A Learning-Based Framework for Two-Dimensional Vehicle Maneuver Prediction over V2V Networks

Situational awareness in vehicular networks could be substantially improved utilizing reliable trajectory prediction methods. More precise situational awareness, in turn, results in notably better performance of critical safety applications, such as Forward Collision Warning (FCW), as well as comfort applications like Cooperative Adaptive Cruise Control (CACC). Therefore, vehicle trajectory prediction problem needs to be deeply investigated in order to come up with an end to end framework with enough precision required by the safety applications' controllers. This problem has been tackled in the literature using different methods. However, machine learning, which is a promising and emerging field with remarkable potential for time series prediction, has not been explored enough for this purpose. In this paper, a two-layer neural network-based system is developed which predicts the future values of vehicle parameters, such as velocity, acceleration, and yaw rate, in the first layer and then predicts the two-dimensional, i.e. longitudinal and lateral, trajectory points based on the first layer's outputs. The performance of the proposed framework has been evaluated in realistic cut-in scenarios from Safety Pilot Model Deployment (SPMD) dataset and the results show a noticeable improvement in the prediction accuracy in comparison with the kinematics model which is the dominant employed model by the automotive industry. Both ideal and nonideal communication circumstances have been investigated for our system evaluation. For non-ideal case, an estimation step is included in the framework before the parameter prediction block to handle the drawbacks of packet drops or sensor failures and reconstruct the time series of vehicle parameters at a desirable frequency

Performance analysis with network-enhanced complexities: On fading measurements, event-triggered mechanisms, and cyber attacks

Copyright © 2014 Derui Ding et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.Nowadays, the real-world systems are usually subject to various complexities such as parameter uncertainties, time-delays, and nonlinear disturbances. For networked systems, especially large-scale systems such as multiagent systems and systems over sensor networks, the complexities are inevitably enhanced in terms of their degrees or intensities because of the usage of the communication networks. Therefore, it would be interesting to (1) examine how this kind of network-enhanced complexities affects the control or filtering performance; and (2) develop some suitable approaches for controller/filter design problems. In this paper, we aim to survey some recent advances on the performance analysis and synthesis with three sorts of fashionable network-enhanced complexities, namely, fading measurements, event-triggered mechanisms, and attack behaviors of adversaries. First, these three kinds of complexities are introduced in detail according to their engineering backgrounds, dynamical characteristic, and modelling techniques. Then, the developments of the performance analysis and synthesis issues for various networked systems are systematically reviewed. Furthermore, some challenges are illustrated by using a thorough literature review and some possible future research directions are highlighted.This work was supported in part by the National Natural Science Foundation of China under Grants 61134009, 61329301, 61203139, 61374127, and 61374010, the Royal Society of the UK, and the Alexander von Humboldt Foundation of Germany

Altered functional connectivity within the central reward network in overweight and obese women.

Background/objectivesNeuroimaging studies in obese subjects have identified abnormal activation of key regions of central reward circuits, including the nucleus accumbens (NAcc), in response to food-related stimuli. We aimed to examine whether women with elevated body mass index (BMI) show structural and resting state (RS) functional connectivity alterations within regions of the reward network.Subjects/methodsFifty healthy, premenopausal women, 19 overweight and obese (high BMI=26-38 kg m(-2)) and 31 lean (BMI=19-25 kg m(-2)) were selected from the University of California Los Angeles' Oppenheimer Center for Neurobiology of Stress database. Structural and RS functional scans were collected. Group differences in grey matter volume (GMV) of the NAcc, oscillation dynamics of intrinsic brain activity and functional connectivity of the NAcc to regions within the reward network were examined.ResultsGMV of the left NAcc was significantly greater in the high BMI group than in the lean group (P=0.031). Altered frequency distributions were observed in women with high BMI compared with lean group in the left NAcc (P=0.009) in a medium-frequency (MF) band, and in bilateral anterior cingulate cortex (ACC) (P=0.014, <0.001) and ventro-medial prefrontal cortex (vmPFC) (P=0.034, <0.001) in a high-frequency band. Subjects with high BMI had greater connectivity of the left NAcc with bilateral ACC (P=0.024) and right vmPFC (P=0.032) in a MF band and with the left ACC (P=0.03) in a high frequency band.ConclusionsOverweight and obese women in the absence of food-related stimuli show significant structural and functional alterations within regions of reward-related brain networks, which may have a role in altered ingestive behaviors