To enhance safety and efficiency in the traffic environment, developing intelligent transportation systems (ITSs) is of paramount importance. In ITSs, roadside units (RSUs) are critical components that enable the environment awareness and connectivity via using radar sensing and communications. In this paper, we focus on RSUs with multiple radar systems. Specifically, we propose a parameter selection method of multiple radar systems to enhance the overall sensing performance. Furthermore, since different radars provide different sensing and tracking results, to benefit from multiple radars, we propose fusion algorithms to integrate the tracking results of different radars. We use two commercial frequency-modulated continuous wave (FMCW) radars to conduct experiments at Hsinchu city in Taiwan. The experimental results validate that our proposed approaches can improve the overall sensing performance.

Visible light communication (VLC) and visible light ranging are applicable techniques for intelligent transportation systems (ITS). They use every unique light-emitting diode (LED) on roads for data transmission and range estimation. The simultaneous VLC and ranging can be applied to improve the performance of both. It is necessary to achieve rapid data rate and high-accuracy ranging when transmitting VLC data and estimating the range simultaneously. We use the signal modulation method of pulse-width modulation (PWM) to increase the data rate. However, when using PWM for VLC data transmission, images of the LED transmitters are captured at different luminance levels and are easily saturated, and LED saturation leads to inaccurate range estimation. In this paper, we establish a novel simultaneous visible light communication and ranging system for ITS using PWM. Here, we analyze the LED saturation problems and apply bicubic interpolation to solve the LED saturation problem and thus, improve the communication and ranging performance. Simultaneous communication and ranging are enabled using a stereo camera. Communication is realized using maximal-ratio combining (MRC) while ranging is achieved using phase-only correlation (POC) and sinc function approximation. Furthermore, we measured the performance of our proposed system using a field trial experiment. The results show that error-free performance can be achieved up to a communication distance of 55 m and the range estimation errors are below 0.5m within 60m.

In recent years, the applications of deep learning have facilitated the development of green intelligent transportation system (ITS), and carbon dioxide estimation has been one of important issues in green ITS. Furthermore, the carbon dioxide estimation could be modelled as the fuel consumption estimation. Therefore, a clustering-based neural network is proposed to analyze clusters in accordance with fuel consumption behaviors and obtains the estimated fuel consumption and the estimated carbon dioxide. In experiments, the mean absolute percentage error (MAPE) of the proposed method is only 5.61%, and the performance of the proposed method is higher than other methods.

Connected cars generate a huge amount of Internet of Things (IoT) sensor information called Controller Area Network (CAN) data. Recently, there is growing interest in collecting CAN data from connected cars in a cloud system to enable life-critical use cases such as safe driving support. Although each CAN data packet is very small, a connected car generates thousands of CAN data packets per second. Therefore, real-time CAN data collection from connected cars in a cloud system is one of the most challenging problems in the current IoT. In this paper, we propose an Edge computing-enhanced network Redundancy Elimination service (EdgeRE) for CAN data collection. In developing EdgeRE, we designed a CAN data compression architecture that combines in-vehicle computers, edge datacenters and a public cloud system. EdgeRE includes the idea of hierarchical data compression and dynamic data buffering at edge datacenters for real-time CAN data collection. Across a wide range of field tests with connected cars and an edge computing testbed, we show that the EdgeRE reduces bandwidth usage by 88% and the number of packets by 99%.

Intelligent transportation systems (ITSs) have been extensively studied in recent years to improve the safety and efficiency of transportation. The use of a radar system to enable the ITSs monitor the environment is robust to weather conditions and is less invasive to user privacy. Moreover, equipping the roadside units (RSUs) with radar modules has been deemed an economical and efficient option for ITS operators. However, because the detection and tracking parameters can significantly influence the radar system performance and the best parameters for different scenarios are different, the selection of appropriate parameters for the radar systems is critical. In this study, we investigated radar parameter selection and consequently proposes a parameter selection approach capable of automatically choosing the appropriate detection and tracking parameters for radar systems. The experimental results indicate that the proposed method realizes appropriate selection of parameters, thereby significantly improving the detection and tracking performance of radar systems.

This paper proposes a switched pinning control method with a multi-rating mechanism for vehicle platoons. The platoons are expressed as multi-agent systems consisting of mass-damper systems in which pinning agents receive target velocities from external devices (ex. intelligent traffic signals). We construct model predictive control (MPC) algorithm that switches pinning agents via mixed-integer quadratic programmings (MIQP) problems. The optimization rate is determined according to the convergence rate to the target velocities and the inter-vehicular distances. This multi-rating mechanism can reduce the computational load caused by iterative calculation. Numerical results demonstrate that our method has a reduction effect on the string instability by selecting the pinning agents to minimize errors of the inter-vehicular distances to the target distances.

Information and communication technologies have improved the quality of intelligent transportation systems (ITS). By estimating from cellular floating vehicle data (CFVD) is more cost-effective, and easier to acquire than traditional ways. This study proposes a cell probe (CP)-based method to analyse the cellular network signals (e.g., call arrival, handoff, and location update), and regression models are trained for vehicle speed estimation. In experiments, this study compares the practical traffic information of vehicle detector (VD) with the estimated traffic information by the proposed methods. The experiment results show that the accuracy of vehicle speed estimation by CP-based method is 97.63%. Therefore, the CP-based method can be used to estimate vehicle speed from CFVD for ITS.

We propose a method that detects vehicles from in-vehicle monocular camera images captured during nighttime driving. Detecting vehicles from their shape is difficult at night; however, many vehicle detection methods focusing on light have been proposed. We detect bright spots by appropriate binarization based on the characteristics of vehicle lights such as brightness and color. Also, as the detected bright spots include lights other than vehicles, we need to distinguish the vehicle lights from other bright spots. Therefore, the bright spots were distinguished using Random Forest, a multiclass classification machine-learning algorithm. The features of bright spots not associated with vehicles were effectively utilized in the vehicle detection in our proposed method. More precisely vehicle detection is performed by giving weights to the results of the Random Forest based on the features of vehicle bright spots and the features of bright spots not related to the vehicle. Our proposed method was applied to nighttime images and confirmed effectiveness.

Accurate traffic flow prediction is the precondition for many applications in Intelligent Transportation Systems, such as traffic control and route guidance. Traditional data driven traffic flow prediction models tend to ignore traffic self-features (e.g., periodicities), and commonly suffer from the shifts brought by various complex factors (e.g., weather and holidays). These would reduce the precision and robustness of the prediction models. To tackle this problem, in this paper, we propose a CNN-based multi-feature predictive model (MF-CNN) that collectively predicts network-scale traffic flow with multiple spatiotemporal features and external factors (weather and holidays). Specifically, we classify traffic self-features into temporal continuity as short-term feature, daily periodicity and weekly periodicity as long-term features, then map them to three two-dimensional spaces, which each one is composed of time and space, represented by two-dimensional matrices. The high-level spatiotemporal features learned by CNNs from the matrices with different time lags are further fused with external factors by a logistic regression layer to derive the final prediction. Experimental results indicate that the MF-CNN model considering multi-features improves the predictive performance compared to five baseline models, and achieves the trade-off between accuracy and efficiency.

In recent years, intelligent transportation system (ITS) techniques have been widely exploited to enhance the quality of public services. As one of the worldwide leaders in recycling, Taiwan adopts the waste collection and disposal policy named “trash doesn't touch the ground”, which requires the public to deliver garbage directly to the collection points for awaiting garbage collection. This study develops a travel time prediction system based on data clustering for providing real-time information on the arrival time of waste collection vehicle (WCV). The developed system consists of mobile devices (MDs), on-board units (OBUs), a fleet management server (FMS), and a data analysis server (DAS). A travel time prediction model utilizing the adaptive-based clustering technique coupled with a data feature selection procedure is devised and embedded in the DAS. While receiving inquiries from users' MDs and relevant data from WCVs' OBUs through the FMS, the DAS performs the devised model to yield the predicted arrival time of WCV. Our experiment result demonstrates that the proposed prediction model achieves an accuracy rate of 75.0% and outperforms the reference linear regression method and neural network technique, the accuracy rates of which are 14.7% and 27.6%, respectively. The developed system is effective as well as efficient and has gone online.

Intelligent transportation systems (ITS) are a set of technological solutions used to improve the performance and safety of road transportation. Since one of the most important information sources on ITS are sensors, the integration and sharing the sensor data become a big challenging problem in the application of sensor networks to these systems. In order to make full use of the sensor data, is crucial to convert the sensor data into semantic data, which can be understood by computers. In this work, we propose to use the SSN ontology to manage the sensor information in an intelligent transportation architecture. The system was tested in a traffic light settings application, allowing to predict and avoid traffic accidents, and also for the routing optimization.

The application of Intelligent Transport Systems (ITS) transmits data with road-to-vehicle communication (RVC) and inter-vehicle communication (IVC). Digital signature is essential to provide security for RVC and IVC. The public key certificate is used to verify that a public key belongs to an individual prover such as user or terminal. A certificate revocation list (CRL) is used for verifying validity of the public key certificate. A certificate authority (CA) publishes a CRL and distributes it to vehicles. CRL distribution traffic disturbs ITS application traffic because of sharing wireless channel between them. To distribute it on low bit rate will help to ease the disturbance. Although multiplex transmitting is effective in reliable communication, a duplication of received packets is waste of bandwidth as a consequence. This paper proposes a CRL distribution scheme based on random network coding which can reduce duplicate packets. The simulation results show that the number of duplicate packets of the proposed scheme is less than that of a simple error correction (EC)-based scheme and the proposed one can distribute CRL to more vehicles than EC-based ones.

In this paper, the performance of a vehicle information sharing (VIS) system for an intersection collision warning system (ICWS) is analyzed. The on-board unit (OBU) of the ICWS sharing obstacle detection sensor information (ICWS-ODSI) is mounted on a vehicle, and it obtains information about the surrounding vehicles, such as their position and velocity, by its in-vehicle obstacle detection sensors. These information are shared with other vehicles via an intervehicle communication network. In this analysis, a T-junction is assumed as the road environment for the theoretical analysis of the VIS performance in terms of the mean of entire vehicle information acquiring probability (MEVIAP). The MEVIAP on OBU penetration rate indicated that the ICWS-ODSI is superior to the conventional VIS system that only shares its own individual driving information via an intervehicle communication network. Furthermore, the MEVIAP on the sensing range of the ICWS-ODSI is analyzed, and it was found that the ISO15623 sensor used for the forward vehicle collision warning system becomes a candidate for the in-vehicle detection sensor of ICWS-ODSI.

This paper focus on the development of a single portable roadside magnetic sensor for vehicle classification. The magnetic sensor is a kind of anisotropic magnetic device that do not require to be embedded in the roadway-the device is placed next to the roadway and measure traffic in the immediately adjacent lane. A novel feature extraction and comparison approach is presented for vehicle classification with a single magnetic sensor, which is based on four different feature sets extracted from the detected magnetic signal. Furthermore, vehicle classification has been achieved with three common classification algorithms, including support vector machine, k-nearest neighbors and back-propagation neural network. Experimental results have demonstrated that the Peak-Peak feature set with back-propagation neural network approach performs much better than other approaches. Besides, the normalization technology has been proved it does work.

As the number of surveillance cameras keeps increasing, the demand for automated traffic-monitoring systems is growing. In this paper, we propose a practical vehicle detection method for such systems. In the last decade, vehicle detection mainly has been performed by employing an image scan strategy based on sliding windows whereby a pre-trained appearance model is applied to all image areas. In this approach, because the appearance models are built from vehicle sample images, the normalization of the scales and aspect ratios of samples can significantly influence the performance of vehicle detection. Thus, to successfully apply sliding window schemes to detection, it is crucial to select the normalization sizes very carefully in a wise manner. To address this, we present a novel vehicle detection technique. In contrast to conventional methods that determine the normalization sizes without considering given scene conditions, our technique first learns local region-specific size models based on scene-contextual clues, and then utilizes the obtained size models to normalize samples to construct more elaborate appearance models, namely local size-specific classifiers (LSCs). LSCs can provide advantages in terms of both accuracy and operational speed because they ignore unnecessary information on vehicles that are observable in faraway areas from each sliding window position. We conduct experiments on real highway traffic videos, and demonstrate that the proposed method achieves a 16% increased detection accuracy with at least 3 times faster operational speed compared with the state-of-the-art technique.

In order to minimize packet error rate in extremely dynamic vehicular networks, a novel vehicle to vehicle (V2V) mobile content transmission scheme that jointly employs random network coding and shuffling/scattering techniques is proposed in this paper. The proposed scheme consists of 3 steps: Step 1-The original mobile content data consisting of several packets is encoded to generate encoded blocks using random network coding for efficient error recovery. Step 2-The encoded blocks are shuffled for averaging the error rate among the encoded blocks. Step 3-The shuffled blocks are scattered at different vehicle locations to overcome the estimation error of optimum transmission location. Applying the proposed scheme in vehicular networks can yield error free transmission with high efficiency. Our simulation results corroborate that the proposed scheme significantly improves the packet error rate performance in high mobility environments. Thanks to the flexibility of network coding, the proposed scheme can be designed as a separate module in the physical layer of various wireless access technologies.

This paper describes a hierarchical and cooperative transport system with demand responsive buses to improve service quality of public transport system in city area and its suburbs. To provide the demand responsive buses generally requires planning route and schedule called dial-a-ride problem. However, the problem complexity increases with the increasing of the number of requests. Therefore, we propose the hierarchical and cooperative transport system. Framework of the system can reduce scale of the problem by grouping customers. We have evaluated the proposed system on a static simulation and a dynamic microscopic simulation. The simulation result has shown the system could improve service quality by reducing customer's load. Moreover, the result of the dynamic simulation have provided the detailed features of the system.

Providing images captured by an on-board camera to surrounding vehicles is an effective method to achieve smooth road traffic and to avoid traffic accidents. We consider providing images using WiFi technology based on the IEEE802.11p standard for vehicle-to-vehicle (V2V) communication media. We want to compress images to suppress communication traffic, because the communication capacity of the V2V system is strictly limited. However, there are difficulties in image compression and transmission using wireless communication especially in a vehicular broadcast environment, due to transmission errors caused by fading, packet collision, etc. In this letter, we propose an image transmission technique based on compressed sensing. Through computer simulations, we show that our proposed technique can achieve stable image reconstruction despite frequent packet error.

Vehicles' speed is one of the key factors in vehicle travel efficiency, as speed is related to vehicle travel time, travel safety, fuel consumption, and exhaust gas emissions (e.g., CO2 emissions). Therefore, to improve the travel efficiency, a recommended speed calculation scheme is proposed to assist driving in Vehicle Ad hoc networks (VANETs) circumstances. In the proposed scheme, vehicles' current speed and space headway are obtained by Vehicle-to-Roadside unit (V2R) communication and Vehicle-to-Vehicle (V2V) communication. Based on the vehicles' current speed and adjacent vehicles' space headway, a recommended speed is calculated by on-board units installed in the vehicles, and then this recommended speed is provided to drivers. The drivers can change their speed to the recommended speed. At the recommended speed, vehicle travel efficiency can be improved: vehicles can arrive at destinations in a shorter travel time with fewer stop times, lower fuel consumption, and less CO2 emission. In particular, when approaching intersections, vehicles can pass through the intersections with less red light waiting time and a higher non-stop passing rate.

This paper reports an advanced millimeter-wave radar system to enable detection of vehicles and pedestrians in wide areas around the radar site such as an intersection. We focus on a pulse coding scheme using complementary codes to reduce range sidelobe for discriminating vehicles from pedestrians with high accuracy. In order to suppress sidelobe increase created by RF circuit imperfections, a π/2 shift pulse modulation method with a complementary code pair cycle is presented. Moreover, in order to improve the angular resolution, a high-resolution direction of arrival estimation involving Tx beam scanning is presented. Experiments on a prototype confirm its range sidelobe suppression exceeds 40dB and its angular resolution is 5° for two human's separation at the distance of about 10m in an anechoic chamber. In a trial intersection experiment, a pedestrian detection rate of 95% was achieved at the false alarm rate of 10% in the range from 5m to 40m. The results prove the system's feasibility for future automotive safety application.