Deep Predictive Models for Collision Risk Assessment in Autonomous Driving

In this paper, we investigate a predictive approach for collision risk assessment in autonomous and assisted driving. A deep predictive model is trained to anticipate imminent accidents from traditional video streams. In particular, the model learns to identify cues in RGB images that are predictive of hazardous upcoming situations. In contrast to previous work, our approach incorporates (a) temporal information during decision making, (b) multi-modal information about the environment, as well as the proprioceptive state and steering actions of the controlled vehicle, and (c) information about the uncertainty inherent to the task. To this end, we discuss Deep Predictive Models and present an implementation using a Bayesian Convolutional LSTM. Experiments in a simple simulation environment show that the approach can learn to predict impending accidents with reasonable accuracy, especially when multiple cameras are used as input sources.Comment: 8 pages, 4 figure

Safety Evaluation Using Counterfactual Simulations: The use of computational driver behavior models in crash avoidance systems and virtual simulations with optimal subsampling

Traffic safety is a problem worldwide. In-vehicle conflict and crash avoidance systems have been under development and assessment for some time, as integral parts of Advanced Driver Assistance Systems (ADAS) and Automated Driving Systems (ADS). Among the methods used to assess conflict and crash avoidance systems developed by the automotive industry, virtual safety assessment methods have been shown to have great potential and efficiency. In fact, scenario generation-based virtual safety assessments play—and are likely to continue to play—a very important role in the assessments of vehicles of all levels of automation. The ultimate aim of this thesis is to improve the safety performance of conflict and crash avoidance systems. This aim is addressed through the use of computational driver models in two different ways. First, by using comfort-zone boundaries in system design, and second, by using a behavior-based crash-causation model together with a novel optimized scenario generation method for virtual safety assessment.The first objective of this thesis is to investigate how a driver model which includes road users’ comfortable behaviors in crash avoidance algorithms impacts the systems’ safety performance and the residual crash characteristics. Chinese car-to-two-wheeler crashes were targeted; Automated Emergency Braking (AEB) algorithms, which comprised the proposed crash avoidance systems, were compared to a traditional AEB algorithm. The proposed algorithms showed larger safety performance benefits. In addition, the similarities in residual crash characteristics regarding impact speed and location after different AEB implementations can potentially simplify the designs of in-crash protection system in future.The second objective is to develop and apply a method for efficient subsampling in crash-causation-model-based scenario generation for virtual safety assessment. The method, which is machine-learning-assisted, actively and iteratively updates the sampling probability based on new simulation results. The crash-causation model is based on off-road glances and a distribution of driver maximum decelerations in critical situations. A simple time-to-collision-based AEB algorithm was used to demonstrate the assessment process as well as the benefits of combining crash-causation-model-based scenario generation and optimal subsampling. The sampling methods are designed to target specific safety benefit indicators, such as impact speed reduction and crash avoidance rate. The results of the study show that the proposed sampling method requires almost 50% fewer simulations than traditional importance sampling.Future work aims to focus on applying the active sampling method to driver-model-based car-to-vulnerable road user (VRU) scenario generation. In addition to assessing conflict and crash avoidance system performance, a novel stopping criterion based on Bayesian future prediction will be further developed and demonstrated for use in experiments (e.g., as part of developing driver models) and virtual simulations (e.g., using driver-behavior-based crash-causation models). This criterion will be able to indicate when studies are unlikely to yield actionable results within the budget available, facilitating the decision to discontinue them while they are being run

A Learning-based Stochastic MPC Design for Cooperative Adaptive Cruise Control to Handle Interfering Vehicles

Vehicle to Vehicle (V2V) communication has a great potential to improve reaction accuracy of different driver assistance systems in critical driving situations. Cooperative Adaptive Cruise Control (CACC), which is an automated application, provides drivers with extra benefits such as traffic throughput maximization and collision avoidance. CACC systems must be designed in a way that are sufficiently robust against all special maneuvers such as cutting-into the CACC platoons by interfering vehicles or hard braking by leading cars. To address this problem, a Neural- Network (NN)-based cut-in detection and trajectory prediction scheme is proposed in the first part of this paper. Next, a probabilistic framework is developed in which the cut-in probability is calculated based on the output of the mentioned cut-in prediction block. Finally, a specific Stochastic Model Predictive Controller (SMPC) is designed which incorporates this cut-in probability to enhance its reaction against the detected dangerous cut-in maneuver. The overall system is implemented and its performance is evaluated using realistic driving scenarios from Safety Pilot Model Deployment (SPMD).Comment: 10 pages, Submitted as a journal paper at T-I

Multi-level Safety Performance Functions For High Speed Facilities

High speed facilities are considered the backbone of any successful transportation system; Interstates, freeways, and expressways carry the majority of daily trips on the transportation network. Although these types of roads are relatively considered the safest among other types of roads, they still experience many crashes, many of which are severe, which not only affect human lives but also can have tremendous economical and social impacts. These facts signify the necessity of enhancing the safety of these high speed facilities to ensure better and efficient operation. Safety problems could be assessed through several approaches that can help in mitigating the crash risk on long and short term basis. Therefore, the main focus of the research in this dissertation is to provide a framework of risk assessment to promote safety and enhance mobility on freeways and expressways. Multi-level Safety Performance Functions (SPFs) were developed at the aggregate level using historical crash data and the corresponding exposure and risk factors to identify and rank sites with promise (hot-spots). Additionally, SPFs were developed at the disaggregate level utilizing real-time weather data collected from meteorological stations located at the freeway section as well as traffic flow parameters collected from different detection systems such as Automatic Vehicle Identification (AVI) and Remote Traffic Microwave Sensors (RTMS). These disaggregate SPFs can identify real-time risks due to turbulent traffic conditions and their interactions with other risk factors. In this study, two main datasets were obtained from two different regions. Those datasets comprise historical crash data, roadway geometrical characteristics, aggregate weather and traffic parameters as well as real-time weather and traffic data. iii At the aggregate level, Bayesian hierarchical models with spatial and random effects were compared to Poisson models to examine the safety effects of roadway geometrics on crash occurrence along freeway sections that feature mountainous terrain and adverse weather. At the disaggregate level; a main framework of a proactive safety management system using traffic data collected from AVI and RTMS, real-time weather and geometrical characteristics was provided. Different statistical techniques were implemented. These techniques ranged from classical frequentist classification approaches to explain the relationship between an event (crash) occurring at a given time and a set of risk factors in real time to other more advanced models. Bayesian statistics with updating approach to update beliefs about the behavior of the parameter with prior knowledge in order to achieve more reliable estimation was implemented. Also a relatively recent and promising Machine Learning technique (Stochastic Gradient Boosting) was utilized to calibrate several models utilizing different datasets collected from mixed detection systems as well as real-time meteorological stations. The results from this study suggest that both levels of analyses are important, the aggregate level helps in providing good understanding of different safety problems, and developing policies and countermeasures to reduce the number of crashes in total. At the disaggregate level, real-time safety functions help toward more proactive traffic management system that will not only enhance the performance of the high speed facilities and the whole traffic network but also provide safer mobility for people and goods. In general, the proposed multi-level analyses are useful in providing roadway authorities with detailed information on where countermeasures must be implemented and when resources should be devoted. The study also proves that traffic data collected from different detection systems could be a useful asset that should be utilized iv appropriately not only to alleviate traffic congestion but also to mitigate increased safety risks. The overall proposed framework can maximize the benefit of the existing archived data for freeway authorities as well as for road users

Influential factors associated with consecutive crash severity: A two-level logistic modeling approach

A consecutive crash series is composed by a primary crash and one or more subsequent secondary crashes that occur immediately within a certain distance. The crash mechanism of a consecutive crash series is distinctive, as it is different from common primary and secondary crashes mainly caused by queuing effects and chain-reaction crashes that involve multiple collisions in one crash. It commonly affects a large area of road space and possibly causes congestions and significant delays in evacuation and clearance. This study identified the influential factors determining the severity of primary and secondary crashes in a consecutive crash series. Basic, random-effects, random-parameters, and two-level binary logistic regression models were established based on crash data collected on the freeway network of Guizhou Province, China in 2018, of which 349 were identified as consecutive crashes. According to the model performance metrics, the two-level logistic model outperformed the other three models. On the crash level, double-vehicle primary crash had a negative association with the severity of secondary consecutive crashes, and the involvement of trucks in the secondary consecutive crash had a positive contribution to its crash severity. On a road segment level, speed limit, traffic volume, tunnel, and extreme weather conditions such as rainy and cloudy days had positive effects on consecutive crash severity, while the number of lanes was negatively associated with consecutive crash severity. Policy suggestions are made to alleviate the severity of consecutive crashes by reminding the drivers with real-time potential hazards of severe consecutive crashes and providing educative programs to specific groups of drivers

Temporospatial Context-Aware Vehicular Crash Risk Prediction

With the demand for more vehicles increasing, road safety is becoming a growing concern. Traffic collisions take many lives and cost billions of dollars in losses. This explains the growing interest of governments, academic institutions and companies in road safety. The vastness and availability of road accident data has provided new opportunities for gaining a better understanding of accident risk factors and for developing more effective accident prediction and prevention regimes. Much of the empirical research on road safety and accident analysis utilizes statistical models which capture limited aspects of crashes. On the other hand, data mining has recently gained interest as a reliable approach for investigating road-accident data and for providing predictive insights. While some risk factors contribute more frequently in the occurrence of a road accident, the importance of driver behavior, temporospatial factors, and real-time traffic dynamics have been underestimated. This study proposes a framework for predicting crash risk based on historical accident data. The proposed framework incorporates machine learning and data analytics techniques to identify driving patterns and other risk factors associated with potential vehicle crashes. These techniques include clustering, association rule mining, information fusion, and Bayesian networks. Swarm intelligence based association rule mining is employed to uncover the underlying relationships and dependencies in collision databases. Data segmentation methods are employed to eliminate the effect of dependent variables. Extracted rules can be used along with real-time mobility to predict crashes and their severity in real-time. The national collision database of Canada (NCDB) is used in this research to generate association rules with crash risk oriented subsequents, and to compare the performance of the swarm intelligence based approach with that of other association rule miners. Many industry-demanding datasets, including road-accident datasets, are deficient in descriptive factors. This is a significant barrier for uncovering meaningful risk factor relationships. To resolve this issue, this study proposes a knwoledgebase approximation framework to enhance the crash risk analysis by integrating pieces of evidence discovered from disparate datasets capturing different aspects of mobility. Dempster-Shafer theory is utilized as a key element of this knowledgebase approximation. This method can integrate association rules with acceptable accuracy under certain circumstances that are discussed in this thesis. The proposed framework is tested on the lymphography dataset and the road-accident database of the Great Britain. The derived insights are then used as the basis for constructing a Bayesian network that can estimate crash likelihood and risk levels so as to warn drivers and prevent accidents in real-time. This Bayesian network approach offers a way to implement a naturalistic driving analysis process for predicting traffic collision risk based on the findings from the data-driven model. A traffic incident detection and localization method is also proposed as a component of the risk analysis model. Detecting and localizing traffic incidents enables timely response to accidents and facilitates effective and efficient traffic flow management. The results obtained from the experimental work conducted on this component is indicative of the capability of our Dempster-Shafer data-fusion-based incident detection method in overcoming the challenges arising from erroneous and noisy sensor readings

Optimal Variable Speed Limit Control Strategy on Freeway Segments under Fog Conditions

Fog is a critical external factor that threatens traffic safety on freeways. Variable speed limit (VSL) control can effectively harmonize vehicle speed and improve safety. However, most existing weather-related VSL controllers are limited to adapt to the dynamic traffic environment. This study developed optimal VSL control strategy under fog conditions with fully consideration of factors that affect traffic safety risks. The crash risk under fog conditions was estimated using a crash risk prediction model based on Bayesian logistic regression. The traffic flow with VSL control was simulated by a modified cell transmission model (MCTM). The optimal factors of VSL control were obtained by solving an optimization problem that coordinated safety and mobility with the help of the genetic algorithm. An example of I-405 in California, USA was designed to simulate and evaluate the effects of the proposed VSL control strategy. The optimal VSL control factors under fog conditions were compared with sunny conditions, and different placements of VSL signs were evaluated. Results showed that the optimal VSL control strategy under fog conditions changed the speed limit more cautiously. The VSL control under fog conditions in this study effectively reduced crash risks without significantly increasing travel time, which is up to 37.15% reduction of risks and only 0.48% increase of total travel time. The proposed VSL control strategy is expected to be of great use in the development of VSL systems to enhance freeway safety under fog conditions

DATA-DRIVEN BAYESIAN METHOD-BASED TRAFFIC CRASH DRIVER INJURY SEVERITY FORMULATION, ANALYSIS, AND INFERENCE

Traffic crashes have resulted in significant cost to society in terms of life and economic losses, and comprehensive examination of crash injury outcome patterns is of practical importance. By inferring the parameters of interest from prior information and studied datasets, Bayesian models are efficient methods in data analysis with more accurate results, but their applications in traffic safety studies are still limited. By examining the driver injury severity patterns, this research is proposed to systematically examine the applicability of Bayesian methods in traffic crash driver injury severity prediction in traffic crashes. In this study, three types of Bayesian models are defined: hierarchical Bayesian regression model, Bayesian non-regression model and knowledge-based Bayesian non-parametric model, and a conceptual framework is developed for selecting the appropriate Bayesian model based on discrete research purposes. Five Bayesian models are applied accordingly to test their effectiveness in traffic crash driver injury severity prediction and variable impact estimation: hierarchical Bayesian binary logit model, hierarchical Bayesian ordered logit model, hierarchical Bayesian random intercept model with cross-level interactions, multinomial logit (MNL)-Bayesian Network (BN) model, and decision table/na\xefve Bayes (DTNB) model. A complete dataset containing all crashes occurring on New Mexico roadways in 2010 and 2011 is used for model analyses. The studied dataset is composed of three major sub-datasets: crash dataset, vehicle dataset and driver dataset, and all included variables are therefore divided into two hierarchical levels accordingly: crash-level variables and vehicle/driver variables. From all these five models, the model performance and analysis results have shown promising performance on injury severity prediction and variable influence analysis, and these results underscore the heterogeneous impacts of these significant variables on driver injury severity outcomes. The performances of these models are also compared among these methods or with traditional traffic safety models. With the analyzed results, tentative suggestions regarding countermeasures and further research efforts to reduce crash injury severity are proposed. The research results enhance the understandings of the applicability of Bayesian methods in traffic safety analysis and the mechanisms of crash injury severity outcomes, and provide beneficial inference to improve safety performance of the transportation system