Graph-Based Interaction-Aware Multimodal 2D Vehicle Trajectory Prediction using Diffusion Graph Convolutional Networks

Predicting vehicle trajectories is crucial for ensuring automated vehicle operation efficiency and safety, particularly on congested multi-lane highways. In such dynamic environments, a vehicle's motion is determined by its historical behaviors as well as interactions with surrounding vehicles. These intricate interactions arise from unpredictable motion patterns, leading to a wide range of driving behaviors that warrant in-depth investigation. This study presents the Graph-based Interaction-aware Multi-modal Trajectory Prediction (GIMTP) framework, designed to probabilistically predict future vehicle trajectories by effectively capturing these interactions. Within this framework, vehicles' motions are conceptualized as nodes in a time-varying graph, and the traffic interactions are represented by a dynamic adjacency matrix. To holistically capture both spatial and temporal dependencies embedded in this dynamic adjacency matrix, the methodology incorporates the Diffusion Graph Convolutional Network (DGCN), thereby providing a graph embedding of both historical states and future states. Furthermore, we employ a driving intention-specific feature fusion, enabling the adaptive integration of historical and future embeddings for enhanced intention recognition and trajectory prediction. This model gives two-dimensional predictions for each mode of longitudinal and lateral driving behaviors and offers probabilistic future paths with corresponding probabilities, addressing the challenges of complex vehicle interactions and multi-modality of driving behaviors. Validation using real-world trajectory datasets demonstrates the efficiency and potential

VommaNet: an End-to-End Network for Disparity Estimation from Reflective and Texture-less Light Field Images

The precise combination of image sensor and micro-lens array enables lenslet light field cameras to record both angular and spatial information of incoming light, therefore, one can calculate disparity and depth from light field images. In turn, 3D models of the recorded objects can be recovered, which is a great advantage over other imaging system. However, reflective and texture-less areas in light field images have complicated conditions, making it hard to correctly calculate disparity with existing algorithms. To tackle this problem, we introduce a novel end-to-end network VommaNet to retrieve multi-scale features from reflective and texture-less regions for accurate disparity estimation. Meanwhile, our network has achieved similar or better performance in other regions for both synthetic light field images and real-world data compared to the state-of-the-art algorithms. Currently, we achieve the best score for mean squared error (MSE) on HCI 4D Light Field Benchmark

Geometric instability of graph neural networks on large graphs

We analyse the geometric instability of embeddings produced by graph neural networks (GNNs). Existing methods are only applicable for small graphs and lack context in the graph domain. We propose a simple, efficient and graph-native Graph Gram Index (GGI) to measure such instability which is invariant to permutation, orthogonal transformation, translation and order of evaluation. This allows us to study the varying instability behaviour of GNN embeddings on large graphs for both node classification and link prediction

A Driving Risk Surrogate and Its Application in Car-Following Scenario at Expressway

Traffic safety is important in reducing death and building a harmonious society. In addition to studies of accident incidences, the perception of driving risk is significant in guiding the implementation of appropriate driving countermeasures. Risk assessment can be conducted in real-time for traffic safety due to the rapid development of communication technology and computing capabilities. This paper aims at the problems of difficult calibration and inconsistent thresholds in the existing risk assessment methods. It proposes a risk assessment model based on the potential field to quantify the driving risk of vehicles. Firstly, virtual energy is proposed as an attribute considering vehicle sizes and velocity. Secondly, the driving risk surrogate(DRS) is proposed based on potential field theory to describe the risk degree of vehicles. Risk factors are quantified by establishing submodels, including an interactive vehicle risk surrogate, a restrictions risk surrogate, and a speed risk surrogate. To unify the risk threshold, acceleration for implementation guidance is derived from the risk field strength. Finally, a naturalistic driving dataset in Nanjing, China, is selected, and 3063 pairs of following naturalistic trajectories are screened out. Based on that, the proposed model and other models use for comparisons are calibrated through the improved particle optimization algorithm. Simulations prove that the proposed model performs better than other algorithms in risk perception and response, car-following trajectory, and velocity estimation. In addition, the proposed model exhibits better car-following ability than existing car-following models

A Framework with Improved Heuristics to Optimize Low-Latency Implementations of Linear Layers

In recent years, lightweight cryptography has been a hot field in symmetric cryptography. One of the most crucial problems is to find low-latency implementations of linear layers. The current main heuristic search methods include the Boyar-Peralta (BP) algorithm with depth limit and the backward search. In this paper we firstly propose two improved BP algorithms with depth limit mainly by minimizing the Euclidean norm of the new distance vector instead of maximizing it in the tie-breaking process of the BP algorithm. They can significantly increase the potential for finding better results. Furthermore, we give a new framework that combines forward search with backward search to expand the search space of implementations, where the forward search is one of the two improved BP algorithms. In the new framework, we make a minor adjustment of the priority of rules in the backward search process to enable the exploration of a significantly larger search space. As results, we find better results for the most of matrices studied in previous works. For example, we find an implementation of AES MixColumns of depth 3 with 99 XOR gates, which represents a substantial reduction of 3 XOR gates compared to the existing record of 102 XOR gates

A novel adaptive function-dual Kalman filtering strategy for online battery model parameters and state of charge co-estimation.

This paper aims to improve the stability and robustness of the state-of-charge estimation algorithm for lithium-ion batteries. A new internal resistance-polarization circuit model is constructed on the basis of the Thevenin equivalent circuit to characterize the difference in internal resistance between charge and discharge. The extended Kalman filter is improved through adding an adaptive noise tracking algorithm and the Kalman gain in the unscented Kalman filter algorithm is improved by introducing a dynamic equation. In addition, for benignization of outliers of the two above mentioned algorithms, a new dual Kalman algorithm is proposed in this paper by adding a transfer function and through weighted mutation. The model and algorithm accuracy is verified through working condition experiments. The result shows that: the errors of the three algorithms are all maintained within 0.8% during the initial period and middle stages of the discharge; the maximum error of the improved extension of Kalman algorithm is over 1.5%, that of improved unscented Kalman increases to 5%, and the error of the new dual Kalman algorithm is still within 0.4% during the latter period of the discharge. This indicates that the accuracy and robustness of the new dual Kalman algorithm is better than those of traditional algorithm

Online full-parameter identification and SOC estimation of lithium-ion battery pack based on composite electrochemical-dual circuit polarization modeling.

A new composite electrochemistry-dual circuit polarization model (E-DCP) is proposed by combining the advantages of various electrochemical empirical models in this paper. Then, the multi-innovation least squares (MILS) algorithm is used to perform online full parameter identification for the E-DCP model in order to improve data usage efficiency and parameter identification accuracy. In addition, on the basis of the E-DCP model, the MILS and the extended Kalman filter (EKF) are combined to enhance the state estimation accuracy of the battery management system (BMS). Finally, the model and the algorithm are both verified through urban dynamometer driving schedule (UDDS) and the complex charge-discharge loop test. The results indicate that the accuracy of E-DCP is relatively high under different working conditions, and the errors of state of charge (SOC) estimation after the combination of MILS and EKF are all within 2.2%. This lays a concrete foundation for practical use of the BMS in the future