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\"This book contains our research advances in the past decade in the analysis and synthesis of CAVs systems from all aspects of trajectory planning, cooperative control and communication. The focuses of this book are on the development of mathematical models and methodologies for trajectory optimization and tracking control, communications conflict resolution, cooperative control subject to communication constraints and sensor/actuator failures/faults for CAVs from different perspectives. This book is composed of fourteen Chapters. The contents are divided into three parts, with Chapter 1 - Chapter 5 as Part I, Chapter 6 - Chapter 9 as Part II, and Chapter 10 - Chapter 14 as Part III, respectively, concerned with cooperative vehicular communication and control, performance guarantee under actuator limitations, and speed trajectory planning and tracking control of CAVs.\"-- Provided by publisher.

IntroductionThis paper describes the development of an architecture for the integration of Vulnerable Road Users (VRUs), i.e. pedestrians, cyclists and powered two-wheelers (PTWs) in Cooperative ITS (C-ITS) systems, and the requirements for VRU devices.MethodsThis paper starts with a literature overview on research related to safety applications using communication between vehicle and VRU, and an analysis of the different use cases for C-ITS for VRUs. An architecture is developed, starting from an architecture of C-ITS systems and incorporating the different alternative configuration for VRUs. Starting from the architecture and the use cases, the requirements for VRU devices are defined. Finally, a roadmap regarding C-ITS applications for VRUs is developed.ResultsC-ITS technologies allow to communicate with low latency in highly dynamic environments. C-ITS will be integrated in vehicles and can also become available for VRUs, either as an application on a smartphone or as a dedicated device, which can be integrated in the VRU’s vehicle. Two levels of use cases can be identified: awareness of the presence of VRUs near potentially dangerous situations, and collision risk warning, based on trajectories of the road users. A roadmap was developed aligned with the roadmap of the automotive industry.ConclusionsAwareness related use cases are relatively close to the market, as they do not put stringent requirements to the (localization) sensors at infrastructure or vehicles. For the collision risk warning use case, the technical requirements for VRU devices towards sensor accuracy and calculation capabilities are challenging. Other challenges are power consumption, context sensitivity, channel congestion, privacy and security of messages. Standardisation of the messages exchanged between VRUs and other road users and infrastructure is a key issue.

IntroductionThe current safety situation for Powered Two Wheelers (PTW) within the EU is alarming. According to EU statistics, PTW riders account for 17% of all fatal road injuries in the region and twice as many fatalities per hundred thousand registered vehicles compared with occupants of cars. In recent years, too little attention has been given to Vulnerable Road Users (VRUs), including PTW users, in the development of Intelligent Transport Systems (ITS). Therefore, ITS should be developed that consider PTW riders an integral part of traffic; we focus on three systems that we believe have the potential to improve safety among PTW riders, namely Intersection Safety (INS), the Powered Two Wheeler oncoming vehicle information system (PTW2V), and the Vulnerable road user Beacon System (VBS). The present study aims to estimate quantitatively the safety impacts of the selected ITS for PTW riders in the EU-28, once the systems are fully adopted and meet selected future scenarios for 2020 and 2030.MethodAn ex-ante method suggested by Kulmala (Accident Analysis and Prevention 42:1359–1369, 2010) was further developed and applied to assess the safety impacts of ITS specifically designed for VRUs. As suggested by the method, the analysis started by determining the impact mechanisms through which the selected ITS systems affect the safety of PTW riders.ResultsAccording to the main results, all the systems we studied have a positive impact on PTW rider safety by preventing fatalities and injuries. The greatest effects, based on 2012 accident data and full penetration, could be attained by implementing PTW2V (283 fewer yearly fatalities) and INS (261 fewer yearly fatalities). The weakest effect was found with VBS (216 fewer yearly fatalities). Forecasts for 2030, also based on estimated accident trends and penetration rates, confirm an expected edge for INS and PTW2V in terms of safety.

IntroductionThis paper describes the modification and development of methodologies to assess the impacts of Intelligent Transport Systems (ITS) applications for Vulnerable Road users (VRUs) in the domains of safety, mobility and comfort. This effort was carried out in the context of the VRUITS project whose aim was to produce results at the EU-28 level.MethodsAn existing safety methodology was modified to take into account specific VRU aspects. The mobility and comfort assessments methodologies were developed in the project.ResultsThe safety, mobility and comfort methodologies were applied to ten ITS applications for VRUs. The first innovation determined how the nine safety mechanisms for ex-ante analysis of ITS applications, including direct and indirect effects, can incorporate the important characteristics of the VRU groups (pedestrians, cyclists and Power-Two-Wheeler riders) in the analysis. The second innovation developed a conceptual model for mobility and comfort. Thirdly, the estimation of quantitative effects, using literature, empirical findings and expert judgement, was developed.ConclusionsThe new safety, mobility and comfort assessment methodologies were applied to calculate the respective effects for VRUs using ITS. These results are ex-ante findings, as very few to no empirical results for ITS applications for VRUs are available. In order to improve the accuracy of the estimates, there is a need for better standardized data and at the European level. Finally, validation of the methods could be done in the future field operational tests focusing on measuring user behavior.

Due to the growing number of vehicles on the roads worldwide, road traffic accidents are currently recognized as a major public safety problem. In this context, connected vehicles are considered as the key enabling technology to improve road safety and to foster the emergence of next generation cooperative intelligent transport systems (ITS). Through the use of wireless communication technologies, the deployment of ITS will enable vehicles to autonomously communicate with other nearby vehicles and roadside infrastructures and will open the door for a wide range of novel road safety and driver assistive applications. However, connecting wireless-enabled vehicles to external entities can make ITS applications vulnerable to various security threats, thus impacting the safety of drivers. This article reviews the current research challenges and opportunities related to the development of secure and safe ITS applications. It first explores the architecture and main characteristics of ITS systems and surveys the key enabling standards and projects. Then, various ITS security threats are analyzed and classified, along with their corresponding cryptographic countermeasures. Finally, a detailed ITS safety application case study is analyzed and evaluated in light of the European ETSI TC ITS standard. An experimental test-bed is presented, and several elliptic curve digital signature algorithms (ECDSA) are benchmarked for signing and verifying ITS safety messages. To conclude, lessons learned, open research challenges and opportunities are discussed.

Evidently, Intelligent Transport System (ITS) has progressed tremendously all its way. The core of ITS are detection and recognition of traffic sign, which are designated to fulfill safety and comfort needs of driver. This paper provides a critical review on three major steps in Automatic Traffic Sign Detection and Recognition(ATSDR) system i.e., segmentation, detection and recognition in the context of vision based driver assistance system. In addition, it focuses on different experimental setups of image acquisition system. Further, discussion on possible future research challenges is made to make ATSDR more efficient, which inturn produce a wide range of opportunities for the researchers to carry out the detailed analysis of ATSDR and to incorporate the future aspects in their research.

Mobility is a subject of increasing importance in a time when cities have gained prominence, as they are home to over 56% of the world’s population and generate over 80% of global GDP. Urban planning principles have traditionally been developed to promote urban efficiency and enhance productivity. The emergence of ‘Smart Mobility’ has provided researchers and policy practitioners new ways to understand and plan cities. With rapid urbanization growth and the sustained mobility challenges faced in most global cities, this paper sets forth to understand and map the evolution of the concept of ‘Smart Urban Mobility’ through a bibliometric analysis and science mapping techniques using VOSviewer. In total, 6079 articles were retrieved from the Web of Science database over 5 decades, from 1968 to 2021, and divided into four sub-periods, namely 1968 to 2010, 2011 to 2015, 2016 to 2019, and 2020 to 2021. The paper provides a better understanding of the thematic focus and associated trends of smart mobility beyond technical issues related to Intelligent Transport Systems (ITS), where due to diverse dynamics, such as unprecedented growth and advancement in technologies, attention has extended to incorporating the impacts of the application of different technologies in urban mobility as well as associated fields. This paper further identifies major sources, authors, publications, and countries that have made more contributions to the development of this field. The findings of this study can help researchers better understand the evolution of the subject, and help policymakers make better-informed decisions on investable infrastructures for better mobility outcomes in urban regeneration pursuits and future cities.

In this study, the general problem of scalable and inter-operable Intelligent Transport Systems (ITSs) is addressed. Referring to a new proposal based on next generation networks promoting a pervasive, distributed and inter-operable service-oriented architecture, the authors comment on existing frontier technologies capable of deploying such systems. A new layered architecture for an EU-wide ITS is shown against the state-of-the-art ITS design; the presented solution is expected to overcome the actual limitations in pervasiveness of the collection layer and in virtualisation of users, connectivity, storage and calculus. The IPv6 global network (and especially the 6LoWPAN extension to embedded constrained devices), also delivered through wideband technologies, is seen as the enabling technology to support large-scale ITS; moreover a proposal to explicitly consider distributed calculus and high capacity storage for data and computationally intensive applications is presented.

Purpose – foreign and Lithuanian researchers analyse the benefits of ITS (Intelligent transport systems) application and development opportunities in various aspects. Due to the rapid development of technology, most authors emphasise the need for new or at least repeated research on intelligent transport systems ITS. The aim of this article is to evaluate the factors determining the development of ITS after theoretical substantiation. Research methodology – the primary data was collected from the following databases: Eurostat, OECD, World Bank. This study uses the analysis of scientific literature, expert survey, multicriteria assessment (SAW and COPRAS methods). Findings – the results of this article indicate which factors determine the development of ITS the most: investments, the aim to increase road safety, well-developed infrastructure. It also identifies which of the chosen for analaysis countries has the greatest potential for developing of ITS – Germany. Research limitations – firstly, due to the lack of statistics only eight countries are included and the period of analysis is only two years. Another limitation is that experts from only two countries completed the survey. Practical implications – research on the development of ITS is carried out in order to analyse the country that has the biggest opportunity to develop ITS and the factors affecting the mentioned development. The results can be beneficial for ministries of transport in different countries for planning the application of ITS. Originality/Value – current study contributes to the existing literature by examining the specific factors affecting the development of ITS that were not analysed earlier. This article differs from others as includes some Northern,Western European and Baltic countries. Findings can be used by government in planning the installation of ITS to get the maximum benefit from it.

PurposeThe purpose of this study is to provide real-time route guidance within city to help commuters.Design/methodology/approachIn urban areas to avoid road congestion and to reach the destination on time, intelligent transport system (ITS) utilizes recent advanced technology. To support this, existing route guidance system (RGS) suggests alternative route to commuters. However, ITS requires a system which suggests the alternative route along with the mode of transport such as public, private, taxi services etc. Integrated mode of transport (IMT) implemented in this paper guides the commuters of urban area with the best mode of transport. Inputs to our IMT predictive model are the commuter's choice of (1) minimum travel time (2) minimum cost (3) flexible route and (4) less traffic intensity along with source and destination locations. Based on these user inputs, IMT predictive model suggests optimal mode of transport. In this paper to implement the IMT model, we have considered the transport facility available in Bangalore, a city in India. The city has metro train, bus and taxi services available to the commuters. Implementation is divided into two parts. In the first part, the model checks for the end-to-end connectivity/availability of metro train facility. If metro train connectivity exists, the model concludes this as the best mode of travel. In the second part, for the routes which are not connected by metro train, the optimal mode of transport through road network will be suggested. In the first part, to check the existence of metro train along the routes between source and destination, location-IQ API is used. In the later part, to suggest transport along the road network, Q-learning algorithm of reinforcement learning technique is used.FindingsThe findings are the predictive model algorithm to find the best mode of transfer and reinforcement model used in real time route guidance system.Originality/valueThis is a new Idea, not proposed in any research work.