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Abstract Vehicle behaviour prediction provides important information for decision‐making in modern intelligent transportation systems. People with different driving styles have considerably different driving behaviours and hence exhibit different behaviour tendency. However, most existing prediction methods do not consider the different tendencies in driving styles and apply the same model to all vehicles. Furthermore, most of the existing driver classification methods rely on offline learning that requires a long observation of driving history and hence are not suitable for real‐time driving behaviour analysis. To facilitate personalised models that can potentially improve vehicle behaviour prediction, the authors propose an algorithm that classifies drivers into different driving styles. The algorithm only requires data from a short observation window and it is more applicable for real‐time online applications compared with existing methods that require a long term observation. Experiment results demonstrate that the proposed algorithm can achieve consistent classification results and provide intuitive interpretation and statistical characteristics of different driving styles, which can be further used for vehicle behaviour prediction. 

Abstract Sensing is an essential part in autonomous driving and intelligent transportation systems. It enables the vehicle to better understand itself and its surrounding environment. Vehicular networks support information sharing among different vehicles and hence enable the multi‐vehicle multi‐sensor cooperative sensing, which can greatly improve the sensing performance. However, there are a couple of issues to be addressed. First, the multi‐sensor data fusion needs to deal with heterogeneous data formats. Second, the cooperative sensing process needs to deal with low data quality and perception blind spots for some vehicles. In order to solve the above problems, in this paper the occupancy grid map is adopted to facilitate the fusion of multi‐vehicle and multi‐sensor data. The dynamic target detection frame and pixel information of the camera data are mapped to the static environment of the LiDAR point cloud, and the space‐based occupancy probability distribution kernel density estimation characterization fusion data is designed , and the occupancy grid map based on the probability level and the spatial level is generated. Real‐world experiments show that the proposed fusion framework is better compatible with the data information of different sensors and expands the sensing range by involving the collaborations among multiple vehicles in vehicular networks. 

In this paper, we investigate the intersection traffic management for connected automated vehicles (CAVs). In particular, a decentralized autonomous intersection management scheme that takes into account both the traffic efficiency and scheduling flexibility is proposed, which adopts a novel intersection–vehicle model to check conflicts among CAVs in the entire intersection area. In addition, a priority-based collision-avoidance rule is set to improve the performance of traffic efficiency and shorten the delays of emergency CAVs. Moreover, a multi-objective function is designed to obtain the optimal trajectories of CAVs, which considers ride comfort, velocities of CAVs, fuel consumption, and the constraints of safety, velocity, and acceleration. Simulation results demonstrate that our proposed scheme can achieve good performance in terms of traffic efficiency and shortening the delays of emergency CAVs.