The path inference filter: model-based low-latency map matching of probe vehicle data

We consider the problem of reconstructing vehicle trajectories from sparse sequences of GPS points, for which the sampling interval is between 10 seconds and 2 minutes. We introduce a new class of algorithms, called altogether path inference filter (PIF), that maps GPS data in real time, for a variety of trade-offs and scenarios, and with a high throughput. Numerous prior approaches in map-matching can be shown to be special cases of the path inference filter presented in this article. We present an efficient procedure for automatically training the filter on new data, with or without ground truth observations. The framework is evaluated on a large San Francisco taxi dataset and is shown to improve upon the current state of the art. This filter also provides insights about driving patterns of drivers. The path inference filter has been deployed at an industrial scale inside the Mobile Millennium traffic information system, and is used to map fleets of data in San Francisco, Sacramento, Stockholm and Porto.Comment: Preprint, 23 pages and 23 figure

A Simple Baseline for Travel Time Estimation using Large-Scale Trip Data

The increased availability of large-scale trajectory data around the world provides rich information for the study of urban dynamics. For example, New York City Taxi Limousine Commission regularly releases source-destination information about trips in the taxis they regulate. Taxi data provide information about traffic patterns, and thus enable the study of urban flow -- what will traffic between two locations look like at a certain date and time in the future? Existing big data methods try to outdo each other in terms of complexity and algorithmic sophistication. In the spirit of "big data beats algorithms", we present a very simple baseline which outperforms state-of-the-art approaches, including Bing Maps and Baidu Maps (whose APIs permit large scale experimentation). Such a travel time estimation baseline has several important uses, such as navigation (fast travel time estimates can serve as approximate heuristics for A search variants for path finding) and trip planning (which uses operating hours for popular destinations along with travel time estimates to create an itinerary).Comment: 12 page

Arriving on time: estimating travel time distributions on large-scale road networks

Most optimal routing problems focus on minimizing travel time or distance traveled. Oftentimes, a more useful objective is to maximize the probability of on-time arrival, which requires statistical distributions of travel times, rather than just mean values. We propose a method to estimate travel time distributions on large-scale road networks, using probe vehicle data collected from GPS. We present a framework that works with large input of data, and scales linearly with the size of the network. Leveraging the planar topology of the graph, the method computes efficiently the time correlations between neighboring streets. First, raw probe vehicle traces are compressed into pairs of travel times and number of stops for each traversed road segment using a `stop-and-go' algorithm developed for this work. The compressed data is then used as input for training a path travel time model, which couples a Markov model along with a Gaussian Markov random field. Finally, scalable inference algorithms are developed for obtaining path travel time distributions from the composite MM-GMRF model. We illustrate the accuracy and scalability of our model on a 505,000 road link network spanning the San Francisco Bay Area

Unveiling E-bike potential for commuting trips from GPS traces

Common goals of sustainable mobility approaches are to reduce the need for travel, to facilitate modal shifts, to decrease trip distances and to improve energy efficiency in the transportation systems. Among these issues, modal shift plays an important role for the adoption of vehicles with fewer or zero emissions. Nowadays, the electric bike (e-bike) is becoming a valid alternative to cars in urban areas. However, to promote modal shift, a better understanding of the mobility behaviour of e-bike users is required. In this paper, we investigate the mobility habits of e-bikers using GPS data collected in Belgium from 2014 to 2015. By analysing more than 10,000 trips, we provide insights about e-bike trip features such as: distance, duration and speed. In addition, we offer a deep look into which routes are preferred by bike owners in terms of their physical characteristics and how weather influences e-bike usage. Results show that trips with higher travel distances are performed during working days and are correlated with higher average speeds. Usage patterns extracted from our data set also indicate that e-bikes are preferred for commuting (home-work) and business (work related) trips rather than for recreational trips

Agile Autonomous Driving using End-to-End Deep Imitation Learning

We present an end-to-end imitation learning system for agile, off-road autonomous driving using only low-cost sensors. By imitating a model predictive controller equipped with advanced sensors, we train a deep neural network control policy to map raw, high-dimensional observations to continuous steering and throttle commands. Compared with recent approaches to similar tasks, our method requires neither state estimation nor on-the-fly planning to navigate the vehicle. Our approach relies on, and experimentally validates, recent imitation learning theory. Empirically, we show that policies trained with online imitation learning overcome well-known challenges related to covariate shift and generalize better than policies trained with batch imitation learning. Built on these insights, our autonomous driving system demonstrates successful high-speed off-road driving, matching the state-of-the-art performance.Comment: 13 pages, Robotics: Science and Systems (RSS) 201