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The autonomous vehicle (AV) technology has the potential to significantly improve safety and efficiency of the transportation and logistics industry. Full-scale AV testing is limited by time, space, and cost, while simulation-based testing often lacks the necessary accuracy of AV and environmentalmodeling. In recent years, several initiatives haveemerged to test autonomous software and hardware on scaled vehicles. This systematic literature review provides an overview of the literature surrounding small-scale self-driving cars, summarizing the current autonomous platforms deployed and focusing on the software and hardware developments in this field. The studies published in English-language journals or conference papers that present small-scale testing of self-driving cars were included. Web of Science, Scopus, Springer Link, Wiley, ACM Digital Library, and TRID databases were used for the literature search. The systematic literature search found 38 eligible studies. Research gaps in the reviewed papers were identified to provide guidance for future research. Some key takeaway emerging from thismanuscript are: (i) there is a need to improve themodels and neural network architectures used in autonomous driving systems, as most papers present only preliminary results; (ii) increasing datasets and sharing databases can help in developing more reliable control policies and reducing biasand variance inthe trainingprocess; (iii) small-scaledvehicles to ensure safety is a major benefit, and incorporating data about unsafe driving behaviors and infrastructure problems can improve the accuracy of predictive models. [ABSTRACT FROM AUTHOR]

Collaborative localization is a technique that utilizes the exchange of information between multiple sensors or devices to improve localization accuracy and robustness. It has a wide range of applications in autonomous driving and unmanned aerial vehicles (UAVs). In the field of UAVs, collaborative localization can help UAVs perform autonomous navigation and mission execution in complex environments. However, when GNSS is not available, it becomes challenging to position the UAV swarm relative to each other. This is because the swarm loses its perception and constraint of the position relationship between each member. Consequently, the swarm faces the problem of the serious drift of relative accuracy for an extended period. Furthermore, when the environment is faced with complex obstruction challenges or a camera with low texture scenes, noise can make it more difficult to solve the relative position relationship between drones, and a single UAV may lose positioning capability. To solve these specific problems, this paper studies a swarm co-operative localization method in a GNSS-denied environment with loud noise interference. In this paper, we proposed a method that utilizes a distributed scheme based on an incremental smoothing and mapping (iSAM) algorithm for state estimation. It incorporates new anchor-free topological constraints to prevent positioning failures and significantly improve the system's robustness. Additionally, a new switching function is applied in front of each factor of the loss function, which adjusts the switches in real time in response to the input information to improve observably the accuracy of the system. A novel co-operative incremental smoothing and mapping (CI-SAM) method is proposed and the method does not require a complete relative position measurement, which reduces the need for vehicle measurement equipment configuration. The effectiveness of the method is verified by simulation. [ABSTRACT FROM AUTHOR]

To address the challenges of missed detections in water surface target detection using solely visual algorithms in unmanned surface vehicle (USV) perception, this paper proposes a method based on the fusion of visual and LiDAR point-cloud projection for water surface target detection. Firstly, the visual recognition component employs an improved YOLOv7 algorithm based on a self-built dataset for the detection of water surface targets. This algorithm modifies the original YOLOv7 architecture to a Slim-Neck structure, addressing the problem of excessive redundant information during feature extraction in the original YOLOv7 network model. Simultaneously, this modification simplifies the computational burden of the detector, reduces inference time, and maintains accuracy. Secondly, to tackle the issue of sample imbalance in the self-built dataset, slide loss function is introduced. Finally, this paper replaces the original Complete Intersection over Union (CIoU) loss function with the Minimum Point Distance Intersection over Union (MPDIoU) loss function in the YOLOv7 algorithm, which accelerates model learning and enhances robustness. To mitigate the problem of missed recognitions caused by complex water surface conditions in purely visual algorithms, this paper further adopts the fusion of LiDAR and camera data, projecting the three-dimensional point-cloud data from LiDAR onto a two-dimensional pixel plane. This significantly reduces the rate of missed detections for water surface targets. [ABSTRACT FROM AUTHOR]

Efficient maritime search and rescue (SAR) is crucial for responding to maritime emergencies. In traditional SAR, fixed search path planning is inefficient and cannot prioritize high-probability regions, which has significant limitations. To solve the above problems, this paper proposes unmanned surface vehicles (USVs) path planning for maritime SAR based on POS-DQN so that USVs can perform SAR tasks reasonably and efficiently. Firstly, the search region is allocated as a whole using an improved task allocation algorithm so that the task region of each USV has priority and no duplication. Secondly, this paper considers the probability of success (POS) of the search environment and proposes a POS-DQN algorithm based on deep reinforcement learning. This algorithm can adapt to the complex and changing environment of SAR. It designs a probability weight reward function and trains USV agents to obtain the optimal search path. Finally, based on the simulation results, by considering the complete coverage of obstacle avoidance and collision avoidance, the search path using this algorithm can prioritize high-probability regions and improve the efficiency of SAR. [ABSTRACT FROM AUTHOR]

The efficient and accurate identification of traffic signs is crucial to the safety and reliability of active driving assistance and driverless vehicles. However, the accurate detection of traffic signs under extreme cases remains challenging. Aiming at the problems of missing detection and false detection in traffic sign recognition in fog traffic scenes, this paper proposes a recognition algorithm for traffic signs based on pix2pixHD+YOLOv5-T. Firstly, the defogging model is generated by training the pix2pixHD network to meet the advanced visual task. Secondly, in order to better match the defogging algorithm with the target detection algorithm, the algorithm YOLOv5-Transformer is proposed by introducing a transformer module into the backbone of YOLOv5. Finally, the defogging algorithm pix2pixHD is combined with the improved YOLOv5 detection algorithm to complete the recognition of traffic signs in foggy environments. Comparative experiments proved that the traffic sign recognition algorithm proposed in this paper can effectively reduce the impact of a foggy environment on traffic sign recognition. Compared with the YOLOv5-T and YOLOv5 algorithms in moderate fog environments, the overall improvement of this algorithm is achieved. The precision of traffic sign recognition of the algorithm in the fog traffic scene reached 78.5%, the recall rate was 72.2%, and mAP@0.5 was 82.8%. [ABSTRACT FROM AUTHOR]

This article discusses the challenges and research priorities related to traffic mixed with connected and automated vehicles (CAVs). The article highlights the need to understand how different types of vehicles operate and interact in heterogeneous traffic flow, as well as the evolution mechanism of mixed traffic. The special issue of the journal includes papers on driving behavior modeling, optimization, and traffic flow modeling. The papers cover topics such as simulation platforms for hybrid transportation systems, trajectory reconstruction methods, lane management strategies, fuel consumption modeling, deadlock detection and recovery methods, crash analysis, traffic flow prediction, and gantry positioning methods. The authors conclude that there is still room for future research in areas such as the relationship between the cyber and physical network of transportation systems, driving characteristics of regular vehicles, and macro-level traffic prediction and control. [Extracted from the article]

Automated vehicles (AVs) hold the potential to reduce road accidents, mitigate traffic congestion, and improve travel experience. However, the possible countervailing impacts from the changes in underserved populations' vehicle travel demand tend to be overlooked. To determine the vehicle travel demand changes that resulted from underserved populations aged between 6 and 80, this paper explores the latent effect of AVs on vehicle kilometers traveled (VKT) in a fully AV environment using person trip survey data from the cities of Sanya, Shijiazhuang, and Shenzhen in China. This paper uses the natural decline hypothesis of travel demand and proposes a regression model to investigate the difference among the cities' latent vehicle travel demand. Results show that the average VKT of the overall population in Sanya, Shijiazhuang, and Shenzhen increased by 33.4%, 47.0%, and 46.8%, respectively. The analysis of the regression model confirms that the current travel behavior of individuals can affect the degree of increase in their average VKT. Integrating AVs into public transport, increasing the acceptance of automated shared mobility options, transforming road space use type, and prototyping AV designs with various features and needs are potential methods to cope with the countervailing impacts. The total VKT of the overall population increased by approximately 10%e25% depending on the city. The conclusions of this paper provide informative insights into the evaluation of VKT for underserved populations and contribute to the deployment of AVs to address equity and inclusion issues. [ABSTRACT FROM AUTHOR]

Timely and accurate detection and recognition of traffic lights are critical for Autonomous Vehicles (AVs) to avoid crashes due to red light running. This paper integrates a new robust machine learning based solution by combining a Convolutional Neural Network (CNN) with computer vision techniques to achieve a real-time traffic light detector. The proposed detection and recognition algorithm is capable of recognizing traffic lights on low-power small-form platforms, which are lightweight, portable, and can be mounted on AVs in daylight scenarios. The LISA open-source dataset is utilized with augmentation methods to increase the accuracy of the solution. The proposed approach achieves 93.42% of accuracy at a speed of 30.01 Frames Per Second (FPS) on an NVIDIA Jetson Xavier platform without using hardware accelerators such as FPGA. This solution is expected to promote the quicker adoption and wider deployment of AVs by increasing the chances of avoiding crashes and ultimately saving lives. [ABSTRACT FROM AUTHOR]

This paper focuses on the cooperative driving challenges of connected and automated vehicles (CAVs) at single-lane roundabouts. First, a geometric path planning method is proposed for CAVs navigating a single-lane roundabout. Based on this method, a vehicle roundabout model is established. Four potential traffic scenarios for CAVs are established, and the optimal arrival times at conflict points are analyzed. By correlating the optimal arrival times at conflict points with the optimal entry times into the roundabout, the multi-vehicle coordination problem in complex intersections is simplified to a speed control issue during entry. Utilizing the principles of optimal control and Pontryagin minimization, two speed optimization strategies are proposed. Finally, MATLAB is employed for simulation analysis. The results indicate that the control strategy proposed in this paper enables the system to clearly identify potential conflicts between vehicles and implement an optimal control strategy, ensuring that vehicles can navigate the roundabout efficiently in terms of time and fuel without collisions. Additionally, the minimum time interval is established at 0.2 seconds to completely prevent vehicle collisions. In this study, the fusion problem involving two vehicles at a single conflict point is further expanded to encompass multiple vehicles at multiple conflict points. Thus, the efficient scheduling of multiple vehicles in single-lane roundabouts is realized. [ABSTRACT FROM AUTHOR]

In autonomous driving, the fusion of multiple sensors is considered essential to improve the accuracy and safety of 3D object detection. Currently, a fusion scheme combining low-cost cameras with highly robust radars can counteract the performance degradation caused by harsh environments. In this paper, we propose the IRBEVF-Q model, which mainly consists of BEV (Bird's Eye View) fusion coding module and an object decoder module.The BEV fusion coding module solves the problem of unified representation of different modal information by fusing the image and radar features through 3D spatial reference points as a medium. The query in the object decoder, as a core component, plays an important role in detection. In this paper, Heat Map-Guided Query Initialization (HGQI) and Dynamic Position Encoding (DPE) are proposed in query construction to increase the a priori information of the query. The Auxiliary Noise Query (ANQ) then helps to stabilize the matching. The experimental results demonstrate that the proposed fusion model IRBEVF-Q achieves an NDS of 0.575 and a mAP of 0.476 on the nuScenes test set. Compared to recent state-of-the-art methods, our model shows significant advantages, thus indicating that our approach contributes to improving detection accuracy. [ABSTRACT FROM AUTHOR]

Lane detection is an essential task for autonomous vehicles. Deep learning-based lane detection methods are leading development in this sector. This paper proposes an algorithm named Deep Learning-based Lane Detection (DLbLD), a Convolutional Neural Network (CNN)-based lane detection algorithm. The presented paradigm deploys CNN to detect line features in the image block, predict a point on the lane line part, and project all the detected points for each frame into one-dimensional form before applying K-mean clustering to assign points to related lane lines. Extensive tests on different benchmarks were done to evaluate the performance of the proposed algorithm. The results demonstrate that the introduced DLbLD scheme achieves state-of-the-art performance, where F1 scores of 97.19 and 79.02 have been recorded for TuSimple and CU-Lane benchmarks, respectively. Nevertheless, results indicate the high accuracy of the proposed algorithm. [ABSTRACT FROM AUTHOR]

Aiming at the problem that the traditional rapidly exploring random tree (RRT) algorithm only considers the global path of unmanned vehicles in a static environment, which has the limitation of not being able to avoid unknown dynamic obstacles in real time, and that the traditional dynamic window approach (DWA) algorithm is prone to fall into a local optimum during local path planning, this paper proposes a path planning method for unmanned vehicles that integrates improved RRT and DWA algorithms. The RRT algorithm is improved by introducing strategies such as target-biased random sampling, adaptive step size, and adaptive radius node screening, which enhance the efficiency and safety of path planning. The global path key points generated by the improved RRT algorithm are used as the subtarget points of the DWA algorithm, and the DWA algorithm is optimized through the design of an adaptive evaluation function weighting method based on real-time obstacle distances to achieve more reasonable local path planning. Through simulation experiments, the fusion algorithm shows promising results in a variety of typical static and dynamic mixed driving scenarios, can effectively plan a path that meets the driving requirements of an unmanned vehicle, avoids unknown dynamic obstacles, and shows higher path optimization efficiency and driving stability in complex environments, which provides strong support for an unmanned vehicle's path planning in complex environments. [ABSTRACT FROM AUTHOR]

Appropriate traffic cooperation at intersections plays a crucial part in modern intelligent transportation systems. To enhance traffic efficiency at intersections, this paper establishes a cooperative motion optimization strategy that adjusts the trajectories of autonomous vehicles (AVs) based on risk degree. Initially, AVs are presumed to select any exit lanes, thereby optimizing spatial resources. Trajectories are generated for each possible lane. Subsequently, a motion optimization algorithm predicated on risk degree is introduced, which takes into account the trajectories and motion states of AVs. The risk degree serves to prevent collisions between conflicting AVs. A cooperative motion optimization strategy is then formulated, incorporating car-following behavior, traffic signals, and conflict resolution as constraints. Specifically, the movement of all vehicles at the intersection is modified to achieve safer and more efficient traffic flow. The strategy is validated through a simulation using SUMO. The results indicate a 20.51% and 11.59% improvement in traffic efficiency in two typical scenarios when compared to a First-Come-First-Serve approach. Moreover, numerical experiments reveal significant enhancements in the stability of optimized AV acceleration. [ABSTRACT FROM AUTHOR]

Vehicle identification systems are vital components that enable many aspects of contemporary life, such as safety, trade, transit, and law enforcement. They improve community and individual well-being by increasing vehicle management, security, and transparency. These tasks entail locating and extracting license plates from images or video frames using computer vision and machine learning techniques, followed by recognizing the letters or digits on the plates. This paper proposes a new license plate detection and recognition method based on the deep learning YOLO v8 method, image processing techniques, and the OCR technique for text recognition. For this, the first step was the dataset creation, when gathering 270 images from the internet. Afterward, CVAT (Computer Vision Annotation Tool) was used to annotate the dataset, which is an open-source software platform made to make computer vision tasks easier to annotate and label images and videos. Subsequently, the newly released Yolo version, the Yolo v8, has been employed to detect the number plate area in the input image. Subsequently, after extracting the plate the k-means clustering algorithm, the thresholding techniques, and the opening morphological operation were used to enhance the image and make the characters in the license plate clearer before using OCR. The next step in this process is using the OCR technique to extract the characters. Eventually, a text file containing only the character reflecting the vehicle's country is generated. To ameliorate the efficiency of the proposed approach, several metrics were employed, namely precision, recall, F1-Score, and CLA. In addition, a comparison of the proposed method with existing techniques in the literature has been given. The suggested method obtained convincing results in both detection as well as recognition by obtaining an accuracy of 99% in detection and 98% in character recognition. [ABSTRACT FROM AUTHOR]

With remarkable advancements in the development of connected and autonomous vehicles (CAVs), the integration of teleoperation has become crucial for improving safety and operational efficiency. However, teleoperation faces substantial challenges, with network latency being a critical factor influencing its performance. This survey paper explores the impact of network latency along with state-of-the-art mitigation/compensation approaches. It examines cascading effects on teleoperation communication links (i.e., uplink and downlink) and how delays in data transmission affect the real-time perception and decision-making of operators. By elucidating the challenges and available mitigation strategies, the paper offers valuable insights for researchers, engineers, and practitioners working towards the seamless integration of teleoperation in the evolving landscape of CAVs. [ABSTRACT FROM AUTHOR]

There is a growing body of scholarship on the ethics of autonomous vehicles. Yet the ethical discourse has mostly been focusing on the behavior of the vehicle in accident scenarios. This paper offers a different ethical prism: the implications of the autonomous vehicle for human well-being. As such, it contributes to the growing discourse on the wider societal and moral implications of the autonomous vehicle. The paper is premised on the neo-Aristotelian approach which holds that as human beings, our well-being depends on developing and exercising our innate human capacities: to know, understand, love, be sociable, imagine, create and use our bodies and use our willpower. To develop and exercise these capacities, our environments need to provide a range of opportunities which will trigger the development and exercise of the capacities. The main argument advanced in the paper is that one plausible future of the autonomous vehicle—a future of single-rider autonomous vehicles—may effectively reduce the opportunities to develop and exercise our capacities to know, be sociable and use our willpower. It will therefore be bad for human well-being, and this provides us with a moral reason to resist this plausible future and search for alternative ones. [ABSTRACT FROM AUTHOR]

The rapid advancement of autonomous vehicle technology has brought into focus the critical need for enhanced road safety systems, particularly in the areas of road damage detection and surface classification. This paper explores these two essential components, highlighting their importance in autonomous driving. In the domain of road damage detection, this study explores a range of deep learning methods, particularly focusing on one-stage and two-stage detectors. These methodologies, including notable ones like YOLO and SSD for one-stage detection and Faster R-CNN for two-stage detection, are critically analyzed for their efficacy in identifying various road damages under diverse conditions. The review provides insights into their comparative advantages, balancing between real-time processing and accuracy in damage localization. For road surface classification, the paper investigates the classification techniques based on both environmental conditions and material road composition. It highlights the role of different convolutional neural network architectures and innovations at the neural level in enhancing classification accuracy under varying road and weather conditions. The main finding of this work is that it offers a comprehensive overview of the current state of the art, showcasing significant strides in utilizing deep learning for road analysis in autonomous vehicle systems. The study concludes by underscoring the importance of continued research in these areas to further refine and improve the safety and efficiency of autonomous driving. [ABSTRACT FROM AUTHOR]

Autonomous Underwater Vehicles (AUVs), as a member of the unmanned intelligent ocean vehicle group, can replace human beings to complete dangerous tasks in the ocean. It is of great significance to apply reinforcement learning (RL) to AUVs to realize intelligent control. This paper proposes an AUV obstacle avoidance framework based on event-triggered reinforcement learning. Firstly, an environment perception model is designed to judge the relative position relationship between the AUV and all unknown obstacles and known targets. Secondly, considering that the detection range of AUVs is limited, and the proposed method needs to deal with unknown static obstacles and unknown dynamic obstacles at the same time, two different event-triggered mechanisms are designed. Soft actor–critic (SAC) with a non-policy sampling method is used. Then, improved reinforcement learning and the event-triggered mechanism are combined in this paper. Finally, a simulation experiment of the obstacle avoidance task is carried out on the Gazebo simulation platform. Results show that the proposed method can obtain higher rewards and complete tasks successfully. At the same time, the trajectory and the distance between each obstacle confirm that the AUV can reach the target well while maintaining a safe distance from static and dynamic obstacles. [ABSTRACT FROM AUTHOR]

The deployment of intelligent transportation is still in its early stages and there are many challenges that need to be addressed before it can be widely adopted. Autonomous vehicles are a class of intelligent transportation that is rapidly developing, and they are being deployed in selected cities. A combination of advanced sensors, machine learning algorithms, and artificial intelligence are being used in these vehicles to perceive their environment, navigate, and make the right decisions. These vehicles leverage extensive data sourced from various sensors and computers integrated into the vehicle. Hence, massive computational power is required to process the information from various built-in sensors in milliseconds to make the right decision. The power required by the sensors and the use of additional computational power increases the energy consumption, and, hence, could reduce the range of the autonomous electric vehicle relative to a standard electric car and lead to additional emissions. A number of review papers have highlighted the environmental benefits of autonomous vehicles, focusing on aspects like optimized driving, improved route selection, fewer stops, and platooning. However, these reviews often overlook the significant energy demands of the hardware systems—such as sensors, computers, and cameras—necessary for full autonomy, which can decrease the driving range of electric autonomous vehicles. Additionally, previous studies have not thoroughly examined the data processing requirements in these vehicles. This paper provides a more detailed review of the volume of data and energy usage by various sensors and computers integral to autonomous features in electric vehicles. It also discusses the effects of these factors on vehicle range and emissions. Furthermore, the paper explores advanced technologies currently being developed by various industries to enhance processing speeds and reduce energy consumption in autonomous vehicles. [ABSTRACT FROM AUTHOR]

Connected and automated vehicles (CAVs) rely on their perception systems to detect traffic objects, with the uncertainty in detection results significantly influencing the safety of their decision‐making and control mechanisms. This paper introduces a safety potential field for CAVs that accounts for target detection errors. Initially, the paper categorizes errors arising from target detection into classification, labelling, and positioning categories. Subsequently, an elliptical model‐based safety potential field is developed, incorporating potential field line optimization using safety thresholds and lane lines. This approach facilitates the determination of critical values and safety distribution for the potential field. The paper then proceeds with coefficient calibration and experimental analysis to validate the reliability of the proposed model. Findings indicate that as target detection errors increasingly manifest, the safety potential field area for CAVs becomes more restrictive, enhancing the field's sensitivity to these errors. The critical safety value for CAVs is maintained within the range of [0 m, 7 m], providing a stable basis for decision‐making and control. Additionally, the safety value for CAVs falls between [15, 25], favouring the improvement of safety gradient distribution under the calibrated safety potential field values. [ABSTRACT FROM AUTHOR]

In recent years, there has been a significant development in unmanned platform technologies, specifically unmanned ground vehicles (UGVs) and unmanned aerial vehicles (UAVs). As a result, their application scenarios have expanded considerably. Unmanned platforms are considered integral components of the Internet of Things system. However, certain challenges arise when dealing with specialized tasks, such as navigating complex urban low-altitude terrain with multiple obstacles and limited communication capabilities. These challenges can greatly impact the efficiency of the system due to information isolation. To address this issue, a messenger drone mechanism is introduced in this paper, which utilizes air superiority to facilitate indirect communication between unmanned platforms. Additionally, a task sequence planning algorithm based on sampling transformation is designed. This algorithm efficiently assigns the drone to mobile UGVs by discretely sampling their paths and considering the UAV-UGV motion relationship. By transforming the problem into an asymmetric traveler problem, it allows for a fast solution. Finally, the effectiveness of the algorithm is verified through comparative analysis in different scenarios. [ABSTRACT FROM AUTHOR]

Connected Autonomous Vehicle (CAV) dedicated lanes can spatially eliminate the disturbance from Human-Driven Vehicles (HDVs) and increase the probability of vehicle cooperative platooning, thereby enhancing road capacity. However, when the penetration rate of CAVs is low, CAV dedicated lanes may lead to a waste of road resources. This paper proposes a cooperative lane-changing control method for multiple vehicles considering Dynamic Intelligent Connected (DIC) dedicated lanes. Initially, inspired by the study of dedicated bus lanes, the paper elucidates the traffic regulations for DIC dedicated lanes, and two decision-making approaches are presented based on the type of lane-change vehicle and the target lane: CAV autonomous cooperative lane change and HDV mandatory cooperative lane change. Subsequently, considering constraints such as acceleration, speed, and safe headway, cooperative lane-change control models are proposed with the goal of minimizing the weighted sum of vehicle acceleration and lane-change duration. The proposed model is solved by the TOPSIS multi-objective optimization algorithm. Finally, the effectiveness and advancement of the proposed cooperative lane-changing method are validated through simulation using the SUMO software (Version 1.19.0). Simulation results demonstrate that compared to traditional lane-changing models, the autonomous cooperative lane-changing model for CAVs significantly improves the success rate of lane changing, reduces lane-changing time, and causes less speed disturbance to surrounding vehicles. The mandatory cooperative lane-changing model for HDVs results in shorter travel times and higher lane-changing success rates, especially under high traffic demand. The methods presented in this paper can notably enhance the lane-changing success rate and traffic efficiency while ensuring lane-changing safety. [ABSTRACT FROM AUTHOR]

With the development of automated vehicles, researches related to automated vehicle platoon (AVP) have received more and more attention. AVP is considered one of the effective means to alleviate traffic congestion and reduce vehicle energy consumption. This paper studies a three‐layer method of avoiding obstacle vehicles in traffic by switching the formation for the automated heavy vehicle platoon. In the decision‐making layer, a decision‐making system based on the finite‐state machine is established for formation switching. In the second layer, the lane‐changing trajectory is optimized based on the quantic polynomial curve fitting for vehicles that need to change lanes. In terms of vehicle control layer, each vehicle has a longitudinal controller based on sliding mode control and a lateral controller based on model predictive control to track the planned trajectory to complete the target formation. Finally, the proposed method is simulated in MATLAB/TruckSim. The simulation results show that the proposed method could effectively avoid the obstacle vehicles by switching the formation and has a small average value of errors in speed tracking and trajectory tracking. [ABSTRACT FROM AUTHOR]

As urbanization accelerates, traffic congestion and frequent accidents have become prominent issues, prompting the development of intelligent transportation systems. This paper focuses on the research of vehicle and pedestrian detection algorithms to improve detection accuracy in complex traffic environments. Considering the limitations of traditional object detection algorithms in complex situations, this study adopts the deep learning-based YOLOv8 algorithm and introduces the Coordinate Attention (CA) module to enhance the model's feature extraction and localization capabilities. Experimental results show that the improved YOLOv8 network achieves a 1.1% increase in detection accuracy while maintaining its original speed. Furthermore, this paper constructs a vehicle and pedestrian dataset suitable for Chinese traffic scenes, providing an effective solution for autonomous driving assistance systems. Overall, this study holds significant reference value for vehicle and pedestrian detection in the field of intelligent transportation. [ABSTRACT FROM AUTHOR]

The advent of autonomous vehicles has heralded a transformative era in transportation, reshaping the landscape of mobility through cutting-edge technologies. Central to this evolution is the integration of artificial intelligence (AI), propelling vehicles into realms of unprecedented autonomy. Commencing with an overview of the current industry landscape with respect to Operational Design Domain (ODD), this paper delves into the fundamental role of AI in shaping the autonomous decision-making capabilities of vehicles. It elucidates the steps involved in the AI-powered development life cycle in vehicles, addressing various challenges such as safety, security, privacy, and ethical considerations in AI-driven software development for autonomous vehicles. The study presents statistical insights into the usage and types of AI algorithms over the years, showcasing the evolving research landscape within the automotive industry. Furthermore, the paper highlights the pivotal role of parameters in refining algorithms for both trucks and cars, facilitating vehicles to adapt, learn, and improve performance over time. It concludes by outlining different levels of autonomy, elucidating the nuanced usage of AI algorithms, and discussing the automation of key tasks and the software package size at each level. Overall, the paper provides a comprehensive analysis of the current industry landscape, focusing on several critical aspects. [ABSTRACT FROM AUTHOR]

This paper focuses on the obstacle avoidance trajectory planning problem for autonomous vehicles on structured roads. The objective is to design a trajectory planning algorithm that can ensure vehicle safety and comfort and satisfy the rationality of traffic regulations. This paper proposes a path and speed decoupled planning method for non-split vehicle trajectory planning on structured roads. Firstly, the path planning layer adopts the improved artificial potential field method. The obstacle-repulsive potential field, gravitational potential field, and fitting method of the traditional artificial potential field are improved. Secondly, the speed planning aspect is performed in the Frenet coordinate system. Speed planning is accomplished based on S-T graph construction and solving convex optimization problems. Finally, simulation and experimental verification are performed. The results show that the method proposed in this paper can significantly improve the safety and comfortable riding of the vehicle. [ABSTRACT FROM AUTHOR]

Scene-flow (SF) estimation is considered to be one of the most fundamental problems in scene understanding and autonomous control. The majority of the existing methods adopted for SF estimation suffer lack of robustness in some environments and cannot be easily applied for high-speed applications such as autonomous driving. Although some of the available methods are precise, they include high computational costs or require a GPU. The most serious challenge faced in SF estimation is its inability to strike a balance between speed, precision, robustness, and the computational costs. This paper, therefore, aims at proposing a novel sparse scene-flow (stereo-RSSF) method which is highly distinguished in terms of its faster speed, robustness, and precision using the following: stereo calibrated frames, sparse optical flow such as the LKT algorithm, a new inlier detection module based on spatial correlation analysis, epipolar geometry, and modified circular matching techniques. The comparisons made between stereo-RSSF and several advanced methods indicate that this sparse method has significantly higher accuracy than all the other state-of-the-art methods in the points it estimates. In this paper, the effects of each module and hyper-parameters of stereo-RSSF on the performance and running time are analyzed. Stereo-RSSF has also been evaluated on the KITTI test dataset, and the results have been independently verified by the reference group. The code for our implementation of stereo-RSSF is available at: https://github.com/salehierfan/Stereo-RSSF. [ABSTRACT FROM AUTHOR]

This paper presents the implementation of an innovative solution based on heterogeneous autonomous vehicles to tackle maritime pollution (in particular, oil spills). This solution is based on native microbial consortia with bioremediation capacity, and the adaptation of air and surface autonomous vehicles for in situ release of autochthonous microorganisms (bioaugmentation) and nutrients (biostimulation). By doing so, these systems can be applied as the first line of the response to pollution incidents from several origins that may occur inside ports, around industrial and extraction facilities, or in the open sea during transport activities in a fast, efficient, and low-cost way. The paper describes the work done in the development of a team of autonomous vehicles able to carry as payload, native organisms to naturally degrade oil spills (avoiding the introduction of additional chemical or biological additives), and the development of a multi-robot framework for efficient oil spill mitigation. Field tests have been performed in Portugal and Spain's harbors, with a simulated oil spill, and the coordinate oil spill task between the autonomous surface vehicle (ASV) ROAZ and the unmanned aerial vehicle (UAV) STORK has been validated. [ABSTRACT FROM AUTHOR]

With the development of Mobile Edge Computing, driverless, 5 G, and related techniques, Edge-Cloud based Urban Intelligent Video Systems are extremely promising to support public safety through powerful analysis and timely response. Furtherly, flexible Unmanned Ground Vehicles(UGVs), which are equipped with edge devices, can enhance these edge systems to withstand these abnormalities: natural disasters, abnormal crowd flows, and other emergencies. In this regard, as a critical issue in edge systems, task placement in these systems needs to consider these "mobile" edge nodes: ICVs(UGVs). Therefore, a novel and effective framework named Optimized Centroids K-means based Task Placement framework is proposed: we firstly involve the clustering approach to optimize initial centroids as the positions of ICVs in terms of Edge Nodes, various typical optimization methods can be utilized to place related edge tasks effectively. The experimental results demonstrate that our novel framework has a great improvement over several existing typical strategies and supports multiple optimization methods well in this paper. [ABSTRACT FROM AUTHOR]

Robust object detection and weather classification are essential for the safe operation of autonomous vehicles (AVs) in adverse weather conditions. While existing research often treats these tasks separately, this paper proposes a novel multi objectives model that treats weather classification and object detection as a single problem using only the AV camera sensing system. Our model offers enhanced efficiency and potential performance gains by integrating image quality assessment, Super-Resolution Generative Adversarial Network (SRGAN), and a modified version of You Only Look Once (YOLO) version 5. Additionally, by leveraging the challenging Detection in Adverse Weather Nature (DAWN) dataset, which includes four types of severe weather conditions, including the often-overlooked sandy weather, we have conducted several augmentation techniques, resulting in a significant expansion of the dataset from 1027 images to 2046 images. Furthermore, we optimize the YOLO architecture for robust detection of six object classes (car, cyclist, pedestrian, motorcycle, bus, truck) across adverse weather scenarios. Comprehensive experiments demonstrate the effectiveness of our approach, achieving a mean average precision (mAP) of 74.6%, underscoring the potential of this multi objectives model to significantly advance the perception capabilities of autonomous vehicles' cameras in challenging environments. [ABSTRACT FROM AUTHOR]

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Since Leonardo da Vinci's creation of a self-propelled cart in the 1500s (Palmer. in Significant figures in world history p. 75--7, 2018), the evolution of Autonomous Vehicles (AVs) has aimed to revolutionize transportation. While AVs promise improved safety, traffic efficiency, and industrial optimization by reducing human intervention, ensuring their security remains paramount. This paper provides a thorough literature review spanning from historical milestones to contemporary advancements in AV technology. It delves into the significance of Vehicular Ad-hoc NETworks (VANETs) for safety applications and underscores the critical role of speed harmonization and string stability in safeguarding AV platoons. Furthermore, the paper addresses cybersecurity threats targeting platoon networks, advocating for research into encryption mechanisms, road-side units, control algorithms, hybrid communications, and on-board system security to bolster communication security within platoons. By advocating for a balance between AV technological advancements and robust security measures, this paper facilitates safe and reliable AV platooning operations. [ABSTRACT FROM AUTHOR]

The formation of unmanned surface vehicles (USVs) stands as a paramount concern in USV formation control research. In addressing this, this paper introduces a novel formation strategy for USVs, which accounts for their arbitrary initial positions and headings. Firstly, given the random distribution of the USVs' initial positions, to enhance the efficiency of formation assembly, the point set of the USVs is matched with basic formations using the Hausdorff distance to establish the formation. Building upon this foundation and acknowledging the potential hindrance posed by the arbitrary initial headings of the USVs, which could hinder their ability to reach the designated formation target points, a cost matrix is constructed based on the designed distance–azimuth evaluation function. Subsequently, the Hungarian algorithm is utilized to efficiently assign formation target points for the USVs. Ultimately, the effectiveness of the proposed strategy is validated through simulation experiments. [ABSTRACT FROM AUTHOR]

Vehicle pose detection plays a vital role in modern automotive technology, which can improve driving safety, enhance vehicle stability and provide important support for the development of autonomous driving technology. The current pose estimation methods have the problems of accumulation errors, large algorithm computing power, and expensive cost, so they cannot be widely used in intelligent connected vehicles. This paper proposes a vehicle pose detection method based on an RSU (Roadside Unit). First, the on-board GPS performs the positioning of the target vehicle and transmits the positioning information to the RSU through the UDP (User Data Protocol). Next, the RSU transmits a forward command to the OBU (On-board Unit) through the UDP. The OBU sends the command to the ECU (Electronic Control Unit) to control the vehicle forward. Then, the RSU detects and tracks the vehicle. The RSU takes pictures of two images before and after the movement and obtains the coordinates of the four angle points and the center point by image processing. The vehicle heading direction is determined by the moving direction of the center point of the front and rear two images. Finally, the RSU captures the vehicle images in real time, performs the process of tracking, rectangular fitting and pose calculation to obtain the pose information and transmits the information to the OBU to complete the whole process of vehicle pose detection and information transmission. Experiments show that the method can realize accurate and efficient detection of vehicle pose, meet the real-time requirements of vehicle pose detection, and can be widely used in intelligent vehicles. [ABSTRACT FROM AUTHOR]

The contradiction between increasing traffic and the relatively poor roundabout infrastructure is getting stronger. The control and optimization of the macroscopic traffic flow needs to be improved to resolve congestion and safety problems at roundabouts and the connected road network. In order to better understand the gaps and trends in this field, we have systematically reviewed the main research and developments in traffic phenomena, driving behaviour, autonomous vehicles (AVs), intelligent connected vehicles and real vehicle trajectory data sets at roundabouts. The study is based on 388 papers about roundabouts, selected through a comprehensive literature search. The review demonstrates that based on a microscopic perspective, sensing, prediction, decision-making, planning and control aspects of AVs and intelligent connected vehicles can be designed and optimized to fundamentally and significantly improve traffic capacity and driving safety at roundabouts. However, the generation mechanism of traffic conflicts among traffic participants at roundabouts is complex, which is a tremendous challenge for the systematic design of AVs. Therefore, based on naturalistic driving data and machine learning theory, it is an important research direction to build driver models by learning and imitating human driver decision-making and driving behaviours. [ABSTRACT FROM AUTHOR]

Multi-modal fusion technology gradually become a fundamental task in many fields, such as autonomous driving, smart healthcare, sentiment analysis, and human-computer interaction. It is rapidly becoming the dominant research due to its powerful perception and judgment capabilities. Under complex scenes, multi-modal fusion technology utilizes the complementary characteristics of multiple data streams to fuse different data types and achieve more accurate predictions. However, achieving outstanding performance is challenging because of equipment performance limitations, missing information, and data noise. This paper comprehensively reviews existing methods based on multi-modal fusion techniques and completes a detailed and in-depth analysis. According to the data fusion stage, multi-modal fusion has four primary methods: early fusion, deep fusion, late fusion, and hybrid fusion. The paper surveys the three major multi-modal fusion technologies that can significantly enhance the effect of data fusion and further explore the applications of multi-modal fusion technology in various fields. Finally, it discusses the challenges and explores potential research opportunities. Multi-modal tasks still need intensive study because of data heterogeneity and quality. Preserving complementary information and eliminating redundant information between modalities is critical in multi-modal technology. Invalid data fusion methods may introduce extra noise and lead to worse results. This paper provides a comprehensive and detailed summary in response to these challenges. [ABSTRACT FROM AUTHOR]

Pathfinding for autonomous vehicles in large-scale complex terrain environments is difficult when aiming to balance efficiency and quality. To solve the problem, this paper proposes Hierarchical Path-Finding A* based on Multi-Scale Rectangle, called RHA*, which achieves efficient pathfinding and high path quality for large-scale unequal-weighted maps. Firstly, the original map grid cells were aggregated into fixed-size clusters. Then, an abstract map was constructed by aggregating equal-weighted clusters into rectangular regions of different sizes and calculating the nodes and edges of the regions in advance. Finally, real-time pathfinding was performed based on the abstract map. The experiment showed that the computation time of real-time pathfinding was reduced by 96.64% compared to A* and 20.38% compared to HPA*. The total cost of the generated path deviated no more than 0.05% compared to A*. The deviation value is reduced by 99.2% compared to HPA*. The generated path can be used for autonomous vehicle traveling in off-road environments. [ABSTRACT FROM AUTHOR]

To realize accurate environment perception, which is the technological key to enabling autonomous vehicles to interact with their external environments, it is primarily necessary to solve the issues of object detection and tracking in the vehicle-movement process. Multi-sensor fusion has become an essential process in efforts to overcome the shortcomings of individual sensor types and improve the efficiency and reliability of autonomous vehicles. This paper puts forward moving object detection and tracking methods based on LiDAR—camera fusion. Operating based on the calibration of the camera and LiDAR technology, this paper uses YOLO and PointPillars network models to perform object detection based on image and point cloud data. Then, a target box intersection-over-union (IoU) matching strategy, based on center-point distance probability and the improved Dempster–Shafer (D–S) theory, is used to perform class confidence fusion to obtain the final fusion detection result. In the process of moving object tracking, the DeepSORT algorithm is improved to address the issue of identity switching resulting from dynamic objects re-emerging after occlusion. An unscented Kalman filter is utilized to accurately predict the motion state of nonlinear objects, and object motion information is added to the IoU matching module to improve the matching accuracy in the data association process. Through self-collected data verification, the performances of fusion detection and tracking are judged to be significantly better than those of a single sensor. The evaluation indexes of the improved DeepSORT algorithm are 66% for MOTA and 79% for MOTP, which are, respectively, 10% and 5% higher than those of the original DeepSORT algorithm. The improved DeepSORT algorithm effectively solves the problem of tracking instability caused by the occlusion of moving objects. [ABSTRACT FROM AUTHOR]

Path planning and obstacle avoidance are fundamental problems in unmanned ground vehicle path planning. Aiming at the limitations of Deep Reinforcement Learning (DRL) algorithms in unmanned ground vehicle path planning, such as low sampling rate, insufficient exploration, and unstable training, this paper proposes an improved algorithm called Dual Priority Experience and Ornstein–Uhlenbeck Soft Actor-Critic (DPEOU-SAC) based on Ornstein–Uhlenbeck (OU noise) and double-factor prioritized sampling experience replay (DPE) with the introduction of expert experience, which is used to help the agent achieve faster and better path planning and obstacle avoidance. Firstly, OU noise enhances the agent's action selection quality through temporal correlation, thereby improving the agent's detection performance in complex unknown environments. Meanwhile, the experience replay is based on double-factor preferential sampling, which has better sample continuity and sample utilization. Then, the introduced expert experience can help the agent to find the optimal path with faster training speed and avoid falling into a local optimum, thus achieving stable training. Finally, the proposed DPEOU-SAC algorithm is tested against other deep reinforcement learning algorithms in four different simulation environments. The experimental results show that the convergence speed of DPEOU-SAC is 88.99% higher than the traditional SAC algorithm, and the shortest path length of DPEOU-SAC is 27.24, which is shorter than that of SAC. [ABSTRACT FROM AUTHOR]