Search Results (139)

Intelligent connected vehicles (ICVs) face challenges in handling intensive onboard computational tasks due to limited computing capacity. Vehicular edge computing networks (VECNs) offer a promising solution by enabling ICVs to offload tasks to mobile edge computing (MEC), alleviating computational load. As transportation systems are dynamic, vehicular tasks and MEC capacities vary over time, making efficient task offloading and resource allocation crucial. We explored a vehicle–road collaborative edge computing network and formulated the task offloading scheduling and resource allocation problem to minimize the sum of time and energy costs. To address the mixed nature of discrete and continuous decision variables and reduce computational complexity, we propose a hybrid hierarchical deep reinforcement learning (HHDRL) algorithm, structured in two layers. The upper layer of HHDRL enhances the double deep Q-network (DDQN) with a self-attention mechanism to improve feature correlation learning and generates discrete actions (communication decisions), while the lower layer employs deep deterministic policy gradient (DDPG) to produce continuous actions (power control, task offloading, and resource allocation decision). This hybrid design enables efficient decomposition of complex action spaces and improves adaptability in dynamic environments. Results from numerical simulations reveal that HHDRL achieves a significant reduction in total computational cost relative to current benchmark algorithms. Furthermore, the robustness of HHDRL to varying environmental conditions was confirmed by uniformly designing random numbers within a specified range for certain simulation parameters. Full article

With the rapid deployment of intelligent transportation systems (ITS), the Internet of Vehicles (IoV) has become an increasingly vital component in the development of smart cities. However, the openness of IoV also gives rise to critical issues such as message security and identity privacy. Consequently, addressing message authentication in the IoV environment is a fundamental requirement for ensuring its sustainable and stable evolution. Firstly, this paper proposes an adaptive traffic authentication strategy (ATAS) By integrating traffic flow dynamics evaluation, traffic status scoring, time sensitivity assessment, and comprehensive strategy decision-making, the scheme achieves an effective balance between authentication efficiency and security in IoV scenarios. Secondly, to tackle the high overhead and security issues caused by multiple message transmissions in large-scale IoV application scenarios, this paper proposes a secure message transmission and authentication method based on the cloud-edge-client collaborative architecture. Leveraging aggregate message authentication code (AMAC) technology, this method validates both the authenticity and integrity of messages, effectively reducing communication overhead while maintaining reliable authenticated transmission. Finally, this paper builds an IoV co-simulation experimental environment using the SUMO 1.19.0, OMNeT++ 6.0.3, and Veins 5.0.0 software platforms. It simulates the interactive authentication process among vehicles, Road Side Units (RSUs), and the cloud platform, as well as the effects of traffic response strategies under different scenarios. The results demonstrate the potential of IoV authentication technology in improving traffic management efficiency, optimizing road resource utilization, and enhancing traffic safety, providing strong support for the secure communication and efficient management of IoV. Full article

To achieve a scientific and efficient emergency response, a dynamic route-planning strategy for emergency vehicles based on government–enterprise collaboration was studied. Firstly, a hybrid evaluation approach was developed, integrating the Analytic Hierarchy Process, Entropy Weight Method, and Gray Relation Analysis-TOPSIS to quantitatively assess the urgency of demands at disaster sites. Secondly, a government–enterprise coordinated route-planning strategy was designed, leveraging the government’s strong mobilizing capabilities and enterprises’ flexible operational mechanisms. Thirdly, to optimize scheduling efficiency, a dynamic route-planning model was proposed, incorporating multiple distribution conditions to minimize scheduling time, delay penalties, and unmet demand rates. A two-stage cellular genetic algorithm was employed to address realistic constraints such as demand splitting, soft time windows, open scheduling, and differentiated services. Numerical simulations of potential flooding in Hunan Province revealed that the collaborative strategy significantly improved performance: the demand satisfaction rate rose from 70.1% (government-led) to 92.3%, while the material transportation time per unit decreased by 23.6% (from 1.61 to 1.23 min/unit). Vehicle path characteristics varied under different operational behaviors, aligning with theoretical expectations. Even under sudden road disruptions, the model maintained a 98% demand satisfaction rate with only a negligible 0.076% increase in system loss. This research fills the gaps in previous studies by comprehensively addressing multiple factors in emergency vehicle route planning, offering a practical and efficient solution for post-disaster emergency response. Full article

The rapid development of telematics technology has greatly supported high-computing applications like autonomous driving and real-time road condition prediction. However, the limited computational resources and dynamic topology of in-vehicle terminals pose challenges such as delay, load imbalance, and bandwidth consumption. To address these, a three-layer vehicular network architecture based on cloud–edge–end collaboration was proposed, with V2X technology used for multi-hop transmission. Models for delay, energy consumption, and edge caching were designed to meet the requirements for low delay, energy efficiency, and effective caching. Additionally, a dynamic pricing model for edge resources, based on load-awareness, was proposed to balance service quality and cost-effectiveness. The enhanced NSGA-III algorithm (ADP-NSGA-III) was applied to optimize system delay, energy consumption, and system resource pricing. The experimental results (mean of 30 independent runs) indicate that, compared with the NSGA-II, NSGA-III, MOEA-D, and SPEA2 optimization schemes, the proposed scheme reduced system delay by 21.63%, 5.96%, 17.84%, and 8.30%, respectively, in a system with 55 tasks. The energy consumption was reduced by 11.87%, 7.58%, 15.59%, and 9.94%, respectively. Full article

In recent years, digital twin technology has demonstrated remarkable potential in intelligent transportation systems, leveraging its capabilities of high-precision virtual mapping and real-time dynamic simulation of physical entities. By integrating multi-source data, it constructs virtual replicas of vehicles, roads, and infrastructure, enabling in-depth analysis and optimal decision-making for traffic scenarios. In vehicular networks, existing information caching and transmission systems suffer from low real-time information update and serious transmission delay accumulation due to outdated storage mechanism and insufficient interference coordination, thus leading to a high age of information (AoI). In response to this issue, we focus on pairwise road side unit (RSU) collaboration and propose a digital twin-integrated framework to jointly optimize information caching and communication power allocation. We model the tradeoff between information freshness and resource utilization to formulate an AoI-minimization problem with energy consumption and communication rate constraints, which is solved through deep reinforcement learning within digital twin systems. Simulation results show that our approach reduces the AoI by more than 12 percent compared with baseline methods, validating its effectiveness in balancing information freshness and communication efficiency. Full article

In the V2X environment, intelligent connected vehicles can obtain multi-dimensional traffic flow data in real time through the vehicle–road collaborative cyber–physical fusion system. Based on this, this study proposes a multi-lane traffic flow lattice model integrating optimal traffic flow difference estimation information to effectively suppress traffic congestion. The linear stability criterion of the system is derived through linear stability analysis, proving that the optimal traffic flow difference estimation can significantly expand the stable region and suppress traffic fluctuations caused by small disturbances. Furthermore, the perturbation method is used to derive the mKdV equation near the critical stability point of the system, revealing the nonlinear characteristics of traffic congestion propagating in the form of kink solitary waves, and indicating that the new consideration effect can effectively slow down the congestion propagation speed by adjusting the parameters of solitary waves (such as wave speed and amplitude). The numerical simulation results show that compared to the traditional model, the improved model exhibits enhanced traffic flow stability and robustness. Meanwhile, it reveals the nonlinear relationship between the increase of the number of lanes and the alleviation of congestion, and there is an optimal lane configuration threshold. The research results not only provide theoretical support for the optimization of traffic flow efficiency in intelligent transportation systems, but also provide a decision-making basis for dynamic lane management strategies in the V2X environment. Full article

The increasing integration of autonomous driving technologies into heavy-duty road transport requires a clear understanding of how these systems affect professional drivers’ working time, vehicle utilization, and regulatory compliance. This study develops a model-based comparative analysis to assess the cooperation between human drivers and autonomous trucks at SAE Levels 3 and 4. Using EU Regulation (EC) No 561/2006 as a legal framework, single-driver, double-driver, and ego vehicle scenarios were simulated to evaluate changes in working time classification and vehicle movement. The results indicate that Level 3 automation enables up to 13.25 h of daily vehicle movement while complying with working time regulations, compared with the 10-h limit for conventional operation. Level 4 automation further extends the effective movement time to 14.25 h in double-crew configurations, offering opportunities for increased efficiency without violating labor codes. The novelty of this work lies in the quantitative modeling of human–machine collaboration in professional transport under real regulatory constraints. These findings provide a foundation for regulatory updates, tachograph adaptation to AI-driven vehicles, and the design of hybrid driver roles. Future research will focus on validating these models in real-world transport operations and assessing the implications of Level 5 autonomy for logistics networks and labor markets. Full article

In intelligent vehicular networks, the accuracy of semantic segmentation in road scenes is crucial for vehicle-mounted artificial intelligence to achieve environmental perception, decision support, and safety control. Although deep learning methods have made significant progress, two main challenges remain: first, the difficulty in balancing global and local features leads to blurred object boundaries and misclassification; second, conventional convolutions have limited ability to perceive irregular objects, causing information loss and affecting segmentation accuracy. To address these issues, this paper proposes a global–local collaborative attention module and a spider web convolution module. The former enhances feature representation through bidirectional feature interaction and dynamic weight allocation, reducing false positives and missed detections. The latter introduces an asymmetric sampling topology and six-directional receptive field paths to effectively improve the recognition of irregular objects. Experiments on the Cityscapes, CamVid, and BDD100K datasets, collected using vehicle-mounted cameras, demonstrate that the proposed method performs excellently across multiple evaluation metrics, including mIoU, mRecall, mPrecision, and mAccuracy. Comparative experiments with classical segmentation networks, attention mechanisms, and convolution modules validate the effectiveness of the proposed approach. The proposed method demonstrates outstanding performance in sensor-based semantic segmentation tasks and is well-suited for environmental perception systems in autonomous driving. Full article

The Internet of Vehicles (IoV) operates in an environment characterized by asymmetric security threats, where centralized vulnerabilities create a critical imbalance that can be disproportionately exploited by attackers. This study addresses this imbalance by proposing a symmetrical security framework that integrates Blockchain and Federated Learning (FL) to restore equilibrium in the Vehicle–Road–Cloud ecosystem. The evolution toward sixth-generation (6G) technologies amplifies both the potential of vehicle-to-everything (V2X) communications and its inherent security risks. The proposed framework achieves a delicate balance between robust security and operational efficiency. By leveraging blockchain’s symmetrical and decentralized distribution of trust, the framework ensures data and model integrity. Concurrently, the privacy-preserving approach of FL balances the need for collaborative intelligence with the imperative of safeguarding sensitive vehicle data. A novel Cloud Proxy Re-Encryption Offloading (CPRE-IoV) algorithm is introduced to facilitate efficient model updates. The architecture employs a partitioned blockchain and a smart contract-driven FL pipeline to symmetrically neutralize threats from malicious nodes. Finally, extensive simulations validate the framework’s effectiveness in establishing a resilient and symmetrically secure foundation for next-generation IoV networks. 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

The Internet of Vehicles (IoV) presents a vast opportunity for optimised traffic flow, road safety, and enhanced usage experience with the influence of Federated Learning (FL). However, the distributed nature of IoV networks creates certain inherent problems regarding data privacy, security from adversarial attacks, and the handling of available resources. This paper introduces Fed-DTB, a new dynamic trust-based framework for FL that aims to overcome these challenges in the context of IoV. Fed-DTB integrates the adaptive trust evaluation that is capable of quickly identifying and excluding malicious clients to maintain the authenticity of the learning process. A performance comparison with previous approaches is shown, where the Fed-DTB method improves accuracy in the first two training rounds and decreases the per-round training time. The Fed-DTB is robust to non-IID data distributions and outperforms all other state-of-the-art approaches regarding the final accuracy (87–88%), convergence rate, and adversary detection (99.86% accuracy). The key contributions include (1) a multi-factor trust evaluation mechanism with seven contextual factors, (2) correlation-based adaptive weighting that dynamically prioritises trust factors based on vehicular conditions, and (3) an optimisation-based client selection strategy that maximises collaborative reliability. This work opens up opportunities for more accurate, secure, and private collaborative learning in future intelligent transportation systems with the help of federated learning while overcoming the conventional trade-off of security vs. efficiency. Full article

The widespread adoption of electric vehicles introduces significant challenges to power grid stability due to uncoordinated large-scale charging and discharging behaviors. By addressing these challenges, mobile energy storage systems emerge as a flexible resource. To maximize the synergistic potential of jointly scheduling electric vehicles and mobile energy storage systems, this study develops a collaborative scheduling model incorporating the prediction of geographically and chronologically varying distributions of electric vehicles. Non-dominated sorting genetic algorithm-III is then applied to solve this model. Validation through case studies, conducted on the IEEE-69 bus system and an actual urban road network in southern China, demonstrates the model’s efficacy. Case studies reveal that compared to the initial disordered state, the optimized strategy yields a 122.6% increase in profits of the electric vehicle charging station operator, a 44.7% reduction in costs to the electric vehicle user, and a 62.5% decrease in voltage deviation. Furthermore, non-dominated sorting genetic algorithm-III exhibits superior comprehensive performance in multi-objective optimization when benchmarked against two alternative algorithms. Full article

Traffic congestion constitutes a substantial global issue, adversely impacting economic productivity and quality of life, with associated costs estimated at approximately 2% of GDP in various nations. This systematic review investigates the application of machine learning (ML) in traffic congestion forecasting from 2010 to 2024, adhering to the PRISMA 2020 guidelines. A comprehensive search of three major databases (IEEE Xplore, SpringerLink, and ScienceDirect) yielded 9695 initial records, with 115 studies meeting the inclusion criteria following rigorous screening. Data extraction encompassed methodological approaches, ML techniques, traffic characteristics, and forecasting periods, with quality assessment achieving near-perfect inter-rater reliability (Cohen’s $\kappa$ = 0.89). Deep Neural Networks were the predominant technical approach (47%), with supervised learning being the most prevalent (57%). Classification tasks were the most common (42%), primarily addressing recurrent congestion scenarios (76%) and passenger vehicles (90%). The quality of publications was notably high, with 85% appearing in Q1-ranked journals, demonstrating exponential growth from minimal activity in 2010 to 18 studies in 2022. Significant research gaps persist: reinforcement learning is underutilized (8%), rural road networks are underrepresented (2%), and industry–academia collaboration is limited (3%). Future research should prioritize multimodal transportation systems, real-time adaptation mechanisms, and enhanced practical implementation to advance intelligent transportation systems (ITSs). This review was not registered because it focused on mapping the research landscape rather than intervention effects. Full article

This paper presents a high-order model-based robust control strategy for a dual-motor road wheel actuating system in a steer-by-wire (SbW) architecture. The system consists of a belt-driven and a pinion-driven motor collaboratively actuating the road wheels through mechanically coupled dynamics. To accurately capture the interaction between actuators, structural compliance, and road disturbances, a four-degree-of-freedom (4DOF) lumped-parameter model is developed. Leveraging this high-order dynamic model, a composite control framework is proposed, integrating feedforward model inversion, pole-zero feedback compensation, and a disturbance observer (DOB) to ensure precise trajectory tracking and disturbance rejection. High-fidelity co-simulations in MATLAB/Simulink and Siemens Amesim validate the effectiveness of the proposed control under various steering scenarios, including step and sine-sweep inputs. Compared to conventional low-order control methods, the proposed approach significantly reduces tracking error and demonstrates enhanced robustness and disturbance attenuation. These results highlight the critical role of high-order modeling in the precision control of dual-motor SbW systems and suggest its applicability in real-time, safety-critical vehicle steering applications. Full article

Due to the limitations of its technology and theory, the traditional traffic control system has been unable to adapt to the needs of new technology and traffic development and needs to be reformed and reconstructed. From the national scientific and technological research and development plan to the traffic control system development projects of relevant enterprises, the common problem is that the advanced signal control system plays an insufficient role in practical application. The existing signal control system excessively relies on the use of IT technology but ignores the basic theory of traffic control and the essential consideration of the traffic environment and optimal regulation of road traffic flow, which greatly limits the scientific and practical value of a traffic control system in China. This narrative review analyzes recent developments and emerging trends in urban traffic control technologies through literature synthesis spanning 2009–2025. With the rapid and large-scale development and application of new transportation technologies such as vehicle–infrastructure networking, vehicle–infrastructure collaboration, and automatic driving, the real-time interaction between the traffic controller and the controlled party has new support. Given these technological advances, there is an urgent need to address the limitations of existing traffic signal control systems. Transportation technology development must leverage rich traffic control interaction conditions and comprehensive data to create next-generation systems. These new traffic optimization control systems should demonstrate high refinement, precision, better responsiveness, and enhanced intelligence. This paper can play a key role and influence for China to lead the development of urban road traffic control systems in the future. The promotion and application of the new generation of urban road traffic signal optimization control systems will improve the efficiency of the road network to a greater extent, reduce operating costs, prevent and alleviate road traffic congestion, and reduce energy consumption and emissions. At the same time, it will also provide the entry point and technical support for the development of vehicle–infrastructure networking and coordination and the automatic driving industry. Full article