Deep learning method for risk identification of autonomous bus operation considering image data augmentation strategies

Abstract

Objective

The autonomous bus is a key application scenario for autonomous driving technology. Identifying the risk of autonomous bus operation is of great significant to improve road traffic safety and promote the large-scale application of autonomous driving technology.

Methods

For the purpose of risk identification, the actual operation data for autonomous buses in Shanghai were converted into 3 kinds of grayscale images and 1 kind of radar image from a temporal–spatial perspective, and a deep learning convolutional neural network, AlexNet, was applied for image recognition. This article uses several image data augmentation strategies to address the problem of uneven distribution of samples and compares the effectiveness of different strategies.

Results

The optimal accuracy (ACC) of the risk identification was 90.4%, the optimal true positive rate (TPR) was 83.7%, and the optimal false negative rate (FPR) was 94.58%. The accuracy of risk identification using AlexNet was higher based on the sample containing Fourier images. In addition, risk identification accuracy based on grayscale images was higher than that based on radar images.

Conclusions

Autonomous buses were found to be vulnerable to risks in areas such as turning sections and intersections. In addition, the results show that the Fourier transform, an image augmentation strategy, can effectively solve the uneven sample distribution problem, and the length of the input time series has an impact on the accuracy of the risk identification.

Keywords:

• Autonomous bus operation
• risk identification
• image recognition
• AlexNet
• data augmentation strategies

Additional information

Funding

This research was supported by the Graduate Innovation Project (Grant No. T21JB0500280) and the National Natural Science Foundation of China (Grant No. 61973028).