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With the development of intelligent connected vehicle technology, human-machine shared control has gained popularity in vehicle following due to its effectiveness in driver assistance. However, traditional vehicle following systems struggle to maintain stability when driver reaction time fluctuates, as these variations require different levels of system intervention. To address this issue, the proposed human-machine shared vehicle following assistance system (HM-VFAS) integrates driver outputs under various states with the assistance system. The system employs an intelligent driver model that accounts for reaction time delays, simulating time-varying driver outputs. A control authority allocation strategy is designed to dynamically adjust the level of intervention based on real-time driver state assessment. To handle instability from driver authority switching, the proposed solution includes a two-layer adaptive finite time sliding mode controller (A-FTSMC). The first layer is an integral sliding mode adaptive controller that ensures robustness by compensating for uncertainties in the driver output. The second layer is a fast non-singular terminal sliding mode controller designed to accelerate convergence for rapid stabilization. Using real driver videos as inputs, the performance of the HM-VFAS was evaluated. Results show that the proposed control strategy maintains a safe distance under time-varying driver states, with the actual acceleration error relative to the target acceleration maintained within 0.5m/s~2 and the maximum acceleration error reduced by 1.2m/s~2. Compared to traditional controllers, the A-FTSMC controller offers faster convergence and less vibration, reducing the stabilization time by 27.3%.

Ensuring safety in both autonomous driving and advanced driver-assistance systems (ADAS) depends critically on the efficient deployment of traffic sign recognition technology. While current methods show effectiveness, they often compromise between speed and accuracy. To address this issue, we present a novel real-time and efficient road sign detection network, YOLO-TS. This network significantly improves performance by optimizing the receptive fields of multi-scale feature maps to align more closely with the size distribution of traffic signs in various datasets. Moreover, our innovative feature-fusion strategy, leveraging the flexibility of Anchor-Free methods, allows for multi-scale object detection on a high-resolution feature map abundant in contextual information, achieving remarkable enhancements in both accuracy and speed. To mitigate the adverse effects of the grid pattern caused by dilated convolutions on the detection of smaller objects, we have devised a unique module that not only mitigates this grid effect but also widens the receptive field to encompass an extensive range of spatial contextual information, thus boosting the efficiency of information usage. Evaluation on challenging public datasets, TT100K and CCTSDB2021, demonstrates that YOLO-TS surpasses existing state-of-the-art methods in terms of both accuracy and speed. The code for our method will be available., Comment: 13 pages, 9 figures and 7 tables

Road ponding, a prevalent traffic hazard, poses a serious threat to road safety by causing vehicles to lose control and leading to accidents ranging from minor fender benders to severe collisions. Existing technologies struggle to accurately identify road ponding due to complex road textures and variable ponding coloration influenced by reflection characteristics. To address this challenge, we propose a novel approach called Self-Attention-based Global Saliency-Enhanced Network (AGSENet) for proactive road ponding detection and traffic safety improvement. AGSENet incorporates saliency detection techniques through the Channel Saliency Information Focus (CSIF) and Spatial Saliency Information Enhancement (SSIE) modules. The CSIF module, integrated into the encoder, employs self-attention to highlight similar features by fusing spatial and channel information. The SSIE module, embedded in the decoder, refines edge features and reduces noise by leveraging correlations across different feature levels. To ensure accurate and reliable evaluation, we corrected significant mislabeling and missing annotations in the Puddle-1000 dataset. Additionally, we constructed the Foggy-Puddle and Night-Puddle datasets for road ponding detection in low-light and foggy conditions, respectively. Experimental results demonstrate that AGSENet outperforms existing methods, achieving IoU improvements of 2.03\%, 0.62\%, and 1.06\% on the Puddle-1000, Foggy-Puddle, and Night-Puddle datasets, respectively, setting a new state-of-the-art in this field. Finally, we verified the algorithm's reliability on edge computing devices. This work provides a valuable reference for proactive warning research in road traffic safety., Comment: 21 pages, 15 figures

Unsupervised Domain Adaptation (UDA) aims to adapt a model trained on a labeled source domain to an unlabeled target domain by addressing the domain shift. Existing Unsupervised Domain Adaptation (UDA) methods often fall short in fully leveraging contextual information from the target domain, leading to suboptimal decision boundary separation during source and target domain alignment. To address this, we introduce GrabDAE, an innovative UDA framework designed to tackle domain shift in visual classification tasks. GrabDAE incorporates two key innovations: the Grab-Mask module, which blurs background information in target domain images, enabling the model to focus on essential, domain-relevant features through contrastive learning; and the Denoising Auto-Encoder (DAE), which enhances feature alignment by reconstructing features and filtering noise, ensuring a more robust adaptation to the target domain. These components empower GrabDAE to effectively handle unlabeled target domain data, significantly improving both classification accuracy and robustness. Extensive experiments on benchmark datasets, including VisDA-2017, Office-Home, and Office31, demonstrate that GrabDAE consistently surpasses state-of-the-art UDA methods, setting new performance benchmarks. By tackling UDA's critical challenges with its novel feature masking and denoising approach, GrabDAE offers both significant theoretical and practical advancements in domain adaptation.

Attention mechanisms, particularly channel attention, have become highly influential in numerous computer vision tasks. Despite their effectiveness, many existing methods primarily focus on optimizing performance through complex attention modules applied at individual convolutional layers, often overlooking the synergistic interactions that can occur across multiple layers. In response to this gap, we introduce bridge attention, a novel approach designed to facilitate more effective integration and information flow between different convolutional layers. Our work extends the original bridge attention model (BAv1) by introducing an adaptive selection operator, which reduces information redundancy and optimizes the overall information exchange. This enhancement results in the development of BAv2, which achieves substantial performance improvements in the ImageNet classification task, obtaining Top-1 accuracies of 80.49% and 81.75% when using ResNet50 and ResNet101 as backbone networks, respectively. These results surpass the retrained baselines by 1.61% and 0.77%, respectively. Furthermore, BAv2 outperforms other existing channel attention techniques, such as the classical SENet101, exceeding its retrained performance by 0.52% Additionally, integrating BAv2 into advanced convolutional networks and vision transformers has led to significant gains in performance across a wide range of computer vision tasks, underscoring its broad applicability.

Driver distraction remains a leading cause of traffic accidents, posing a critical threat to road safety globally. As intelligent transportation systems evolve, accurate and real-time identification of driver distraction has become essential. However, existing methods struggle to capture both global contextual and fine-grained local features while contending with noisy labels in training datasets. To address these challenges, we propose DSDFormer, a novel framework that integrates the strengths of Transformer and Mamba architectures through a Dual State Domain Attention (DSDA) mechanism, enabling a balance between long-range dependencies and detailed feature extraction for robust driver behavior recognition. Additionally, we introduce Temporal Reasoning Confident Learning (TRCL), an unsupervised approach that refines noisy labels by leveraging spatiotemporal correlations in video sequences. Our model achieves state-of-the-art performance on the AUC-V1, AUC-V2, and 100-Driver datasets and demonstrates real-time processing efficiency on the NVIDIA Jetson AGX Orin platform. Extensive experimental results confirm that DSDFormer and TRCL significantly improve both the accuracy and robustness of driver distraction detection, offering a scalable solution to enhance road safety.

This paper investigates the problem of joint subcarrier and power allocation in the coexistence of radar and multi-user communication systems. Specifically, in our research scenario, the base station (BS) provides information transmission services for multiple users while ensuring that its interference to a separate radar system will not affect the radar's normal function. To this end, we propose a subcarrier and power allocation scheme based on orthogonal frequency division multiple access (OFDM). The original problem consisting involving multivariate fractional programming and binary variables is highly non-convex. Due to its complexity, we relax the binary constraint by introducing a penalty term, provided that the optimal solution is not affected. Then, by integrating multiple power variables into one matrix, the original problem is reformulated as a multi-ratio fractional programming (FP) problem, and finally a quadratic transform is employed to make the non-convex problem a sequence of convex problems. The numerical results indicate the performance trade-off between the multi-user communication system and the radar system, and notably that the performance of the communication system is not improved with power increase in the presence of radar interference beyond a certain threshold. This provides a useful insight for the energy-efficient design of the system., Comment: 6 pages, 5 figures

In recent years, channel attention mechanism has been widely investigated due to its great potential in improving the performance of deep convolutional neural networks (CNNs) in many vision tasks. However, in most of the existing methods, only the output of the adjacent convolution layer is fed into the attention layer for calculating the channel weights. Information from other convolution layers has been ignored. With these observations, a simple strategy, named Bridge Attention Net (BA-Net), is proposed in this paper for better performance with channel attention mechanisms. The core idea of this design is to bridge the outputs of the previous convolution layers through skip connections for channel weights generation. Based on our experiment and theory analysis, we find that features from previous layers also contribute to the weights significantly. The Comprehensive evaluation demonstrates that the proposed approach achieves state-of-the-art(SOTA) performance compared with the existing methods in accuracy and speed. which shows that Bridge Attention provides a new perspective on the design of neural network architectures with great potential in improving performance. The code is available at https://github.com/zhaoy376/Bridge-Attention.

Controlling a non-statically bipedal robot is challenging due to the complex dynamics and multi-criterion optimization involved. Recent works have demonstrated the effectiveness of deep reinforcement learning (DRL) for simulation and physical robots. In these methods, the rewards from different criteria are normally summed to learn a single value function. However, this may cause the loss of dependency information between hybrid rewards and lead to a sub-optimal policy. In this work, we propose a novel reward-adaptive reinforcement learning for biped locomotion, allowing the control policy to be simultaneously optimized by multiple criteria using a dynamic mechanism. The proposed method applies a multi-head critic to learn a separate value function for each reward component. This leads to hybrid policy gradient. We further propose dynamic weight, allowing each component to optimize the policy with different priorities. This hybrid and dynamic policy gradient (HDPG) design makes the agent learn more efficiently. We show that the proposed method outperforms summed-up-reward approaches and is able to transfer to physical robots. The sim-to-real and MuJoCo results further demonstrate the effectiveness and generalization of HDPG.