Search Results (44)

A large number of vulnerable road users such as pedestrians continue to be injured or killed in road accidents every year, and active safety systems such as automatic emergency braking systems are expected to improve the situation. However, automatic emergency braking systems for pedestrians have been tested in a variety of real-world scenarios. The purpose of this paper is to obtain typical P-AEB test scenarios that can reflect the real and collision scenarios through real pedestrian–vehicle crash data. By using the k-means clustering algorithm based on local outlier detection, the intersection data and the straight-road data are clustered and analyzed separately, with five types of typical P-AEB straight-road test scenarios and seven types of typical P-AEB intersection test scenarios. By comparing with the existing test protocols, the test scenarios proposed in this paper have good coverage and authenticity, and can play a guiding role in the construction of specific P-AEB system test scenarios. Full article

The intricate layout of underground mine tunnels and the operation of large-scale mining equipment create extensive blind zones, leading to an average of 17 personnel collision accidents per 100,000 working hours in China’s metal mines. To tackle this issue, we constructed a specialized Jinchuan Underground Mining Personnel Dataset covering intersecting tunnels and long straight tunnels, with precise bounding box annotations for personnel locations under varying illumination and dust conditions. We propose the Attention-Augmented PointPillars for Enhanced Mining Personnel Detection. Incorporating Recursive Gated Convolutions into the feature extraction network enables long-range modeling and higher-order spatial interactions. Moreover, the pyramidal design in gⁿ Conv with channel width gradually increasing during spatial interactions enhances the model’s efficiency in processing complex spatial information. Additionally, a Channel and Spatial Attention module integrating spatial and channel attention feature fusion strengthens feature expression via multiple weighting mechanisms. Field tests in Jinchuan underground mine show optimal performance with a batch size of 8, a learning rate of 0.003, and a spatial interaction order of 5, achieving 3% higher accuracy than the original network. Furthermore, comparisons with mainstream methods on the Underground Personnel Dataset confirm our method’s state-of-the-art performance. Full article

Urban intersections are critical nodes for roadway safety, congestion management, and autonomous vehicle coordination. Traditional traffic control systems based on fixed-time signals and static sensors lack adaptability to real-time risks such as red-light violations, near-miss incidents, and multimodal conflicts. This study presents a grid-enabled framework integrating computer vision and machine learning to enhance real-time intersection intelligence and road safety. The system overlays a computational grid on the roadway, processes live video feeds, and extracts dynamic parameters including vehicle trajectories, deceleration patterns, and queue evolution. A novel active learning module improves detection accuracy under low visibility and occlusion, reducing false alarms in collision and violation detection. Designed for edge-computing environments, the framework interfaces with signal controllers to enable adaptive signal timing, proactive collision avoidance, and emergency vehicle prioritization. Case studies from multiple intersections typical of US cities show improved phase utilization, reduced intersection conflicts, and enhanced throughput. A grid-based heatmap visualization highlights spatial risk zones, supporting data-driven decision-making. The proposed framework bridges static infrastructure and intelligent mobility systems, advancing safer, smarter, and more connected roadway operations. Full article

The deterioration of civil infrastructure poses a significant threat to public safety, yet conventional manual inspections remain subjective, labor-intensive, and constrained by accessibility. To address these challenges, this paper presents a real-time robotic inspection system that integrates deep learning perception and autonomous navigation. The proposed framework employs a two-stage neural network: a U-Net for initial segmentation followed by a Pix2Pix conditional generative adversarial network (GAN) that utilizes adversarial residual learning to refine boundary accuracy and suppress false positives. When deployed on an Unmanned Ground Vehicle (UGV) equipped with an RGB-D camera and LiDAR, this framework enables simultaneous automated crack detection and collision-free autonomous navigation. Evaluated on the CrackSeg9k dataset, the two-stage model achieved a mean Intersection over Union (mIoU) of 73.9 ± 0.6% and an F1-score of 76.4 ± 0.3%. Beyond benchmark testing, the robotic system was further validated through simulation, laboratory experiments, and real-world campus hallway tests, successfully detecting micro-cracks as narrow as 0.3 mm. Collectively, these results demonstrate the system’s potential for robust, autonomous, and field-deployable infrastructure inspection. Full article

Hashes are vital in limiting the spread of child sexual abuse material online, yet their use introduces unresolved technical, legal, and ethical challenges. This paper bridges a critical gap by analyzing both cryptographic and perceptual hashing, not only in terms of detection capabilities, but also their vulnerabilities and implications for privacy governance. Unlike prior work, it reframes CSAM detection as a multidimensional issue, at the intersection of cybersecurity, data protection law, and digital ethics. Three key contributions are made: first, a comparative evaluation of hashing techniques, revealing weaknesses, such as susceptibility to media edits, collision attacks, hash inversion, and data leakage; second, a call for standardized benchmarks and interoperable evaluation protocols to assess system robustness; and third, a legal argument that perceptual hashes qualify as personal data under EU law, with implications for transparency and accountability. Ethically, the paper underscores the tension faced by service providers in balancing user privacy with the duty to detect CSAM. It advocates for detection systems that are not only technically sound, but also legally defensible and ethically governed. By integrating technical analysis with legal insight, this paper offers a comprehensive framework for evaluating CSAM detection, within the broader context of digital safety and privacy. Full article

With the recent 5G communication technology deployment, Cellular Vehicle-to-Everything (C-V2X) significantly enhances road safety by enabling real-time exchange of critical traffic information among vehicles, pedestrians, infrastructure, and networks. However, further research is required to address real-time application latency and communication reliability challenges. This paper explores integrating cutting-edge C-V2X technology with environmental perception systems to enhance safety at intersections and crosswalks. We propose a multi-module architecture combining C-V2X with state-of-the-art perception technologies, GPS mapping methods, and the client–server module to develop a co-operative perception system for collision avoidance. The proposed system includes the following: (1) a hardware setup for C-V2X communication; (2) an advanced object detection module leveraging Deep Neural Networks (DNNs); (3) a client–server-based co-operative object detection framework to overcome computational limitations of edge computing devices; and (4) a module for mapping GPS coordinates of detected objects, enabling accurate and actionable GPS data for collision avoidance—even for detected objects not equipped with C-V2X devices. The proposed system was evaluated through real-time experiments at the GMMRC testing track at Kettering University. Results demonstrate that the proposed system enhances safety by broadcasting critical obstacle information with an average latency of 9.24 milliseconds, allowing for rapid situational awareness. Furthermore, the proposed system accurately provides GPS coordinates for detected obstacles, which is essential for effective collision avoidance. The technology integration in the proposed system offers high data rates, low latency, and reliable communication, which are key features that make it highly suitable for C-V2X-based applications. Full article

Accurate boundary detection is critical for autonomous trackless rubber-wheeled vehicles in underground coal mines, as it prevents lateral collisions with tunnel walls. Unlike open-road environments, underground tunnels suffer from poor illumination, water mist, and dust, which degrade visual imaging. To address these challenges, this paper proposes a navigable area computation for underground autonomous vehicles via ground feature and boundary processing, consisting of three core steps. First, a real-time point cloud correction process via pre-correction and dynamic update aligns ground point clouds with the LiDAR coordinate system to ensure parallelism. Second, corrected point clouds are projected onto a 2D grid map using a grid-based method, effectively mitigating the impact of ground unevenness on boundary extraction; third, an adaptive boundary completion method is designed to resolve boundary discontinuities in junctions and shunting chambers. Additionally, the method emphasizes continuous extraction of boundaries over extended periods by integrating temporal context, ensuring the continuity of boundary detection during vehicle operation. Experiments on real underground vehicle data validate that the method achieves accurate detection and consistent tracking of dual-sided boundaries across straight tunnels, curves, intersections, and shunting chambers, meeting the requirements of underground autonomous driving. This work provides a rule-based, real-time solution feasible under limited computing power, offering critical safety redundancy when deep learning methods fail in harsh underground environments. Full article

Traditional collision risk warning methods primarily focus on vehicle-to-vehicle collisions, neglecting conflicts between vehicles and vulnerable road users (VRUs) such as pedestrians, while the difficulty in predicting pedestrian trajectories further limits the accuracy of collision warnings. To address this problem, this study proposes a vehicle-to-everything-based (V2X) multi-fusion vehicle–pedestrian collision warning method, aiming to enhance the traffic safety protection for VRUs. First, Unmanned Aerial Vehicle aerial imagery combined with the YOLOv7 and DeepSort algorithms is utilized to achieve target detection and tracking at unsignalized intersections, thereby constructing a vehicle–pedestrian interaction trajectory dataset. Subsequently, key foundational modules for collision warning are developed, including the vehicle trajectory module, the pedestrian trajectory module, and the risk detection module. The vehicle trajectory module is based on a kinematic model, while the pedestrian trajectory module adopts an Attention-based Social GAN (AS-GAN) model that integrates a generative adversarial network with a soft attention mechanism, enhancing prediction accuracy through a dual-discriminator strategy involving adversarial loss and displacement loss. The risk detection module applies an elliptical buffer zone algorithm to perform dynamic spatial collision determination. Finally, a collision warning framework based on the Monte Carlo (MC) method is developed. Multiple sampled pedestrian trajectories are generated by applying Gaussian perturbations to the predicted mean trajectory and combined with vehicle trajectories and collision determination results to identify potential collision targets. Furthermore, the driver perception–braking time (TTM) is incorporated to estimate the joint collision probability and assist in warning decision-making. Simulation results show that the proposed warning method achieves an accuracy of 94.5% at unsignalized intersections, outperforming traditional Time-to-Collision (TTC) and braking distance models, and effectively reducing missed and false warnings, thereby improving pedestrian traffic safety at unsignalized intersections. Full article

The automatic identification of traffic collisions is an emerging topic in modern traffic surveillance systems. The increasing number of surveillance cameras at urban intersections connected to traffic surveillance systems has created new opportunities for leveraging computer vision techniques for automatic collision detection. This study investigates the effectiveness of transfer learning utilizing pre-trained deep learning models for collision detection through dashcam images. We evaluated several state-of-the-art (SOTA) image classification models and fine-tuned them using different hyperparameter combinations to test their performance on the car collision detection problem. Our methodology systematically investigates the influence of optimizers, loss functions, schedulers, and learning rates on model generalization. A comprehensive analysis is conducted using 7 performance metrics to assess classification performance. Experiments on a large dashcam-based images dataset show that ResNet50, optimized with AdamW, a learning rate of 0.0001, CosineAnnealingLR scheduler, and Focal Loss, emerged as the top performer, achieving an accuracy of 0.9782, F1-score of 0.9617, and IoU of 0.9262, indicating a strong ability to reduce false negatives. Full article

This paper addresses the limitations of the A* algorithm in underground roadway path planning, such as proximity to roadway boundaries, intersection with obstacle corners, trajectory smoothness, and timely obstacle avoidance (e.g., fallen rocks, miners, and moving equipment). To overcome these challenges, we propose an improved path planning algorithm integrating an enhanced A* method with an improved Dynamic Window Approach (DWA). First, a diagonal collision detection mechanism is implemented within the A* algorithm to effectively avoid crossing obstacle corners, thus enhancing path safety. Secondly, roadway width is incorporated into the heuristic function to guide paths toward the roadway center, improving stability and feasibility. Subsequently, based on multiple global path characteristics—including path length, average curvature, fluctuation degree, and direction change rate—an adaptive B-spline curve smoothing method generates smoother paths tailored to the robot’s kinematic requirements. Furthermore, the global path is segmented into local reference points for DWA, ensuring seamless integration of global and local path planning. To prevent local optimization traps during obstacle avoidance, a distance-based cost function is introduced into DWA’s evaluation criteria, maintaining alignment with the global path. Experimental results demonstrate that the proposed method significantly reduces node expansions by 43.79%, computation time by 16.28%, and path inflection points by 80.70%. The resultant path is smoother, centered within roadways, and capable of effectively avoiding dynamic and static obstacles, thereby ensuring the safety and efficiency of underground robotic transport operations. Full article

This work presents an alternative method for defining feasible joint-space boundaries and their corresponding geometric workspace in a planar robotic system. Instead of relying on traditional numerical approaches that require extensive sampling and collision detection, the proposed method constructs a continuous boundary by identifying the key intersection points of boundary functions. The feasibility region is further refined through centroid-based scaling, addressing singularity issues and ensuring a well-defined trajectory. Comparative analyses demonstrate that the final robot pose and reachability depend on the selected traversal path, highlighting the nonlinear nature of the workspace. Additionally, an evaluation of traditional numerical methods reveals their limitations in generating continuous boundary trajectories. The proposed approach provides a structured method for defining feasible workspaces, improving trajectory planning in robotic systems. Full article

With the rapid advancement of autonomous driving (AD) technology, its application in road traffic has garnered increasing attention. This study analyzes 534 AD and 82,030 human driver traffic accidents and employs SMOTE to balance the sample sizes between the two groups. Using association rule mining, this study identifies key risk factors and behavioral patterns. The results indicate that while both AD and human driver accidents exhibit seasonal trends, their risk characteristics and distributions differ markedly. AD accidents are more frequent in summer (July–August) on clear days and tend to occur at intersections and on streets, with a higher proportion of non-injury collisions observed at night. Collisions involving non-motorized road users are more prevalent in human driver accidents. AD systems show certain advantages in detecting non-motorized vehicles and performing low-speed evasive maneuvers, particularly at night; however, limitations remain in perception and decision-making under complex conditions. Human driver accidents are more susceptible to driver-related factors such as fatigue, distraction, and risk-prone behaviors. Although AD accidents generally result in lower injury severity, further technological refinement and scenario adaptability are required. This study provides insights and recommendations to enhance the safety performance of both AD and human-driven systems, offering valuable guidance for policymakers and developers. Full article

To address the critical need for collision risk warning at unsignalized intersections, this study proposes an advanced predictive system combining YOLOv8 for object detection, Deep SORT for tracking, and Bi-LSTM networks for trajectory prediction. To adapt YOLOv8 for complex intersection scenarios, several architectural enhancements were incorporated. The RepLayer module replaced the original C2f module in the backbone, integrating large-kernel depthwise separable convolution to better capture contextual information in cluttered environments. The GIoU loss function was introduced to improve bounding box regression accuracy, mitigating the issues related to missed or incorrect detections due to occlusion and overlapping objects. Furthermore, a Global Attention Mechanism (GAM) was implemented in the neck network to better learn both location and semantic information, while the ReContext gradient composition feature pyramid replaced the traditional FPN, enabling more effective multi-scale object detection. Additionally, the CSPNet structure in the neck was substituted with Res-CSP, enhancing feature fusion flexibility and improving detection performance in complex traffic conditions. For tracking, the Deep SORT algorithm was optimized with enhanced appearance feature extraction, reducing the identity switches caused by occlusions and ensuring the stable tracking of vehicles, pedestrians, and non-motorized vehicles. The Bi-LSTM model was employed for trajectory prediction, capturing long-range dependencies to provide accurate forecasting of future positions. The collision risk was quantified using the predictive collision risk area (PCRA) method, categorizing risks into three levels (danger, warning, and caution) based on the predicted overlaps in trajectories. In the experimental setup, the dataset used for training the model consisted of 30,000 images annotated with bounding boxes around vehicles, pedestrians, and non-motorized vehicles. Data augmentation techniques such as Mosaic, Random_perspective, Mixup, HSV adjustments, Flipud, and Fliplr were applied to enrich the dataset and improve model robustness. In real-world testing, the system was deployed as part of the G310 highway safety project, where it achieved a mean Average Precision (mAP) of over 90% for object detection. Over a one-month period, 120 warning events involving vehicles, pedestrians, and non-motorized vehicles were recorded. Manual verification of the warnings indicated a prediction accuracy of 97%, demonstrating the system’s reliability in identifying potential collisions and issuing timely warnings. This approach represents a significant advancement in enhancing safety at unsignalized intersections in urban traffic environments. Full article

Visible Light Communication (VLC) has the potential to advance Intelligent Transportation Systems (ITS). This study explores the current advancements of VLC in ITS applications that may enhance traffic flow, road safety, and vehicular communication performance. The potential, benefits, and current research trends of VLC in ITS applications are discussed first. Then, the state-of-the-art VLC technologies including overall concept, IEEE communication protocols, hybrid VLC systems, and software-defined adaptive MIMO VLC systems, are discussed. We investigated different potential applications of VLC in ITS, such as signalized intersection and ramp metering control, collision warning and avoidance, vehicle localization and detection, and vehicle platooning using vehicle–vehicle (V2V), infrastructure–vehicle (I2V), and vehicle–everything (V2X) communications. Besides, VLC faces several challenges in ITS applications, and these concerns, e.g., environmental issues, communication range issues, standards and infrastructure integration issues, light conditions and integration issues are discussed. Finally, this paper discusses various advanced techniques to enhance VLC performance in ITS applications, such as machine learning-based channel estimation, adaptive beamforming, robust modulation schemes, and hybrid VLC integration. With this review, the authors aim to inform academics, engineers, and policymakers about the status and challenges of VLC in ITS. It is expected that, by applying VLC in ITS, mobility will be safer, more efficient, and sustainable. Full article

The incidence of right-turning pedestrian accidents is increasing in South Korea. Most of the accidents occur when a large vehicle is turning right, and the main cause of the accidents was found to be the driver’s limited field of vision. After these accidents, the government implemented a series of institutional measures with the objective of preventing such accidents. However, despite the institutional arrangements in place, pedestrian accidents continue to occur. We focused on the many limitations that autonomous vehicles, like humans, can face in such situations. To address this issue, we propose a right-turn pedestrian collision avoidance system by installing a LiDAR sensor in the center of the intersection to facilitate pedestrian detection. Furthermore, the urban road environment is considered, as this provides the optimal conditions for the model to perform at its best. During this research, we collected data on right-turn accidents using the CARLA simulator and ROS interface and demonstrated the effectiveness of our approach in preventing such incidents. Our results suggest that the implementation of this method can effectively reduce the incidence of right-turn accidents in autonomous vehicles. Full article