重挑战——计算复杂性和建模不足,以及传统静态阈值预警的高误报率,本文提出一个集成的FCW框架,结合分层时空注意力网络与动态风险阈值调整算法。HSTAN采用解耦架构(图注意力网络用于空间,级联GRU与自注意力用于时间)以实现优越的性能和效率,仅需12.3毫秒的推理时间(比Transformer方法快73%),并在NGSIM数据集上将平均位移误差(ADE)降至0.73米(比Social_LSTM好42.2%)。此外,置信区间回归增强了可靠性,通过生成预测区间(90%置信度下覆盖91.3%),DTRA模块随后通过受统计过程控制启发的物理信息风险潜力函数和自适应阈值机制将其转换为及时预警。在多场景数据集上测试后,完整系统表现出高效性,实现了0.912的F1分数,低误报率8.2%,以及2.8秒的充足预警时间,验证了框架在复杂环境中的优越性能和实际部署可行性。

英文摘要:

Forward Collision Warning systems are crucial for vehicle safety and autonomous driving, yet current methods often fail to balance precise multi-agent interaction modeling with real-time decision adaptability, evidenced by the high computational cost for edge deployment and the unreliability stemming from simplified interaction models.To overcome these dual challenges-computational complexity and modeling insufficiency-along with the high false alarm rates of traditional static-threshold warnings, this paper introduces an integrated FCW framework that pairs a Hierarchical Spatio-Temporal Attention Network with a Dynamic Risk Threshold Adjustment algorithm. HSTAN employs a decoupled architecture (Graph Attention Network for spatial, cascaded GRU with self-attention for temporal) to achieve superior performance and efficiency, requiring only 12.3 ms inference time (73% faster than Transformer methods) and reducing the Average Displacement Error (ADE) to 0.73m (42.2% better than Social_LSTM) on the NGSIM dataset. Furthermore, Conformalized Quantile Regression enhances reliability by generating prediction intervals (91.3% coverage at 90% confidence), which the DTRA module then converts into timely warnings via a physics-informed risk potential function and an adaptive threshold mechanism inspired by statistical process control.Tested across multi-scenario datasets, the complete system demonstrates high efficacy, achieving an F1 score of 0.912, a low false alarm rate of 8.2%, and an ample warning lead time of 2.8 seconds, validating the framework's superior performance and practical deployment feasibility in complex environments.

机构、总结、中文摘要均由AI分析而来,可能存在错误,请以论文正文为准。

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