Hands-off detection (HOD) is used in autonomous driving vehicle (ADV). However, how to choose an appropriate HOD timespan (HODT) either practically or legislatively remains unsolved. In this paper, an asymmetric Nash bargaining-based HODT determination is introduced. Utility functions of autonomous driving system (ADS) and driver are developed. HODT is determined based on the asymmetric Nash bargaining solution. Experimental result shows existing adopted HODTs can be obtained using the proposed method. Appropriate HODT can be obtained considering safety requirement and driver's need. Under high safety requirement, HODT is short regardless of driver's need. When safety requirement is not strict, HODT can be prolonged to satisfy driver's need. By constructing situation awareness (SA) evolution process considering HODT, ceiling HODT can be obtained, which can be used in legislation as the longest HODT that can be chosen. Experiment also shows superiority of dynamical HODT over the constant HODT. The proposed method offers a possible theoretical solution to HODT determination, showing potential in practice and legislation.

In recent years, Prompt Learning, based on pre-training, prompting, and prediction, has achieved significant success in natural language processing (NLP). The current issue-commit link recovery (ILR) method converts the ILR into a classification task using pre-trained language models (PLMs) and dedicated neural networks. However, due to inconsistencies between the ILR task and PLMs, these methods not fully leverage the semantic information in PLMs. To imitate the above problem, we make the first trial of the new paradigm to propose a Multi-template prompt learning method with adversarial training for issue-commit link recovery (PromptLink), which transforms the ILR task into a cloze task through the template. Specifically, a Multi-template PromptLink is designed to enhance the generalisation capability by integrating various templates and adopting adversarial training to mitigate the model overfitting. Experiments are conducted on six open-source projects and comprehensively evaluated across six commonly measures. The results show that PromptLink achieves an average F1 of 96.10%, Precision of 96.49%, Recall of 95.92%, MCC of 94.04%, AUC of 96.05%, and ACC of 98.15%, significantly outperforming existing state-of-the-art methods on all measures. Overall, PromptLink not only enhances performance and generalisation but also emerges new ideas and methods for future research. The source code of PromptLink is available at https://figshare.com/s/6130d42ff464c579cdec.

Traceability refers to the potential for traces to be established (i.e., created and maintained) and used. Bug Traceability (BT) is critical for enhancing software quality, reducing maintenance costs, and boosting team efficiency. To explore the trends and advancements of BT, we conduct a systematic mapping study (SMS). We initially retrieve 4674 citations from 7 databases spanning 2014 to 2023, and 24 primary studies meet the rigorous selection criteria. Our study identifies 6 types of bug trace links, 8 traceability strategies, and 47 bug traceability recovery (BTR) techniques. Among them, 47 BTR techniques can be further classified into 6 categories. At the same time, we perform statistics on 113 datasets and 16 evaluation metrics used to assess the performance of BTR techniques proposed in the primary studies. In evaluating the overall quality of the primary studies, 8 dimensions are utilized to support technology transfer, categorizing the overall quality into 4 levels: poor, middle, good, and excellent, with 79% of primary studies evaluated at a good level. This study not only furnishes a clear definition of BT for scholarly reference, but also highlights that information retrieval (IR), machine learning (ML) and deep learning (DL) techniques are the mainstream techniques used for BTR.

Predicting the future trajectories of robots' nearby objects plays a pivotal role in applications such as autonomous driving. While learning-based trajectory prediction methods have achieved remarkable performance on public benchmarks, the generalization ability of these approaches remains questionable. The poor generalizability on unseen domains, a well-recognized defect of data-driven approaches, can potentially harm the real-world performance of trajectory prediction models. We are thus motivated to improve models' generalization ability instead of merely pursuing high accuracy on average. Due to the lack of benchmarks for quantifying the generalization ability of trajectory predictors, we first construct a new benchmark called argoverse-shift, where the data distributions of domains are significantly different. Using this benchmark for evaluation, we identify that the domain shift problem seriously hinders the generalization of trajectory predictors since state-of-the-art approaches suffer from severe performance degradation when facing those out-of-distribution scenes. To enhance the robustness of models against domain shift problem, we propose a plug-and-play strategy for domain normalization in trajectory prediction. Our strategy utilizes the Frenét coordinate frame for modeling and can effectively narrow the domain gap of different scenes caused by the variety of road geometry and topology. Experiments show that our strategy noticeably boosts the prediction performance of the state-of-the-art in domains that were previously unseen to the models, thereby improving the generalization ability of data-driven trajectory prediction methods.

Accurately predicting the future motions of surrounding traffic agents is critical for the safety of autonomous ve-hicles. Recently, vectorized approaches have dominated the motion prediction community due to their capability of capturing complex interactions in traffic scenes. How-ever, existing methods neglect the symmetries of the prob-lem and suffer from the expensive computational cost, facing the challenge of making real-time multi-agent motion prediction without sacrificing the prediction performance. To tackle this challenge, we propose Hierarchical Vector Transformer (HiVT) for fast and accurate multi-agent motion prediction. By decomposing the problem into local con-text extraction and global interaction modeling, our method can effectively and efficiently model a large number of agents in the scene. Meanwhile, we propose a translation-invariant scene representation and rotation-invariant spa-tial learning modules, which extract features robust to the geometric transformations of the scene and enable the model to make accurate predictions for multiple agents in a single forward pass. Experiments show that HiVT achieves the state-of-the-art performance on the Argoverse motion forecasting benchmark with a small model size and can make fast multi-agent motion prediction.

The irrelevance coverage model (ICM) is an extension of the imperfect fault coverage model (IFCM), which considers both uncovered failure and component irrelevance. In the ICM, an irrelevant component cannot occur an uncovered failure since it will be isolated (shutdown) from the system. In traditional ICM, the irrelevant component is triggered by a covered component failure. However, in the multi-state system (MSS), the degrade state of the operational components may also cause the other component to be irrelevant. To address this issue, the minimal irrelevance trigger (MIT) is redefined for the MSS by analyzing the relation between component states and system demand. Further, we extend the ICM to the MSS. We apply multi-state multi-valued decision diagram (MMDD) to calculate the reliability of the MSS in the ICM. The experimental result shows that not only the failure of component but also the deterioration of component may lead to component becoming irrelevant in the MSS.

Modeling interactions among vehicles is critical in improving the efficiency and safety of autonomous driving since complex interactions are ubiquitous in many traffic scenarios. To model interactions under different traffic scenarios, most existing works consider interaction information implicitly in their specific tasks with hand-crafted features and predefined maneuvers. Extracting interaction representation, which can be commonly used among different downstream tasks, is not explored. In this article, we propose a general and novel graph self-attention network (GSAN) to learn the spatial–temporal interaction representation among vehicles by a framework consisting of pretraining and fine-tuning. Specifically, in the pretraining step, we construct the GSAN module based on a graph self-attention layer and a gated recurrent unit layer, and use trajectory autoregression to learn the interaction information among vehicles. In the fine-tuning step, we propose two different adaptation schemes to utilize the learned interaction information in various downstream tasks and fine-tune the entire model with only a few steps. To illustrate the effectiveness and generality of our spatial–temporal interaction model, we conduct extensive experiments on two typical interaction-related tasks, namely, lane-changing classification and trajectory prediction. The experiment results demonstrate that our approach significantly outperforms the state-of-the-art solutions of these two tasks. We also visualize the impact of surrounding vehicles on the ego vehicle in different interaction scenes. The visualization offers an intuitive explanation on how our model captures the dynamic changing interactions among vehicles and makes good predictions in various interaction-related tasks.

This paper presents a feasibility and effective ap-proximation method to estimate the failure probability of the top event of a dynamic fault tree. The method is based on a minimal canonical form and uses a quantitative relationship between the smallest cut sequence and the entire sequence. Comparison with discrete-time Bayesian networks and Monte Carlo simulation methods, the validity of this method is assessed on two case studies approximating the probabilities of the top event of a Hypothetical Cardiac Assist System (HCAS) and a fictitious system. The case study results show that our method can achieve similar accuracy with smaller relative error and shorter execution time.

In systems with imperfect fault coverage (IFC), all components are subject to uncovered failures, possibly threatening the whole system. Therefore, to improve the system reliability, it is important to timely detect, identify, and shut down the components that are no more relevant for the system operation. This article addresses quantitative evaluation of the relevance of components, assuming that they have independent and identically distributed lifetimes to characterize the impact of the system design only on the system reliability and energy consumption. To this end, the dynamic relevance measure is defined to characterize the irrelevant components in different stages of the system lifetime depending on the number of occurred component failures, supporting the evaluation of the probability that the system fails due to uncovered failures of irrelevant components. Moreover, the system reliability over time is also efficiently derived, both in the case that irrelevance is not considered and in the case that irrelevant components can be immediately isolated, notably supporting any general (i.e., non-Markovian) distribution for the failure time of components. Feasibility and effectiveness of the approach are assessed on two real-scale case studies addressing reliability evaluation of a flight control system and a multihop wireless sensor network.

Modeling the interactions among vehicles has been considered essential in improving efficiency and safety in autonomous driving, since the real traffic scenarios, such as merging lanes, intersection, and lane change, are full of complex interactions. In the literature, interaction is considered implicitly in individual tasks, which makes it hard to extract the interactions for other related downstream tasks. In this paper, we propose a novel Graph Self-Attention Network (GSAN) to quickly capture and quantify the influence of interactions among vehicles from historical trajectories, which can be used as a tool to introduce the impact of interactions into different downstream tasks and further analyze the dominating features affecting the interactions among vehicles. We conduct experiments on the trajectory prediction task as one example to illustrate how to use the spatial-temporal interaction vector to improve the performance of interaction related tasks. The experiment results demonstrate that the GSAN module outperforms the state-of-the-art solutions in terms of the trajectory prediction accuracy. Also, we visualize the effects from all surrounding vehicles on the ego vehicle by heat maps using the trained attention values from the GSAN module.

In a phased-mission system (PMS), an uncovered component fault may lead to a mission failure regardless of the status of other components, and the reliability can be analyzed with traditional imperfect fault coverage model (IFCM). The IFCM, however, only considers the coverage of faulty components. Recently, an irrelevancy coverage model (ICM) is proposed to cover both faulty components and irrelevant components, but the analysis is limited to normal non-phased mission systems. This paper first demonstrates that, the coverage of irrelevant components is also important in PMSs, as an initially relevant component could also become irrelevant later due to the failures of other components, and an uncovered fault of irrelevant component may threaten the whole mission as well. A method to analyze the reliability of PMS in ICM is proposed using sum of disjoint products (SDP) technique. Experimental results demonstrate not only the effectiveness of the proposed reliability analysis method, but also that the ICM can achieve higher reliability than the IFCM for PMSs in general.