Detecting surrounding situations and reacting accordingly to avoid collisions remains a challenging task for autonomous driving. This task requires predicting the trajectories of surrounding agents and assessing the p...
详细信息
Detecting surrounding situations and reacting accordingly to avoid collisions remains a challenging task for autonomous driving. This task requires predicting the trajectories of surrounding agents and assessing the potential risk of future situations, which can be difficult to achieve solely through onboard vehicle devices. Therefore, this paper proposes a cooperative architecture for trajectory prediction and risk assessment conducted on roadside devices (RSUs) to assist Connected and Autonomous Vehicles (CAVs). Firstly, we develop a segmentbased prediction model (SegNet) tailored to hub signalized intersections. Intersections are divided into multiple segments, and the Curvilinear coordinates are utilized to indicate the geometric road features. The model leverages individual interaction cues in the ego segment and group features in the merging segments, while also incorporating traffic signal information to generate multimodal prediction results. In terms of risk assessment, we utilize the prediction results to provide hierarchical assistance, such as risk values, risk maps, and reference trajectories. Offline experimental results demonstrate that our SegNet model achieves competitive and well-balanced performance compared to stateof-the-art methods on the CitySim Database, with more accurate and smooth prediction trajectories. Through real-time CARLA and SUMO co-simulation, the performance of assisted CAVs indicates that they can safely and effectively navigate with the support of the proposed architecture. IEEE
One of the actual tasks of movement classification based on electromyography is the choice of the most informative set of features characterizing the movements. Increasing the number of features may decrease the learn...
详细信息
The article discusses the theoretical foundations of the design of a single-channel ultrahigh frequency moisture meter with direct measurement of the moisture content of bulk materials. In accordance with the requirem...
详细信息
The article provides a theoretical analysis of the ultrahigh frequency (microwave) method of humidity measurement, discusses the problems of instrumentation of the method in question, and proposes a scheme of an exper...
详细信息
The paper deals with the problems of grain wounding requires large energy costs, requiring a multi-stage process of grain processing, installation and perfect and reliable automation systems for the storage and proces...
详细信息
This paper investigates the group formation control problem for cyber-physical systems (CPSs) with random communication constraints. The distributed cloud computing system is constructed to divide agents into groups a...
详细信息
Fault diagnosis in wastewater treatment plants (WWTPs) is important to protect communities and ecosystems from toxic elements discharged into water. In this sense, fault identification of sensors plays an important ro...
详细信息
The adaptive practical prescribed-time (PPT) neural control is studied for multiinput multioutput (MIMO) nonlinear systems with unknown nonlinear functions and unknown input gain matrices. Unlike existing PPT design s...
详细信息
In this work, an attempt is made for the first time to use the measurement pattern generated by morphological transformation quantified by Hausdorff fractal dimension (HFD) and classified with ensemble learning based ...
详细信息
Degree of controllability (DOC) characterizes how controllable a given system is and thus quantifying controllability can facilitate the control system synthesis and optimization. In this paper, the controllability of...
详细信息
暂无评论