Citation

Xia X, Meng Z, Han X, Li H, Tsukiji T, Xu R, Zheng Z, Ma J. Transp. Res. C Emerg. Technol. 2023; 151: e104120.

Copyright

(Copyright © 2023, Elsevier Publishing)

DOI

10.1016/j.trc.2023.104120

PMID

unavailable

Abstract

In this paper, an automated driving system (ADS) data acquisition and analytics platform for vehicle trajectory extraction, reconstruction, and evaluation based on connected automated vehicle (CAV) cooperative perception are presented. This platform presents a holistic pipeline from the raw advanced sensory data collection to data processing, which is capable of processing the sensor data from multi-CAVs and extracting the objects' Identity (ID) number, position, speed, and orientation information in the map and Frenet coordinates. First, the ADS data acquisition and analytics platform are presented. Specifically, the experimental CAVs platform and sensor configuration are shown, and the processing software, including a deep-learning-based object detection algorithm using LiDAR information, a late fusion scheme to leverage cooperative perception to fuse the detected objects from multi-CAVs, and a multi-object tracking method is introduced. To further enhance the object detection and tracking results, high-definition maps consisting of point cloud and vector maps are generated and forwarded to a world model to filter out the objects off the road and extract the objects' coordinates in Frenet coordinates and the lane information. In addition, to refine trajectories from the object tracking algorithms, a post-processing method is proposed. Given the objects' information from the object detection and tracking and the world model, a Kalman filter and Chi-square test method are applied to reduce the noise and remove the outlier in the trajectories. Aiming at tackling the ID switch issue of the object tracking algorithm, a fuzzy-logic-based approach is proposed to detect the discontinuous trajectories belonging to the same object. Then, a vehicle-kinematics-based trajectory prediction method is used, and a forward-backward-smoothing technique is applied to reconstruct the trajectory between the discontinuous trajectories. Finally, results, including object detection and tracking and a late fusion scheme, are presented, and the improvements by the post-processing algorithm in terms of noise level and outlier removal are discussed, which confirm the functionality and effectiveness of the proposed holistic data collection and processing platform. In another aspect, the extracted objects' information and generated HD maps can be used for several purposes in the transportation research community and ADS development community: analyzing the interaction between human-driven vehicles and ADS-equipped vehicles, car-following behavior analysis of ADS-equipped vehicles, traffic flow status analysis and modeling, and scenario generation for ADS testing.

Language: en

Keywords

Automated driving system; Connected autonomous vehicles; Cooperative perception; Object detection and tracking; Trajectory reconstruction