Search Results (1,154)

Vehicle-to-everything (V2X) communication is a fundamental technology in the development of intelligent transportation systems, encompassing vehicle-to-vehicle (V2V), infrastructure (V2I), and pedestrian (V2P) communications. This technology enables connected and autonomous vehicles (CAVs) to interact with their surroundings, significantly enhancing road safety, traffic efficiency, and driving comfort. However, as V2X communication becomes more widespread, it becomes a prime target for adversarial and persistent cyberattacks, posing significant threats to the security and privacy of CAVs. These challenges are compounded by the dynamic nature of vehicular networks and the stringent requirements for real-time data processing and decision-making. Much research is on using novel technologies such as machine learning, blockchain, and cryptography to secure V2X communications. Our survey highlights the security challenges faced by V2X communications and assesses current ML and blockchain-based solutions, revealing significant gaps and opportunities for improvement. Specifically, our survey focuses on studies integrating ML, blockchain, and multi-access edge computing (MEC) for low latency, robust, and dynamic security in V2X networks. Based on our findings, we outline a conceptual framework that synergizes ML, blockchain, and MEC to address some of the identified security challenges. This integrated framework demonstrates the potential for real-time anomaly detection, decentralized data sharing, and enhanced system scalability. The survey concludes by identifying future research directions and outlining the remaining challenges for securing V2X communications in the face of evolving threats. Full article

Target detection is essential in intelligent transportation and autonomous control of unmanned aerial vehicles (UAVs), with single-stage detection algorithms used widely due to their speed. However, these algorithms face limitations in detecting small targets, especially in aerial photography from unmanned aerial vehicles (UAVs), where small targets are often occluded, multi-scale semantic information is easily lost, and there is a trade-off between real-time processing and computational resources. Existing algorithms struggle to effectively extract multi-dimensional features and deep semantic information from images and to balance detection accuracy with model complexity. To address these limitations, we developed FFG-YOLO, a lightweight small-target detection method for UAVs based on YOLOv8. FFG-YOLO incorporates three modules: a feature enhancement block (FEB), a feature concat block (FCB), and a global context awareness block (GCAB). These modules strengthen feature extraction from small targets, resolve semantic bias in multi-scale feature fusion, and help differentiate small targets from complex backgrounds. We also improved the positioning accuracy of small targets using the Wasserstein distance loss function. Experiments showed that FFG-YOLO outperformed other algorithms, including YOLOv8n, in small-target detection due to its lightweight nature, meeting the stringent real-time performance and deployment requirements of UAVs. Full article

The accelerating integration of electric vehicles (EVs) into contemporary transportation infrastructure has underscored significant limitations in traditional charging paradigms, particularly in accommodating heterogeneous user requirements within dynamic operational environments. This study presents a differentiated optimization framework for EV charging strategies through the systematic classification of user types. A multidimensional decision-making environment is established for three representative user categories—residential, commercial, and industrial—by synthesizing time-variant electricity pricing models with dynamic carbon emission pricing mechanisms. A bi-level optimization architecture is subsequently formulated, leveraging deep reinforcement learning (DRL) to capture user-specific demand characteristics through customized reward functions and adaptive constraint structures. Validation is conducted within a high-fidelity simulation environment featuring 90 autonomous EV charging agents operating in a metropolitan parking facility. Empirical results indicate that the proposed typology-driven approach yields a 32.6% average cost reduction across user groups relative to baseline charging protocols, with statistically significant improvements in expenditure optimization (p < 0.01). Further interpretability analysis employing gradient-weighted class activation mapping (Grad-CAM) demonstrates that the model’s attention mechanisms are well aligned with theoretically anticipated demand prioritization patterns across the distinct user types, thereby confirming the decision-theoretic soundness of the framework. Full article

This study proposes an intelligent patrol planning framework that leverages reinforcement learning, spatiotemporal crime forecasting, and simulated sensor telemetry to optimize autonomous vehicle (AV) navigation in urban environments. Crime incidents from Washington DC (2024–2025) and Seattle (2008–2024) are modeled as a dynamic spatiotemporal graph, capturing the evolving intensity and distribution of criminal activity across neighborhoods and time windows. The agent’s state space incorporates synthetic AV sensor inputs—including fuel level, visual anomaly detection, and threat signals—to reflect real-world operational constraints. We evaluate and compare three learning strategies: Deep Q-Network (DQN), Double Deep Q-Network (DDQN), and Proximal Policy Optimization (PPO). Experimental results show that DDQN outperforms DQN in convergence speed and reward accumulation, while PPO demonstrates greater adaptability in sensor-rich, high-noise conditions. Real-map simulations and hourly risk heatmaps validate the effectiveness of our approach, highlighting its potential to inform scalable, data-driven patrol strategies in next-generation smart cities. Full article

Transportation is often cited as a significant barrier to healthcare access by Veterans, particularly those from minority groups, who have disabilities, or live in rural areas. Autonomous shuttles (AS) offer a potential solution, yet limited research has explored Veterans’ experiences with this technology. This study qualitatively investigated Veterans’ lived experiences with AS through focus groups, enrolling participants aged 18+ from Gainesville, The Villages, and Lake Nona, Florida. Via a directed content analysis, six key themes were identified: Perceived Benefits, Safety, Experience with Autonomous Vehicles (AV), AS Experience, AV Adoption, and Perception Change. Among 26 participants (aged 30–85; 77% men; 88% urban residents), prominent themes included Safety (n = 161), Perceived Benefits (n = 153), and AS Experience (n = 118), with predominantly positive counts in all themes except AS Experience. Participants acknowledged safety advantages and multitasking potential of AS over human-operated vehicles while recommending improvements to the shuttle’s slow speed, availability and convenience. While the AS ride was positively received overall, some participants noted issues with comfort and braking, emphasizing the need for further technological enhancements. Real-world exposure to AS appeared to influence acceptance positively, offering insights for policymakers and industry stakeholders aiming to optimize AS deployment for mobility-vulnerable Veterans. Full article

Autonomous vehicles (AVs) have emerged as a promising sustainable urban mobility solution, expected to lead to enhanced road safety, smoother traffic flows, less traffic congestion, improved accessibility, better energy utilization and environmental performance, as well as more efficient passenger and freight transportation, in terms of time and cost, due to better fleet management and platooning. However, challenges also arise, mostly related to data privacy, security and cyber-security, high acquisition and infrastructure costs, accident liability, even possible increased traffic congestion and air pollution due to induced travel demand. This paper presents the results of a survey conducted among 654 residents who experienced an autonomous bus (AB) service in the city of Trikala, Greece, in order to assess their willingness to use (WTU) and willingness to pay (WTP) for ABs, through testing a range of factors based on a literature review. Results useful to policy-makers were extracted, such as that the intention to use ABs was mostly shaped by psychological factors (e.g., users’ perceptions of usefulness and safety, and trust in the service provider), while WTU seemed to be positively affected by previous experience in using ABs. In contrast, sociodemographic factors were found to have very little effect on the intention to use ABs, while apart from personal utility, users’ perceptions of how autonomous driving will improve the overall life standards in the study area also mattered. Full article

Suspension bridges, as a type of long-span bridge, usually have a larger longitudinal displacement at the end of the beam (LDBD). LDBD can be used to evaluate the safety of bridge components at the end of the beam. However, due to factors such as sensor failure and system maintenance, LDBD in the bridge health monitoring system is often missing. Therefore, this study reconstructs the missing part of LDBD based on the long short-term memory network (LSTM) and various data. Specifically, first, the monitoring data that may be related to LDBD in a suspension bridge is analyzed, and the temperature and beam end rotation angle data (RDBD) at representative locations are selected. Then, the temperature data at different places of the bridge are used as the input of the LSTM model to compare and analyze the prediction effect of LDBD. Next, RDBD is used as the input of the LSTM model to observe the prediction effect of LDBD. Finally, temperature and RDBD are used as the input of the LSTM model to observe whether the prediction effect of the LSTM model is improved. The results show that compared with other parts of the bridge, the prediction effect of the temperature inside the box girder in the main span as the model input is better; when RDBD is used as the input of the LSTM model, it is better than the prediction effect of temperature as the model input; temperature and RDBD have higher prediction accuracy when used as the input of the LSTM model together than when used separately as the input of the LSTM model. Full article

The integration of autonomous vehicles (AVs) into urban transportation systems has significant potential to enhance traffic efficiency and reduce environmental impacts. This study evaluates the impact of different AV penetration scenarios (0%, 10%, 30%, 50%) on traffic performance and carbon emissions along Prince Mohammed bin Salman bin Abdulaziz Road in Riyadh, Saudi Arabia. Using microscopic simulation (SUMO) based on real-world datasets, we assess key performance indicators such as travel time, stop frequency, speed, and CO₂ emissions. Results indicate notable improvements with increasing AV deployment, including up to 25.5% reduced travel time and 14.6% lower emissions at 50% AV penetration. Coordinated AV behavior was approximated using adjusted simulation parameters and Python-based APIs, effectively modeling vehicle-to-vehicle (V2V), vehicle-to-infrastructure (V2I), and vehicle-to-network (V2N) communications. These findings highlight the benefits of harmonized AV–human vehicle interactions, providing a scalable and data-driven framework applicable to smart urban mobility planning. Full article

The establishment and management of nature reserves play a crucial role in protecting biodiversity and supporting sustainable agriculture. This study focuses on 2538 nature reserves in 22 provinces, 5 autonomous regions and 4 municipalities directly under the central government in mainland China. Integrating GIS spatial statistics, imbalance index, and geodetector models, we reveal critical insights: (1) Pronounced spatial inequity is observed, where a small number of eastern provinces dominate the total reserve count, highlighting significant regional disparities in ecological resource allocation. The sparse kernel density in western regions, indicating sparse reserve coverage. The Standard Deviation Ellipse highlights directional dispersion and human-ecological conflicts in high-density zones. (2) Key sustainability indicators driving reserve distribution include: total water resources, water resources per capita, forest area. (3) The spatial distribution of China’s nature reserves, along with factors such as altitude, river distribution, and transportation infrastructure, plays a crucial role in their development. This research provides theoretical support for the scientific planning and policy-making of nature reserves in China and offers practical guidance for optimizing and adjusting sustainable agricultural development. The study emphasizes the vital functions of nature reserves in maintaining ecosystem balance, enhancing regional climate resilience, and serving as biodiversity reservoirs. This research offers strategic insights for integrating nature reserve spatial planning with sustainable agricultural development policies, providing a scientific basis for optimizing the eco-agricultural interface in China. Full article

Autonomous vehicles (AVs) hold the potential to revolutionize transportation by improving safety, operational efficiency, and environmental impact. However, ensuring reliability and safety in real-world conditions remains a major challenge. Based on an in-depth examination of 33 peer-reviewed studies (2015–2025), this systematic review organizes advancements across five key domains: fault detection and diagnosis (FDD), collision avoidance and decision making, system reliability and resilience, validation and verification (V&V), and safety evaluation. It integrates both hardware- and software-level perspectives, with a focus on emerging techniques such as Bayesian behavior prediction, uncertainty-aware control, and set-based fault detection to enhance operational robustness. Despite these advances, this review identifies persistent challenges, including limited cross-layer fault modeling, lack of formal verification for learning-based components, and the scarcity of scenario-driven validation datasets. To address these gaps, this paper proposes future directions such as verifiable machine learning, unified fault propagation models, digital twin-based reliability frameworks, and cyber-physical threat modeling. This review offers a comprehensive reference for developing certifiable, context-aware, and fail-operational autonomous driving systems, contributing to the broader goal of ensuring safe and trustworthy AV deployment. Full article

Background: As intelligent systems increasingly operate in high-risk environments, understanding how they perceive and respond to hazards is critical for ensuring safety. Methods: In this study, we conduct a comparative analysis of 60 real-world accident reports, 30 from process control systems (PCSs) and 30 from autonomous vehicles (AVs), to examine differences in risk triggers, perception paradigms, and interaction failures between humans and artificial intelligence (AI). Results: Our findings reveal that PCS risks are predominantly internal to the system and detectable through deterministic, rule-based mechanisms, whereas AVs’ risks are externally driven and managed via probabilistic, multi-modal sensor fusion. More importantly, despite these architectural differences, both domains exhibit recurring human–AI interaction failures, including over-reliance on automation, mode confusion, and delayed intervention. In the case of PCSs, these failures are historically tied to human–automation interaction; this article extrapolates these patterns to anticipate potential human–AI interaction challenges as AI adaptation increases. Conclusions: This study highlights the need for a hybrid risk perception framework and improved human-centered design to enhance situational awareness and responsiveness. While AI has not yet been implemented in PCS incident studies, this work interprets human–automation failures in these cases as indicative of potential challenges in human–AI interaction that may arise in future AI-integrated process systems. Implications extend to developing safer intelligent systems across industrial and transportation sectors. Full article

Accurate geospatial data are essential for intelligent transportation systems and automated reporting applications, as location precision directly impacts safety analysis and decision-making. GPS devices are now routinely employed by law enforcement officers when filing vehicle crash reports, yet our investigation reveals that significant data quality issues persist. The high apparent precision of GPS coordinates belies their actual accuracy as we find that approximately 20% of crash sites need correction—results consistent with existing research. To address this challenge, we present a novel credibility scoring and correction algorithm that leverages a state-of-the-art multimodal large language model (LLM) capable of integrated visual and textual reasoning. Our framework synthesizes information from structured coordinates, crash diagrams, and narrative text, employing advanced artificial intelligence techniques for comprehensive geospatial validation. In addition to the LLM, our system incorporates open geospatial data from Overture Maps, an emerging collaborative mapping initiative, to enhance the spatial accuracy and robustness of the validation process. This solution was developed as part of research leading to a patent for autonomous vehicle routing systems that require high-precision crash location data. Applied to a dataset of 5000 crash reports, our approach systematically identifies records with location discrepancies requiring correction. By uniting the latest developments in multimodal AI and open geospatial data, our solution establishes a foundation for intelligent data validation in electronic reporting systems, with broad implications for automated infrastructure management and autonomous vehicle applications. Full article

Collaboration between autonomous vehicles and drones can enhance the efficiency and connectivity of three-dimensional transportation systems. When satellite signals are unavailable, vehicles can achieve accurate localization by matching rich ground environmental data to digital maps, simultaneously providing the auxiliary localization information for drones. However, conventional digital maps suffer from high construction costs, easy misalignment, and low localization accuracy. Thus, this paper proposes a visual point cloud map (VPCM) construction and matching localization for autonomous vehicles. We fuse multi-source information from vehicle-mounted sensors and the regional road network to establish the geographically high-precision VPCM. In the absence of satellite signals, we segment the prior VPCM on the road network based on real-time localization results, which accelerates matching speed and reduces mismatch probability. Simultaneously, by continuously introducing matching constraints of real-time point cloud and prior VPCM through improved iterative closest point matching method, the proposed solution can effectively suppress the drift error of the odometry and output accurate fusion localization results based on pose graph optimization theory. The experiments carried out on the KITTI datasets demonstrate the effectiveness of the proposed method, which can autonomously construct the high-precision prior VPCM. The localization strategy achieves sub-meter accuracy and reduces the average error per frame by 25.84% compared to similar methods. Subsequently, this method’s reusability and localization robustness under light condition changes and environment changes are verified using the campus dataset. Compared to the similar camera-based method, the matching success rate increased by 21.15%, and the average localization error decreased by 62.39%. Full article

This research focuses on enhancing cooperative localization for heterogeneous mobile robots composed of a quadcopter and an unmanned ground vehicle. The study employs sensor fusion techniques, particularly the Extended Kalman Filter, to fuse data from various sensors, including GPSs, IMUs, and cameras. By integrating these sensors and optimizing fusion strategies, the research aims to improve the precision and reliability of cooperative localization in complex and dynamic environments. The primary objective is to develop a practical framework for cooperative localization that addresses the challenges posed by the differences in mobility and sensing capabilities among heterogeneous robots. Sensor fusion is used to compensate for the limitations of individual sensors, providing more accurate and robust localization results. Moreover, a comparative analysis of different sensor combinations and fusion strategies helps to identify the optimal configuration for each robot. This research focuses on the improvement of cooperative localization, path planning, and collaborative tasks for heterogeneous robots. The findings have broad applications in fields such as autonomous transportation, agricultural operation, and disaster response, where the cooperation of diverse robotic platforms is crucial for mission success. Full article

Steel lazy wave risers (SLWRs) are critical in offshore hydrocarbon transport for linking subsea wells to floating production facilities in deep-water environments. The incorporation of buoyancy modules reduces curvature-induced stress concentrations in the touchdown zone (TDZ); however, extended operational exposure under cyclic environmental and operational loads results in repeated seabed contact. This repeated interaction modifies the seabed soil over time, gradually forming a trench and altering the riser configuration, which significantly impacts stress patterns and contributes to fatigue degradation. Accurately reconstructing the riser’s evolving profile in the TDZ is essential for reliable fatigue life estimation and structural integrity evaluation. This study proposes a simulation-based framework for the autonomous tracking of SLWRs using a fin-actuated autonomous underwater vehicle (AUV) equipped with a monocular camera and multibeam echosounder. By fusing visual and acoustic data, the system continuously estimates the AUV’s relative position concerning the riser. A dedicated image processing pipeline, comprising bilateral filtering, edge detection, Hough transform, and K-means clustering, facilitates the extraction of the riser’s centerline and measures its displacement from nearby objects and seabed variations. The framework was developed and validated in the underwater unmanned vehicle (UUV) Simulator, a high-fidelity underwater robotics and pipeline inspection environment. Simulated scenarios included the riser’s dynamic lateral and vertical oscillations, in which the system demonstrated robust performance in capturing complex three-dimensional trajectories. The resulting riser profiles can be integrated into numerical models incorporating riser–soil interaction and non-linear hysteretic behavior, ultimately enhancing fatigue prediction accuracy and informing long-term infrastructure maintenance strategies. Full article