Imitating Driver Behavior with Generative Adversarial Networks

The ability to accurately predict and simulate human driving behavior is critical for the development of intelligent transportation systems. Traditional modeling methods have employed simple parametric models and behavioral cloning. This paper adopts a method for overcoming the problem of cascading errors inherent in prior approaches, resulting in realistic behavior that is robust to trajectory perturbations. We extend Generative Adversarial Imitation Learning to the training of recurrent policies, and we demonstrate that our model outperforms rule-based controllers and maximum likelihood models in realistic highway simulations. Our model both reproduces emergent behavior of human drivers, such as lane change rate, while maintaining realistic control over long time horizons.Comment: 8 pages, 6 figure

Heteroscedastic Gaussian processes for uncertainty modeling in large-scale crowdsourced traffic data

Accurately modeling traffic speeds is a fundamental part of efficient intelligent transportation systems. Nowadays, with the widespread deployment of GPS-enabled devices, it has become possible to crowdsource the collection of speed information to road users (e.g. through mobile applications or dedicated in-vehicle devices). Despite its rather wide spatial coverage, crowdsourced speed data also brings very important challenges, such as the highly variable measurement noise in the data due to a variety of driving behaviors and sample sizes. When not properly accounted for, this noise can severely compromise any application that relies on accurate traffic data. In this article, we propose the use of heteroscedastic Gaussian processes (HGP) to model the time-varying uncertainty in large-scale crowdsourced traffic data. Furthermore, we develop a HGP conditioned on sample size and traffic regime (SRC-HGP), which makes use of sample size information (probe vehicles per minute) as well as previous observed speeds, in order to more accurately model the uncertainty in observed speeds. Using 6 months of crowdsourced traffic data from Copenhagen, we empirically show that the proposed heteroscedastic models produce significantly better predictive distributions when compared to current state-of-the-art methods for both speed imputation and short-term forecasting tasks.Comment: 22 pages, Transportation Research Part C: Emerging Technologies (Elsevier

Doctor of Philosophy

dissertationAs the nation's traffic system becomes more congested for various periods of the day, more research in the area of intelligent transportation systems is needed. Traditional solutions of adding more highways and widening the existing system are not feasible anymore due to rapidly increasing demand and lack of room for expansion. The national interest is therefore focused on congestion mitigation methods that promote efficient use of existing infrastructure. Some of the key aspects of congestion management techniques include Intelligent Transportation Systems (ITS) elements. These ITS elements can play a role in drivers' interaction, route choice, and traffic controls. Combined Traffic Assignment and Control (CTAC) framework-based models can capture the ITS elements- based control-driver interaction in traffic systems. The CTAC method has been the topic of scientific research for the last three decades. Several solution algorithms, model formulations, and implementation efforts have been well documented. Although proven in research, the use of the combined traffic assignment and control modeling framework is rare in practice. Typically, the engineering practice tends to keep Traffic Assignment and Control Optimization processes separate. By doing so, the control-driver interaction in the traffic system is ignored. Previous research found that CTAC models could capture the control-driver interaction and the combined modeling framework should be used in practice

Short-term Demand Forecasting for Online Car-hailing Services using Recurrent Neural Networks

Short-term traffic flow prediction is one of the crucial issues in intelligent transportation system, which is an important part of smart cities. Accurate predictions can enable both the drivers and the passengers to make better decisions about their travel route, departure time and travel origin selection, which can be helpful in traffic management. Multiple models and algorithms based on time series prediction and machine learning were applied to this issue and achieved acceptable results. Recently, the availability of sufficient data and computational power, motivates us to improve the prediction accuracy via deep-learning approaches. Recurrent neural networks have become one of the most popular methods for time series forecasting, however, due to the variety of these networks, the question that which type is the most appropriate one for this task remains unsolved. In this paper, we use three kinds of recurrent neural networks including simple RNN units, GRU and LSTM neural network to predict short-term traffic flow. The dataset from TAP30 Corporation is used for building the models and comparing RNNs with several well-known models, such as DEMA, LASSO and XGBoost. The results show that all three types of RNNs outperform the others, however, more simple RNNs such as simple recurrent units and GRU perform work better than LSTM in terms of accuracy and training time.Comment: arXiv admin note: text overlap with arXiv:1706.06279, arXiv:1804.04176 by other author

Survivability modeling for cyber-physical systems subject to data corruption

Cyber-physical critical infrastructures are created when traditional physical infrastructure is supplemented with advanced monitoring, control, computing, and communication capability. More intelligent decision support and improved efficacy, dependability, and security are expected. Quantitative models and evaluation methods are required for determining the extent to which a cyber-physical infrastructure improves on its physical predecessors. It is essential that these models reflect both cyber and physical aspects of operation and failure. In this dissertation, we propose quantitative models for dependability attributes, in particular, survivability, of cyber-physical systems. Any malfunction or security breach, whether cyber or physical, that causes the system operation to depart from specifications will affect these dependability attributes. Our focus is on data corruption, which compromises decision support -- the fundamental role played by cyber infrastructure. The first research contribution of this work is a Petri net model for information exchange in cyber-physical systems, which facilitates i) evaluation of the extent of data corruption at a given time, and ii) illuminates the service degradation caused by propagation of corrupt data through the cyber infrastructure. In the second research contribution, we propose metrics and an evaluation method for survivability, which captures the extent of functionality retained by a system after a disruptive event. We illustrate the application of our methods through case studies on smart grids, intelligent water distribution networks, and intelligent transportation systems. Data, cyber infrastructure, and intelligent control are part and parcel of nearly every critical infrastructure that underpins daily life in developed countries. Our work provides means for quantifying and predicting the service degradation caused when cyber infrastructure fails to serve its intended purpose. It can also serve as the foundation for efforts to fortify critical systems and mitigate inevitable failures --Abstract, page iii