Assessing driving behavior influence on fuel efficiency using machine-learning and drive-cycle simulations
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Mohammadnazar, Amin (ORCID:0000000304643807)↗
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High-Fidelity Modeling of Curbside Driving Behavior in SUMO: Preprint
Recent advances in mobility technologies have considerably increased the need for curbside use and congestion at curb-lanes. At airports and in dense urban centers, the growing adoption of Transportation Network Companies (TNCs), such as Uber and Lyft, has led to an increase in curbside traffic due to the reduction in the use public transit and other shared modes. In dense city areas, the curbside demand and congestion were further augmented by the growing use of e-commerce, which requires home-delivery of goods. To model vehicles' curbside interactions realistically, there is a need for high-fidelity simulation models that can represent the complex interplay of vehicles as they complete pick-up or drop-off trips. Vehicles' curbside behaviors are usually not modeled with high-fidelity in microscopic simulators such Simulation of Urban of Mobility (SUMO). This paper presents such a high-resolution model for vehicle curbside behavior in SUMO, using SUMO's Traci interface. Simulations results demonstrate that the improved curbside behavior captures vehicles' curbside maneuvering more accurately than the default SUMO curbside model, and increases the curbside utilization and capacity.
ADVANCED PROPULSION SYSTEMS↗
Cognitive Modeling of Social Behaviors
The driving theme of cognitive modeling for many decades has been that knowledge affects how and which goals are accomplished by an intelligent being (Newell 1991). But when one examines groups of people living and working together, one is forced to recognize that whose knowledge is called into play, at a particular time and location, directly affects what the group accomplishes. Indeed, constraints on participation, including roles, procedures, and norms, affect whether an individual is able to act at all (Lave & Wenger 1991; Jordan 1992; Scribner & Sachs 1991). To understand both individual cognition and collective activity, perhaps the greatest opportunity today is to integrate the cognitive modeling approach (which stresses how beliefs are formed and drive behavior) with social studies (which stress how relationships and informal practices drive behavior). The crucial insight is that norms are conceptualized in the individual &nd as ways of carrying out activities (Clancey 1997a, 2002b). This requires for the psychologist a shift from only modeling goals and tasks - why people do what they do - to modeling behavioral patterns-what people do-as they are engaged in purposeful activities. Instead of a model that exclusively deduces actions from goals, behaviors are also, if not primarily, driven by broader patterns of chronological and located activities (akin to scripts). This analysis is particular inspired by activity theory (Leont ev 1979). While acknowledging that knowledge (relating goals and operations) is fundamental for intelligent behavior, activity theory claims that a broader driver is the person s motives and conceptualization of activities. Such understanding of human interaction is normative (i.e., viewed with respect to social standards), affecting how knowledge is called into play and applied in practice. Put another way, how problems are discovered and framed, what methods are chosen, and indeed who even cares or has the authority to act, are all constrained by norms, which are conceived and enacted by individuals.
Clancey, William J.↗
Quantitative Evaluation of Autonomous Driving in CARLA
There has been a great deal of recent advancements in end-to-end imitation and reinforcement learning for self-driving vehicles. Despite this, there is a severe lack of standardized metrics for evaluating the performance of autonomous self-driving agents. Existing metrics are generally lacking in their ability to capture a wide range of driving behaviors and compare the severity of different failure cases. In this work, we introduce the Quantitative Evaluation for Driving metric, or QED, which assigns a quantitative score from 0-100 that captures the quality of driving for any driving agent. Our QED metric assesses different aspects of driving behavior including the ability to stay in the center of the lane, avoid weaving and erratic behavior, follow the speed limit, and avoid collisions, and it can be used under a wide range of driving scenarios. To show the effectiveness of our QED metric, we compare the scores generated by QED against scores assigned by human evaluators on a total of 30 different drivers and 6 different towns in the CARLA driving simulator. In ``easy'' evaluation scenarios, where it is relatively straightforward to distinguish better drivers from worse drivers, QED attains an average Pearson correlation of 0.96 and average Spearman correlation of 0.97 when compared against human evaluators. In ``hard'' evaluation scenarios, where it is far more ambiguous how to rank/score different types of bad driving behavior, QED attains an average Pearson correlation of 0.82 and average Spearman correlation of 0.75 when compared against human evaluators, which are both slighter higher than when we compare human evaluators against each other. While QED may not capture every characteristic that defines good driving, we consider it an important foundation for reproducibility and standardization in the community.
Gao, Shang↗
Changes in When and Where People are Spending Time in Response to COVID-19
The COVID-19 pandemic has resulted in a significant change in driving behavior as people respond to the new environment. However, existing methods for analyzing driver behavior such as travel surveys and travel demand models are not suited for incorporating abrupt environmental disruptions. To address this, we analyze a set of high-resolution trip data and introduce two new metrics for quantifying driving behavioral shifts as a function of time, allowing us to compare the time periods before and after pandemic began. We apply these metrics to the Denver, Colorado metropolitan statistical area (MSA) to demonstrate the utility of the metrics. Then, we present a case study for comparing two distinct MSAs, Louisville, Kentucky; and Des Moines, Iowa which exhibit significant differences in the makeup of their labor markets. The results indicate that although the regions of study exhibit certain unique driving behavioral shifts, emerging trends can be seen when comparing between seemingly distinct regions. For instance, drivers in all three MSAs are generally shown to have spent more time at residential locations and less time in workplaces in the time period after the pandemic started. In addition, workplaces that may be incompatible with remote working, such as hospitals and certain retail locations, generally retained much of their pre-pandemic travel activity.
32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
Inferring safety critical events from vehicle kinematics in naturalistic driving environment: Application of deep learning Algorithms
Advances in sensing technology has enabled the collection of countless terabytes of second-by-second kinematics data. Such data provides opportunities for real-time monitoring of driving behavior and identification of safety critical events (SCEs) including crashes and near crashes. The concept of volatility is relevant in this context, which identifies instability and erratic variations in driving behavior prior to involvement in SCEs. This study utilized vehicle kinematics from a large-scale naturalistic driving data to develop a deep learning approach based on 1D convolutional neural networks (CNN) for inferring SCEs. The data are unique in the sense that such accurate pre-crash data at high fidelity are not available in traditional crash repositories. This study contributes to the literature by providing a first attempt at predicting responses to SCEs by developing deep learning-based CNN architectures using novel driving volatility based kinematic thresholds for a sample of 9553 events. The key contribution lies in developing a volatility-based CNN input layout that is acceptable to CNN schemes and represents the motion kinematics such as speed, acceleration and volatility measures. Several 1D-CNN architectures were developed using layers, numbers of convolutions, layer patterns, and kernels. Shallow and deep architectures were tested, revealing higher accuracy of shallow architectures in detecting SCEs. The optimal number of epochs were identified using an early stopping method while the CNN performance was improved by increasing the number of epochs. The ensemble CNN had the highest predictive accuracy of 95.6% for detection of crashes and near crashes, which was 2.5% higher than the optimal CNN using 20% hold out test data. The ensemble CNN also outperformed classical machine learning models and model performance reported in past studies on detection of SCEs. Finally, these results have implications for identification of safety hotspots and providing real-time alerts and warnings in connected and highly automated vehicle environment including society of automotive engineers levels 3–5.
42 ENGINEERING↗
Driver Identification Dataset
The ORNL Driver Identification Dataset was created to collect and analyze driving behavior data from 50 different drivers. Each driver operated a 2014 Kenworth T270 Class 6 truck around Fort Collins, Colorado while various data sources recorded their driving behavior and vehicle performance. The dataset includes CANbus (Controller Area Network) data, GPS data, inertial measurement data, and biometric data from a heart rate monitor. A cyberattack was executed during each drive, which caused multiple dashboard warning lights to illuminate and set the tachometer and speedometer to zero, regardless of actual speed. The attack was stopped either after one minute or if the driver pulled over. By downloading the dataset, you agree to the following: 1) I will not use or disclose the data for any purpose other than Research as that term is defined in 10 CFR 745.102. 2) I will not, under any circumstances, request or accept private or linking identifiers for the data used. 3) I will not attempt to determine the identity of the individuals associated with the data. 4) I will use appropriate safeguards to prevent the use or disclose of the data for any purpose other than Research.
99 GENERAL AND MISCELLANEOUS↗
Equilibrium-gated pattern formation: How molecular dissociation thermodynamics drive emergent behavior in dissipative polymeric systems
Emergent patterns in biological systems arise through dissipative processes that balance reaction and transport phenomena, producing highly functional properties from self-regulating mechanisms. Synthetic fabrication, by contrast, often relies on user-controlled, multistep methods that lack the self-organizing capabilities of natural systems. Inspired by nature, we sought chemical systems that integrate strongly coupled reaction and transport phenomena, identifying frontal ring-opening metathesis polymerization (FROMP) as a method capable of creating diverse forms and functions through reactive processing. By employing discrete molecular initiators, FROMP allows precise control of key reaction steps—inhibition, initiation, and propagation. Using an integrated computational and experimental framework, we uncover how near-equilibrium inhibition dynamics, coupled with far-from-equilibrium reaction kinetics, drive pattern formation in frontally polymerized synthetic materials. We propose the concept of equilibrium-gated pattern formation, demonstrating how initiator chemistry can be tuned to achieve programmable macroscale properties. Our study reveals a surprising insight: Emergent behavior in FROMP systems arises from the inhibition-dominated regime of resin composition, expanding prior observations that such behavior is confined to a narrow compositional space near the boundary between front quenching and uniform front propagation. We identify a broader compositional window, far from the quenching regime, where emergent behavior reliably manifests. This expanded design space significantly enhances the operational flexibility of reactive systems and their capacity for self-organization. Furthermore, these insights provide a roadmap for designing bioinspired materials with self-organizing capabilities, unlocking possibilities in synthetic manufacturing.
Architected Polymers↗
Heterogeneous Machine Learning on High Performance Computing for End to End Driving of Autonomous Vehicles
Current artificial intelligence techniques for end to end driving of autonomous vehicles typically rely on a single form of learning or training processes along with a corresponding dataset or simulation environment. Relatively speaking, success has been shown for a variety of learning modalities in which it can be shown that the machine can successfully “drive” a vehicle. However, the realm of real-world driving extends significantly beyond the realm of limited test environments for machine training. This creates an enormous gap in capability between these two realms. With their superior neural network structures and learning capabilities, humans can be easily trained within a short period of time to proceed from limited test environments to real world driving. For machines though, this gap is guarded by at least two challenges: 1) machine learning techniques remain brittle and unable to generalize to a wide range of scenarios, and 2) effective training data that enhances generalization and generates the desired driving behavior. Further, each challenge can be computationally intensive on its own thereby exasperating the gap. Moreover, is has not yet been shown that a single form of learning or training is capable of addressing a large range of scenarios. As a result, solving the first challenge does not inherently solve the second and vice versa. The work described here discusses an approach to address the first challenge that would also provide a foundation for solving the second. Our approach utilizes a combination of conditional imitation learning with a static dataset, reinforcement learning with a simulation environment, and high-performance computing to train a neural network. As a result, this reduces the “time to solution” from to the existing techniques for autonomous driving and provides an extensible framework to address the second key challenge.
autonomous vehicles↗
Understanding the Effects of Vehicle Platoons on Crash Type and Severity
Crash type is an informative indicator to infer driving behaviors and conditions that cause a crash. For example, rear-end and side-swipe crashes are typically caused by improper vehicle interaction such as sudden lane-changing or speed control while hit-object crashes are likely the result of a single driver’s mistake. This study investigated the impact of vehicles travelling as a group (platoon) and its configuration (i.e., types of vehicles consisting of the platoon) on crash type and severity since the vehicles could affect each other when travelling in close proximity. This study applied Generalized Structure Equation Modeling (GSEM) to capture the complex relationships among the various crash factors such as traffic condition, driver characteristics, environmental conditions, and vehicle interaction to the crash attributes including type and severity. This study collected over 3 million individual vehicle data from 39 traffic count sites in California to estimate the vehicle interactions and driving behaviors. The microscopic traffic data are matched to 1417 crash reports. Results showed that vehicles traveling in platoons are associated with more rear-end and side-swipe crashes. Speed difference in the platoon had a positive effect on hit-object crashes if the platoon comprises vehicles of homogeneous type – either trucks or non-trucks. In addition, human factors such as age and gender were identified as significant influential factors in all type of crashes, however truck involvement particularly played an important role amongst side-swipe crashes. Crash severity was negatively affected by total flow, and rear-end crashes were more likely to be severe compared with hit-object crashes. Based on findings, this study suggests practical operational strategies to reduce traffic instability associated with platooned vehicle patterns. Understanding the high-risk factors for different crash types and severities would provide valuable insights for decision-makers and transportation engineers to develop targeted intervention strategies in consideration of road users and traffic conditions such as fleet mix and speed.
ADVANCED PROPULSION SYSTEMS↗
Data-Driven Forgetting and Discount Factors for Vehicle Speed Forecasting in Ecological Adaptive Cruise Control
Abstract This paper investigates temporal correlations in human driving behavior using real-world driving to improve speed forecasting accuracy. These correlations can point to a measurement weighting function with two parameters: a forgetting factor for past speed measurements that the vehicle itself drove with, and a discount factor for the speeds of vehicles ahead based on information from vehicle-to-vehicle communication. The developed weighting approach is applied to a vehicle speed predictor using polynomial regression, a prediction method well-known in the literature. The performance of the developed approach is then assessed in both real-world and simulated traffic scenarios for accuracy and robustness. The new weighting method is applied to an ecological adaptive cruise control system, and its influence is analyzed on the prediction accuracy and the performance of the ecological adaptive cruise control in an electric vehicle powertrain model. The results show that the new prediction method improves energy saving from the eco-driving by up to 4.7% compared to a baseline least-square-based polynomial regression. This is a 10% improvement over the constant speed/acceleration model, a conventional speed predictor.
Automation & Control Systems↗
Whole nervous system expression of glutamate receptors reveals distinct receptor roles in sensorimotor circuits
A goal of connectomics is to reveal the links between neural circuits and behavior. Larvae of the primitive chordateCionaare well-suited to make contributions in this area. In addition to having a described connectome,Cionalarvae have a range of readily-quantified behaviors. Moreover, the small number of neurons in the larval CNS (∼180) holds the promise of a comprehensive characterization of individual neurons. We present single-neuron predictions for glutamate receptor (GlutR) expression based onin situhybridization. Included are both ionotropic receptors (AMPA, NMDA, and Kainate), and metabotropic receptors. The predicted glutamate receptor expression dataset is discussed in the context of known circuits driving behaviors such as phototaxis, mechanosensation, and looming shadow response. The predicted expression of AMPA and NMDA receptors may help to resolve issues regarding the co-production of GABA and glutamate by a subset of photoreceptors. The targets of these photoreceptors in the midbrain appear to express NMDA receptors, but not AMPA receptors. This is in agreement with previous results indicating that GABA is the primary neurotransmitter from the photoreceptors evoking a swimming response through a disinhibition mechanism, and that glutamate may, therefore, have only a modulatory action in this circuit. Other findings reported here are more unexpected. For example, many of the targets of glutamatergic epidermal sensory neurons (ESNs) do not express any of the ionotropic receptors, yet the ESNs themselves express metabotropic receptors. Thus, we speculate that their production of glutamate may be for communication with neighboring ESNs, rather than to their interneuron targets. Significance StatementSimple invertebrates offer a tractable alternative to complex vertebrate brains, facilitating holistic understanding of brain function. One such invertebrate is the marine chordateCiona, which has the benefit of a complete synaptic wiring diagram for its swimming larva. This “connectome” allowed identification of putative neural circuits driving defined behaviors. Fuller understanding of neural circuits, however, requires a description of the attributes of individual neurons. This study focuses on the excitatory neurotransmitter glutamate, which signals via a complex set of both ionotropic and metabotropic receptors. Here, we present a nervous system-wide prediction of GlutR expression inCionaat the individual neuron level, considered in the context of neural circuits, with emphasis on how GlutR expression accounts for function of neural circuits.
Neurosciences & Neurology↗
Automated Vehicle Feasibility Study
This study collected automated vehicle (AV) performance data on public roadways in Athens, Ohio. The route for the study contained a combination of roads with different functional classifications, conditions, annual average daily traffic, and ownership responsibilities for maintenance and repair. Preparation for the public road deployment was done in a controlled environment at Transportation Research Center’s SMARTCenter, a dedicated AV test facility in East Liberty, Ohio. Researchers analyzed data and extracted insights relevant for both AV developers and infrastructure owners and operators. The study found that rural environments offer a unique set of roadway features such as hills and curves, which can challenge the driving behavior of an AV. Rural regions can also contain a large number of low-traffic gravel roads that lack pavement markings, which appear to be a crucial infrastructure element for operation of current generation AVs. Similarly, the presence of well-maintained lane lines along curves can influence the AV’s roadway departure tendencies. The study found that curvature-related behavior of an AV is also influenced by driving speed on the roadway segment. Such findings were consistent regardless of the time of day along the route or season of data collection. However, commentary about AV performance in active adverse weather cannot be made, as this is still an area of active research.
32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
Exploring Microsimulation Process for Energy Impact Evaluation of Connected and Automated Vehicles
In this paper, the authors present a microsimulation-based methodological approach for evaluating the energy impact of connected and automated vehicles (CAVs). They use an open-source micro-simulator, SUMO, and provide a way to set up a simulation environment that emulates real-world traffic dynamics. They also employ the Intelligent Driver Model to represent human drivers and calibrate its driving behavior using real-world traffic data and driving statistics. The authors conduct extensive simulation studies considering different penetration rates of CAVs, different car-following models, and varying car-following model parameters. Using the state-of-the-art Future Automotive System Technology Simulator (FASTSim), they estimate the fuel economy of each vehicle and analyze the energy impact of the given CAV implementation. Finally, the authors analyze the possible factors affecting the simulation results, and also discuss limitations and future work.
ADVANCED PROPULSION SYSTEMS↗
A Human-Machine Shared Control Framework Considering Time-Varying Driver Characteristics
The uncertainties of driver's behavior seriously affect road safety and bring significant challenges to the human-machine cooperative control. Here, this paper proposes a human-machine shared control framework considering driver's time-varying characteristics to improve the co-driving cooperation performance. Firstly, the driving intention is introduced to describe the driver's involvement level through using Gauss-Bernoulli restricted Boltzmann machine method. And the index of driving ability is proposed to evaluate driver skills based on path-tracking errors. Then, a novel human-machine authority allocation strategy is designed by combining the two driving behavior characteristics and used to construct the driver-vehicle interaction system. Subsequently, a T-S fuzzy robust state-feedback shared control system is developed considering time-varying driver behaviors and vehicle states. Finally, the proposed shared steering system is validated by the driver-in-the-loop test bench. The results show that the proposed control method can reduce human-machine conflicts and has obvious superiority in improving performance of driving comfort, path tracking, and vehicle stability for the co-driving vehicles.
33 ADVANCED PROPULSION SYSTEMS↗
Safety evaluation of connected and automated vehicles in mixed traffic with conventional vehicles at intersections
Connected and Automated Vehicles (CAVs) can potentially improve the performance of the transportation system by reducing human errors. This paper investigates the safety impact of CAVs in a mixed traffic with conventional vehicles at intersections. Analyzing real-world AV crashes in California revealed that rear-end crashes at intersections are the dominant crash type. Therefore, to enhance our understanding of the future interactions between human-driven vehicles with CAVs at intersections, a simulation framework was developed to model the mixed traffic environment of Automated Vehicles (AV), cooperative AVs, and conventional human-driven vehicles. In order to model AVs driving behavior, Adaptive Cruise Control (ACC) and cooperative ACC (CACC) models are utilized. Particularly, this study explores system improvements due to automation and connectivity across varying CAV market penetration scenarios. ACC and CACC car following models are used to mimic the behavior of AVs and cooperative AVs. Real-world connected vehicle data are utilized to modify and tune the acceleration/deceleration regimes of the Wiedemann model. Next, the driving volatility concept capturing variability in vehicle speeds was utilized to calibrate the simulation to represent the safety performance of a real-world environment. Two surrogate safety measures are used to evaluate the safety performance of a representative intersection under different market penetration rate of CAVs: the number of longitudinal conflicts and driving volatility. At low levels of ACC market penetration, the safety improvements were found to be marginal, but safety improved substantially with more than 40% ACC penetration. Additional safety improvements can be achieved more quickly through the addition of cooperation and connectivity through CACC. Furthermore, ACC/CACC vehicles were found to improve mobility performance in terms of average speed and travel time at intersections.
29 ENERGY PLANNING, POLICY, AND ECONOMY↗
Automated vehicle microscopic energy consumption study (AV-Micro): Data collection and model development
While the Adaptive Cruise Control (ACC) system in automated vehicles (AVs) is expected to impact transportation energy significantly, existing AV energy consumption models only directly adopt those developed with Human-driven Vehicle (HV) data without even slight adaptation or calibration to accommodate unique AV energy consumption features. This study will investigate how accurately HV data-based models can predict the energy consumption of AVs. Empirical trajectory data and corresponding instantaneous energy consumption rates from both AVs and HVs were collected. We adopted two classical HV data-based models to fit these data. The calibration results indicated that these models yield around 20 30% prediction errors for AVs. To further improve the prediction accuracy, this study designed an AV-Micro model by incorporating components of multiple classic energy consumption models that better capture ACC energy consumption features, including piecewise driving behavior. With this, the AV-Micro model achieves lower than 10% prediction errors. The AV-Micro model’s high consistency across different test runs was verified with statistical significance tests, demonstrating its adaptability in different driving profiles. To confirm the discrepancies between the energy consumption features of AVs and HVs, more statistical significance tests were conducted to show that the AV-Micro model cannot be directly applied to HV data. The findings by calibrated AV-Micro models revealed that AVs consume approximately 80.5–146.4 J more energy than HVs for each meter traveled. Furthermore, the frequency analysis of energy consumption indicates that there is still some room for AVs to improve energy efficiency, particularly given their larger amplitude high-frequency fluctuations.
33 ADVANCED PROPULSION SYSTEMS↗
Medium- and Heavy-Duty Truck Duty Cycles
This dataset provides second-by-second duty cycle data for Class 6 and Class 8 diesel trucks in Texas, including key vehicle metrics, engine-related data, and GPS data (excluding GPS latitude and longitude to ensure confidentiality). The data were collected via tablets installed on the trucks and organized into daily datasets, each associated with a unique vehicle ID and date. There are 12 daily datasets for Class 6 diesel trucks (three unique vehicle IDs) and 43 daily datasets for Class 8 diesel trucks (six unique vehicle IDs). The units associated with each column are included in the name. The engine performance data include columns such as engine speed, engine percent torque, and engine fuel rate. Road grade (%/100) was estimated using the GPS altitude and wheel-based vehicle speed, which is used as an input for FASTSim. Cumulative distance was also calculated using the wheel-based vehicle speed. Additional columns include: - Engine Speed (RPM): Removed inaccurate readings and used to calculate angular velocity (radians/second). - Torque (N·m): Calculated using engine percent torque, nominal friction percent torque, and engine reference torque values (those columns were removed from dataset), then normalized to express as torque (%). - Flywheel Power (%): Calculated using the angular velocity and torque (in kW), then normalized as a percentage of the maximum value. - Engine Fuel Rate (%) and Torque (%): Both metrics were normalized by dividing by their respective maximum values within each dataset to express them as percentages. The datasets were analyzed to assess the energy impact of various driving behaviors, simulate energy efficiency, and recommend optimal routes for diesel trucks using NLR’s tool called RouteE. For driver coaching, factors like speed and acceleration limits were considered, and idle periods were reduced (assuming the engine was off during idling) to adjust each drive cycle. These adjusted drive cycles were then simulated in FASTSim to evaluate their effect on fleet energy consumption and estimate potential energy savings. The original cycles are available for download on this page 
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