Automated vehicles and advanced driver-assistance systems require an accurate prediction of future traffic scene states. The tendency in recent years has been to use deep learning approaches for accurate trajectory prediction but these approaches suffer from computational complexity, dependency on a specific environment/dataset, and lack of insight into vehicle interactions. In this paper, we aim to address these limitations by proposing a Dual Learning Model (DLM) using lane occupancy and risk maps for vehicle trajectory prediction. To understand the spatial interactions of road users, make the model independent of the environment, and consider inter-vehicle distances, we embed an Occupancy Map (OM) into the trajectory prediction model. We also utilise a traffic scene Risk Map (RM) to explicitly consider a comprehensive definition of risk based on Time-to-Collision in the traffic scene. These two features employed in the encoder-decoder architecture improve system accuracy with less complexity and provide insight into the interaction between all road users. The experiment has been conducted on two different naturalistic highway driving datasets (i.e., NGSIM and HighD) demonstrating algorithm independence from a single environment. Comparison results indicate that the DLM achieves a more accurate trajectory prediction with a less complex structure compared with existing approaches in terms of RMS prediction error, which indicates the effectiveness of DLM in such a context. INDEX TERMS Vehicle trajectory, trajectory prediction, recurrent neural network, deep feature learning, and long-short-term memory.

Automatically assessing driving behaviour against traffic rules is a challenging task for improving the safety of Automated Vehicles (AVs). There are no AV specific traffic rules against which AV behaviour can be assessed. Moreover current traffic rules can be imprecisely expressed and are sometimes conflicting making it hard to validate AV driving behaviour. Therefore, in this paper, we propose a Defeasible Deontic Logic (DDL) based driving behaviour assessment methodology for AVs. DDL is used to effectively handle rule exceptions and resolve conflicts in rule norms. A data-driven experiment is conducted to prove the effectiveness of the proposed methodology.

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Cooperative Intelligent Transportation Systems (C-ITS) are being deployed in several cities around the world. We are preparing for the largest Field Operational Test (FOT) in Australia to evaluate C-ITS safety benefits. Two of the safety benefit hypotheses we formulated assume a dependency between lane changes and C-ITS warnings displayed on the Human Machine Interface (HMI) during safety events. Lane change detection is done by processing many predictors from several sensors at the time of the safety event. However, in our planned FOT, the participating vehicles are only equipped with the vehicle C-ITS and the IMU. Therefore, in this paper, we propose a framework to test lane change and C-ITS dependency. In this framework, we train a random forest classifier using data collected from the IMU to detect lane changes. Consequently, the random forest output probabilities of the testing data in case of C-ITS and control are used to construct a 2x2 contingency table. Then we develop a permutation test to calculate the null hypothesis needed to test the independence of the lane change during safety events and the C-ITS.

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