book/book chapter

Scene-Graph Embedding for Robust Autonomous Vehicle Perception

Publication Date

January 1, 2023

Author(s)

Shih-Yuan Yu, Arnav Vaibhav Malawade, Mohammad Al Faruque

Abstract

Robust Perception is vital in automotive Cyber-Physical Systems (CPS). Although the supporting technologies have advanced recently, enabling robust perception remains challenging for researchers and industry alike. The highly variable scenarios in complex urban environments can lead to erroneous perceptions, which are factors in most driver-related crashes. In this chapter, we present our experience developing AV perception models capable of better understanding driving scenes, thus improving their robustness. Specifically, we propose using scene-graphs as a better Intermediate Representation (IR) for road scenes. Besides, we develop a novel spatio-temporal graph learning approach based on scene-graph representations for modeling the risk of driving maneuvers. Our approach better understands driving scenes and converts them into an estimated risk level by leveraging a network architecture consisting of a Multi-Relation Graph Convolution Network (MR-GCN), a Long-Short Term Memory Network (LSTM), and self-attention layers. We demonstrate how a scene-graph approach for AV perception enables the AV to better assess risk across various driving maneuvers than state of the art, thus being more robust. Moreover, our approach can more effectively transfer knowledge learned from simulated data to real-world driving scenarios. Lastly, we show how adding spatial and temporal attention layers to our approach improves its explainability.

Suggested Citation
Shih-Yuan Yu, Arnav Vaibhav Malawade and Mohammad Abdullah Al Faruque (2023) “Scene-Graph Embedding for Robust Autonomous Vehicle Perception”, in V.K. Kukkala and S. Pasricha (eds.) Machine Learning and Optimization Techniques for Automotive Cyber-Physical Systems. Cham: Springer International Publishing, pp. 525–544. Available at: https://doi.org/10.1007/978-3-031-28016-0_18 (Accessed: October 23, 2024).

published journal article

Evaluation and modification of constant volume sampler based procedure for plug-in hybrid electric vehicle testing

SAE Int. J. Alt. Power.

Publication Date

August 1, 2011
Suggested Citation
Li Zhang, Tim Brown and G. Scott Samuelsen (2011) “Evaluation and modification of constant volume sampler based procedure for plug-in hybrid electric vehicle testing”, SAE Int. J. Alt. Power., 1(2), pp. 542–559. Available at: 10.4271/2011-01-1750.

working paper

Multiply Imputed Sampling Weights for Consistent Inference with Panel Attrition

Publication Date

March 1, 2003

Abstract

This chapter demonstrates a new methodology for correcting panel data models for attrition bias. The method combines Rubin’s Multiple Imputations technique with Manski and Lerman’s Weighted Exogenous Sample Maximum Likelihood Estimator (WESMLE). Simple Hausman tests for the presence of attrition bias are also derived. We demonstrate the technique using a dynamic commute mode choice model estimated from the University of California Transportation Center’s Southern California Transportation Panel. The methodology is simpler to use than standard maximum likelihood-based procedures. It can be easily modified to use with many panel data estimation and forecasting procedures.

published journal article

Solving the bicriteria traffic equilibrium problem with variable demand and nonlinear path costs

Applied Mathematics and Computation

Publication Date

December 1, 2010

Author(s)

Suggested Citation
Anthony Chen, Jun-Seok Oh, Dongjoo Park and Will Recker (2010) “Solving the bicriteria traffic equilibrium problem with variable demand and nonlinear path costs”, Applied Mathematics and Computation, 217(7), pp. 3020–3031. Available at: 10.1016/j.amc.2010.08.035.

published journal article

Use of Radioisotope Ratios of Lead for the Identification of Historical Sources of Soil Lead Contamination in Santa Ana, California

Toxics

Publication Date

June 1, 2022

Author(s)

Shahir Masri, Alana M. W. LeBrón, Michael D. Logue, Patricia Flores, Abel Ruiz, Abigail Reyes, Juan Manuel Rubio, Jun Wu

Abstract

Lead (Pb) is an environmental neurotoxicant that has been associated with a wide range of adverse health conditions, and which originates from both anthropogenic and natural sources. In California, the city of Santa Ana represents an urban environment where elevated soil lead levels have been recently reported across many disadvantaged communities. In this study, we pursued a community-engaged research approach through which trained “citizen scientists” from the surrounding Santa Ana community volunteered to collect soil samples for heavy metal testing, a subset of which (n = 129) were subjected to Pb isotopic analysis in order to help determine whether contamination could be traced to specific and/or anthropogenic sources. Results showed the average 206Pb/204Pb ratio in shallow soil samples to be lower on average than deep samples, consistent with shallow samples being more likely to have experienced historical anthropogenic contamination. An analysis of soil Pb enrichment factors (EFs) demonstrated a strong positive correlation with lead concentrations, reinforcing the likelihood of elevated lead levels being due to anthropogenic activity, while EF values plotted against 206Pb/204Pb pointed to traffic-related emissions as a likely source. 206Pb/204Pb ratios for samples collected near historical urban areas were lower than the averages for samples collected elsewhere, and plots of 206Pb/204Pb against 206Pb/207 showed historical areas to exhibit very similar patterns to those of shallow samples, again suggesting lead contamination to be anthropogenic in origin, and likely from vehicle emissions. This study lends added weight to the need for health officials and elected representatives to respond to community concerns and the need for soil remediation to equitably protect the public.

Suggested Citation
Shahir Masri, Alana M. W. LeBrón, Michael D. Logue, Patricia Flores, Abel Ruiz, Abigail Reyes, Juan Manuel Rubio and Jun Wu (2022) “Use of Radioisotope Ratios of Lead for the Identification of Historical Sources of Soil Lead Contamination in Santa Ana, California”, Toxics, 10(6), p. 304. Available at: 10.3390/toxics10060304.

published journal article

Modeling spatially varying compliance effects of PM2.5 exposure reductions on gestational diabetes mellitus in southern California: Results from electronic health record data of a large pregnancy cohort

Environmental Research

Publication Date

August 15, 2023

Author(s)

John Molitor, Yi Sun, Virgilio Gómez Rubio, Tarik Benmarhnia, Jiu-Chiuan Chen, Chantal Avila, David A. Sacks, Vicki Chiu, Jeff Slezak, Darios Getahun, Jun Wu

Abstract

Gestational diabetes mellitus (GDM) is a major pregnancy complication affecting approximately 14.0% of pregnancies around the world. Air pollution exposure, particularly exposure to PM2.5, has become a major environmental issue affecting health, especially for vulnerable pregnant women. Associations between PM2.5 exposure and adverse birth outcomes are generally assumed to be the same throughout a large geographical area. However, the effects of air pollution on health can very spatially in subpopulations. Such spatially varying effects are likely due to a wide range of contextual neighborhood and individual factors that are spatially correlated, including SES, demographics, exposure to housing characteristics and due to different composition of particulate matter from different emission sources. This combination of elevated environmental hazards in conjunction with socioeconomic-based disparities forms what has been described as a “double jeopardy” for marginalized sub-populations. In this manuscript our analysis combines both an examination of spatially varying effects of a) unit-changes in exposure and examines effects of b) changes from current exposure levels down to a fixed compliance level, where compliance levels correspond to the Air Quality Standards (AQS) set by the U.S. Environmental Protection Agency (EPA) and World Health Organization (WHO) air quality guideline values. Results suggest that exposure reduction policies should target certain “hotspot” areas where size and effects of potential reductions will reap the greatest rewards in terms of health benefits, such as areas of southeast Los Angeles County which experiences high levels of PM2.5 exposures and consist of individuals who may be particularly vulnerable to the effects of air pollution on the risk of GDM.

Suggested Citation
John Molitor, Yi Sun, Virgilio Gómez Rubio, Tarik Benmarhnia, Jiu-Chiuan Chen, Chantal Avila, David A. Sacks, Vicki Chiu, Jeff Slezak, Darios Getahun and Jun Wu (2023) “Modeling spatially varying compliance effects of PM2.5 exposure reductions on gestational diabetes mellitus in southern California: Results from electronic health record data of a large pregnancy cohort”, Environmental Research, 231, p. 116091. Available at: 10.1016/j.envres.2023.116091.

working paper

Simultaneous Equation Systems Involving Binary Choice Variables

Abstract

In this paper a simultaneous modeling system for dichotomous endogenous variables is developed and applied empirically to longitudinal travel demand data of modal choice. The reported research is motivated by three factors. First, the analysis of discrete data has become standard practice among geographers, sociologists, and economists. In the seventies a number of new tools were developed to handle multivariate discrete data (Bishop, et al., 1975; Fienberg, 1980; Goodman, 1972). However, while these methods are invaluable in studying empirical relationships among sets of discrete variables, they have a limited ability to reveal the underlying causal structure that generated the data.Second, in travel demand analysis and housing market modeling, attention has been focused largely on single-equation models. It can be argued that this scope is too limited. Human decisions are usually not taken in isolation but in conjunction with other decisions and events. There may be complex feedback relations, recursive, sequential, and simultaneous decision structures that cannot be adequately described in a single equation. This has been a major motivation in the seventies in sociology for the development of a new modeling approach: linear structural equations with latent variables. Such models combine the classical simultaneous equation system model with a linear measurement model. Original developments, particularly the LISREL model (Joreskog, 1973, 1977), did not allow for discrete dependent variables. More recently, Muthen (1983, 1984, 1987) and others (e.g., Bentler, 1983, 1985) developed models that incorporate various types of non-normal endogenous variables, including censored/truncated polytomous and dummy variables. This paper explores the possibilities of this method for simultaneous equation models in dynamic analysis of mobility.A third motivation for the present research is the rapid growth of longitudinal data sets. In recent years many longitudinal surveys have become available for geographical, economic, and transportation analyses. In labor and housing market analysis the Panel Study of Income Dynamics (PSID, 1984) has played an important role (Heckman and Singer, 1985; Davies and Crouchley, 1984, 1985). In consumer behavior, the Cardiff Consumer Panel has been a major motivation for the development and testing of dynamic discrete choice models (Wrigley, et al., 1985; Wrigley and Dunn, 1984a, 1984b, 1984c, 1985; Dunn and Wrigley, 1985; Uncles, 1987). In the Netherlands a large general mobility panel has been conducted annually since 1984 (J. Golob, et al., 1985; van Wissen and Meurs, 1989). Here analyses have focused on discrete data on modal choice (T. Golob, et al., 1986), as well as on dynamic structural modeling (Golob and Meurs, 1987, 1988; Kitamura, 1987; Golob and van Wissen, 1988; Golob, 1988). The present paper is an extension of this line of research to incorporate dynamic structural models of modal choice, using data from the Dutch Mobility Panel.This paper is organized as follows: In Section 2 the basic methodology is developed. In Section 3 the simultaneous equation system of dummy variables is compared with the conditional logistic model, which is derived from, and equivalent to, the familiar log-linear model. In the fourth section, both models are applied to a dynamic data set of train and bus usage. Some major conclusions regarding the above are drawn in the final section.

Suggested Citation
Leo J. van Wissen and Thomas F. Golob (1990) Simultaneous Equation Systems Involving Binary Choice Variables. Working Paper Reprint No. 20. Institute of Transportation Studies, UC Irvine: University of California Transportation Center. Available at: https://escholarship.org/uc/item/5t28k04n.

published journal article

Anomaly Detection Against GPS Spoofing Attacks on Connected and Autonomous Vehicles Using Learning From Demonstration

IEEE Transactions on Intelligent Transportation Systems

Publication Date

September 1, 2023

Author(s)

Zhen Yang, Jun Ying, Junjie Shen, Yiheng Feng, Qi Alfred Chen, Z. Morley Mao, Henry Liu

Abstract

GPS spoofing attacks pose great challenges to connected vehicle (CVs) safety applications and localization of autonomous vehicles (AVs). In this paper, we propose to utilize transportation and vehicle engineering domain knowledge to detect GPS spoofing attacks towards CVs and AVs. A novel detection method using learning from demonstration is developed, which can be implemented in both vehicles and at the transportation infrastructure. A computational-efficient driving model, which can be learned from historical trajectories of the vehicles, is constructed to predict normal driving behaviors. Then a statistical method is developed to measure the dissimilarities between the observed trajectory and the predicted normal trajectory for anomaly detection. We validate the proposed method using two threat models (i.e., attacks targeting the multi-sensor fusion system of AVs and attacks targeting the intersection movement assist application of CVs) on two real-world datasets (i.e., KAIST and Michigan roundabout dataset). Results show that the proposed model is able to detect almost all of the attacks in time with low false positive and false negative rates.

Suggested Citation
Zhen Yang, Jun Ying, Junjie Shen, Yiheng Feng, Qi Alfred Chen, Z. Morley Mao and Henry X. Liu (2023) “Anomaly Detection Against GPS Spoofing Attacks on Connected and Autonomous Vehicles Using Learning From Demonstration”, IEEE Transactions on Intelligent Transportation Systems, 24(9), pp. 9462–9475. Available at: 10.1109/TITS.2023.3269029.

published journal article

Simulation of freeway incident detection using artificial neural networks

Transportation Research Part C: Emerging Technologies

Publication Date

January 1, 1993
Suggested Citation
Stephen G. Ritchie and Ruey L. Cheu (1993) “Simulation of freeway incident detection using artificial neural networks”, Transportation Research Part C: Emerging Technologies, 1(3), pp. 203–217.

published journal article

A dynamic model of car fuel-type choice and mobility

Transportation Research Part B: Methodological

Publication Date

February 1, 1992

Abstract

This study examines the relationship between car mobility and the choice of alternative-fuel versus gasoline cars in the Netherlands during the 1984-1988 period. One alternative fuel, liquified petroleum gas (LPG), is priced considerably lower than gasoline and is available at service stations throughout the Netherlands. Conversion costs lead to higher capital costs for LPG cars. A joint continuous/discrete multivariate demand model is applied to panel data to quantify the relationships among fuel-type choice, annual car usage and commuting distance, and to determine the effects of commuting subsidies, fixed and variable work locations, rail season tickets, and household socioeconomic characteristics. The model has lagged effects, individual-specific time-invariant terms, period effects, and compensation for panel conditioning and attrition. Results show that higher levels of car use favor choice of LPG cars, but the lower operating costs in turn lead to increases in car use. This latent demand for car travel is accentuated by travel reimbursements provided by employers.

Suggested Citation
Leo van Wissen and Thomas F. Golob (1992) “A dynamic model of car fuel-type choice and mobility”, Transportation Research Part B: Methodological, 26(1), pp. 77–96. Available at: 10.1016/0191-2615(92)90021-n.