Decision-making and planning are the core aspects of autonomous driving systems. These factors are crucial for improving the safety, driving experience, and travel efficiency of autonomous vehicles. Intersections are crucial nodes in urban road traffic networks. The objective of this study is to comprehensively review the latest issues and research progress in decision-making and planning for autonomous vehicles in intersection environments. This paper reviews the research progress in the behavioral prediction of traffic participants in terms of machine learning-based behavioral prediction, probabilistic model behavioral prediction, and mixed-method behavioral prediction. Then, behavioral decision-making is divided into reactive decision-making, learning decision-making, and interactive decision-making, each of which is analyzed. Finally, a comparative analysis of motion planning and its applications is performed from a methodological viewpoint, including search, sampling, and numerical methods. First, key issues and major research progress related to end-to-end decision-making and path planning are summarized and analyzed. Second, the impact of decision-making and path planning on the intelligence level of autonomous vehicles in intersecting environments is discussed. Finally, future development trends and technical challenges are outlined.

A Review of Decision-Making and Planning for Autonomous Vehicles in Intersection Environments

Data mining approach to explore emergency vehicle crash patterns: A comparative study of crash severity in emergency and non-emergency response modes.

Many northern hemisphere countries have experienced exceptionally heavy snow, blizzards, and cold snaps in recent years, causing considerable public concern about the high crash rate and safety issues in road traffic. This study used the CarSim dynamics simulation to recreate several vehicle driving scenarios in snow and ice conditions. To explore the influence of speed, curve radius, and road adhesion coefficient on vehicle sideslip and rollover, four lateral stability evaluation indicators, namely lateral offset, lateral acceleration, yaw rate, and roll angle, are chosen. Unfavorable combinations of these factors result in vehicle deviation from their intended trajectory and dramatically increase the likelihood of sideslip and rollover incidents. In particular, road adhesion coefficients ranging from 0.10 to 0.20 lead first to sideslip, while coefficients of 0.21 to 0.35 lead straight to rollover. Additionally, in the initial segment of the curve, cars are more susceptible to lateral instability. Curve radius has the greatest influence on sideslip when the three influencing factors are combined, while speed is the key component affecting rollover incidents. Smaller curve radii and higher speeds are major factors in such incidents. The results are helpful for proper road alignment parameter selection and dynamic speed-limit measures. This can provide a theoretical basis for traffic management departments to take targeted measures, which is of great significance to improving road traffic safety in snowy and icy weather.

Influence of Snowy and Icy Weather on Vehicle Sideslip and Rollover: A Simulation Approach

Asphalt mastic is the most important binder in asphalt mixtures and its rheology is inevitably influenced by the mineral aggregates. Due to the little consideration that has been paid to aggregates’ effects, the rheological properties of mastic films have not been accurately characterized for the present method. Therefore, this study aimed to investigate the rheological characteristics of mastic affected by mineral aggregates and reveal its fundamental mechanism of interfacial interaction. The results suggest that the aggregates increased the stiffness and toughness of mastic within the linear and nonlinear viscoelastic regions. The mastic on limestone had a higher linear viscoelastic modulus than that on basalt below 35 °C, and its ratio reached up to 1.18. However, the modulus of the mastic on basalt surpassed that on limestone by over 50 °C, and the maximum ratio reached 2.17. The mastic in contact with the limestone had a higher failure strain and failure modulus than that in contact with the basalt, the ratios of which reached 1.60 and 1.32, respectively. The macrorheological characteristics are closely related to the nanostructures and intermolecular interactions of bitumen–mineral systems. The coexistence of a stable bitumen nanostructure and an adsorbed layer on the calcite substrate provided a strong bonding energy and high resistance to external shear deformation, leading to the high stiffness and toughness of the limestone. Abundant metal ions from augite and albite diffused into the bitumen layer and destroyed its nanostructure, decreasing the stability of the mastic–basalt interface system. The non-bond energy of bitumen-calcite was 14.15% higher than that of bitumen-albite, and the ratio of shear stress of the bitumen-calcite to the bitumen-albite reached up to 6.8. Therefore, the calcite in limestone reinforced the bitumen, and the augite and albite in basalt destroyed the bitumen colloidal structure. This provides a fundamental understanding of the rheological characterization of mastic on mineral aggregates.

/pdf/stiffening-and-toughening-of-asphalt-mastic-induced-by-24y299cc.pdf

Stiffening and Toughening of Asphalt Mastic Induced by Bitumen–Mineral Selective Molecular Adsorption and Nanostructural Reconstruction

The change of space environment at the tunnel entrance which the light changes from bright to dark will lead to frequent traffic accidents. To explore whether the connected vehicle environment will improve the driving performance and traffic safety at the tunnel entrance, this paper first of all designed a driving simulation experiment and provided driving aids through the Human-Machine Interface (HMI). Then 35 drivers were invited to take a driving simulation under two different driving conditions: traditional driving environment (HMI-OFF) and connected vehicle environment (HMI-ON). Finally, the effectiveness and safety of HMI can be evaluated from two aspects of driver response efficiency and deceleration process, and further explore the causes of driving behavior changes by Cox model. The results show that the driver’s response efficiency and deceleration behavior are both improved in the connected vehicle environment. The warning information provided by in-vehicle HMI enables the driver to know the road conditions ahead earlier and adjust the speed through more gentle acceleration so that the vehicle can enter the tunnel at a more stable speed. At the same time, there are significant differences in the brake-movement time of different driving ages, which the brake-movement time increases with the driving age. This indicates that experienced drivers usually adopt a soft way to adjust the speed, so that the vehicle speed change process is more stable on the premise of ensuring driving safety, so as to avoid the potential danger brought by drastic speed change. In this paper, a validity evaluation method based on survival analysis is proposed for tunnel entrance scenarios, which provides a reference for the realization of connected vehicle evaluation. 

Evaluation of the Connected Vehicle Environment Effectiveness at Tunnel Entrance

The asphalt mastic–aggregate interaction plays an important role in the overall properties of asphalt mixtures and their durability in service in flexible pavements. This paper aims to study the influence of the physico-chemical features of fillers and the rheological properties of asphalt mastics on the bonding behavior between asphalt and aggregate, and the interfacial deterioration mechanism when subjected to static water immersion and pressured water immersion. It was found that the filler type (limestone powder, basalt powder, and granite powder) had a certain influence on the complex modulus of asphalt mastics, and its pore volume and specific surface area had significant effects on the phase angles and permeability of asphalt mastics. The effect of water pressure can accelerate the deterioration of bond strength of the asphalt mastic–aggregate interface in the short term, indicating that the dynamic water pressure generated by the driving load promotes the water damage process in asphalt pavements. In comparison, the residual bond strength ratio of the granite–asphalt mastic aggregate was the highest, while its bond strength was lower than that of the interface between limestone–asphalt mastics and limestone aggregate. This demonstrated that a low asphalt mastic complex modulus and a high phase angle are helpful in improving the durability of asphalt mixtures subjected to static and pressured water immersion conditions.

/pdf/influence-of-filler-type-and-rheological-properties-of-30sgiypp.pdf

Influence of Filler Type and Rheological Properties of Asphalt Mastic on the Asphalt Mastic–Aggregate Interaction

Road traffic safety can be ensured by preventing and controlling the potential risks in road traffic operations. The relevant literature was systematically reviewed to identify the research context and status quo in the road traffic operation risk prevention and control field and identify the key study contents needing further research. As research material, the related English and Chinese literature published between 1996 and 2021 (as of 31st December 2021) was obtained through the Web of Science Core Collection and Chinese Science Citation Database. These research materials include 22,403 English and 7876 Chinese papers. Based on the bibliometrics, this study used CiteSpace software to conduct keyword co-occurrence analysis in the field. The results show that the relevant research topics mainly covered the risks of drivers, vehicles, roads, and the traffic environment. In the aspect of driver risks, the studies focused on driving behavior characteristics. In terms of vehicle risks, the related studies were mainly about the vehicle control system, driving assistance system, hazardous material transportation, automated driving technology, safe driving speed, and vehicle collision prediction. For the road risks, the safe driving guarantee of high-risk road sections, driving risks at intersections, and safe road alignment design were the three study hotspots. In terms of traffic environment risks, identifying traffic risk locations and driving safety guarantees under adverse weather conditions were the two main research highlights. Moreover, mathematical modeling was the main method for studying road traffic operation risk. Furthermore, the impact of environmental factors on drivers, the emergency rescue system for road traffic accidents, the connection between automated driving technology and safe driving theory, and the man–machine hybrid traffic flow characteristics are the subjects needing further research.

/pdf/review-of-research-on-road-traffic-operation-risk-prevention-l6y61qum.pdf

Review of Research on Road Traffic Operation Risk Prevention and Control

Roadway multi-fatality crashes have always been a vital issue for traffic safety. This study aims to explore the contributory factors and interdependent characteristics of multi-fatality crashes using a novel framework combining association rules mining and rules graph structures. A case study is conducted using data from 1068 severe fatal crashes in China from 2015 to 2020, and 1452 interesting rules are generated using an association rule mining approach. Several modular rules graph structures are constructed based on graph theory to reflect the interactions and patterns between different variables. The results indicate that multi-fatality crashes are highly associated with improper operations, passenger overload, fewer lanes, mountainous terrain, and run-off-the-road crashes, representing the key variables of factors concerning driver, vehicle, road, environment, and accident, respectively. Furthermore, crashes involving different severity levels, road categories, and terrain are verified to possess unique association rules and independent crash patterns. Moreover, the proportion of severe crashes caused by a combination of human-vehicle-road-environment factors (43%) is much higher than that of normal crashes (3%). This study reveals that the hidden associations between various factors contribute to the overrepresentation and severity of multi-fatality crashes. It also demonstrates that the crash mechanisms involving multi-fatality crashes and their interactions are more complex at the system level than those for normal crashes. The proposed framework can effectively map the intrinsic link between multiple crash factors and potential risks, providing transportation agencies with helpful insights for targeted safety measures and preventive strategies.

/pdf/multivariate-analysis-of-roadway-multi-fatality-crashes-1rsdcy6u.pdf

Multivariate analysis of roadway multi-fatality crashes using association rules mining and rules graph structures: A case study in China

The extent to which drivers’ collision avoidance maneuvers affect the safety margins of sideslip and rollover is not captured by road geometric design theory. To quantify the effects of drivers’ collision avoidance maneuvers on the safety margins of sport utility vehicles (SUVs) on horizontal curve and grade combinations, a modified 8-degree-of-freedom multibody model based on SUVs was developed. The model was then used to calculate the design safety margins of sideslip and rollover for steady states and the actual safety margins for collision avoidance maneuvers. Subsequently, the design safety margin reduction rate (the difference between the design and actual safety margins divided by the design safety margin) was calculated and used to assess the safety margins. The results showed that the safety margins of SUVs were significantly reduced by braking, lane changing, and lane changing with braking. The marginal effects indicated that the greater the deceleration and the shorter the lane change duration, the greater the effect on the safety margins, particularly the sideslip safety margin. Furthermore, when the SUV was driven at 80 km·h−1 on grades with a horizontal curve radius of 270 m and 400 m, the sideslip safety margin with emergency braking (deceleration over −4.5 m·s−2) was reduced by 71% and 21%, and the rollover safety margin was reduced by 11% and 5%, respectively. Under these conditions, an emergency lane change (lane change duration less than 2 s) caused the SUV to sideslip and reduced the rollover safety margin by 47% (curve radius 270 m) and 45% (curve radius 400 m). Therefore, drivers’ collision avoidance maneuvers are a factor that cannot be neglected in alignment design.

/pdf/why-do-drivers-collision-avoidance-maneuvers-tend-to-cause-uaqy7x6p.pdf

Why Do Drivers’ Collision Avoidance Maneuvers Tend to Cause SUVs to Sideslip or Rollover on Horizontal Curve and Grade Combinations?—An Analysis of the Causes Based on a Modified Multibody Dynamics Model

The Effects of Suv Drivers' Risk Avoidance Behaviors on the Safety Performance of Horizontal Curve and Grade Combinations on Expressways

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