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Neurocomputing
journal homepage: www.elsevier.com/locate/neucom
art ic l e i nf o
a b s t r a c t
Article history:
Received 21 March 2014
Received in revised form
5 October 2014
Accepted 5 October 2014
Available online 16 May 2015
Nowadays, trafc data can be collected from different types of sensors widely-deployed in urban
districts. Big trafc data understanding and analysis in intelligent transportation systems (ITS) turns out
to be an urgent requirement. This requirement leads to the computation-intensive and data-intensive
problems in ITS, which can be innovatively resolved by using Cyber-Infrastructure (CI). A generic process
for the solution contains four steps: (1) formalized data understanding and representation, (2) computational intensity transformation, (3) computing tasks creation, and (4) CI resources allocation. In this
paper, we rstly propose a computational domain theory to formally represent heterogeneous big trafc
data based on the data understanding, and then use data-centric and operation-centric transformation
functions to evaluate the computational intensity of trafc data analysis in different aspects. Afterwards,
the computational intensity is leveraged to decompose the domain into sub-domains by octree
structure. All the sub-domains create computing tasks which are scheduled to CI resources for parallel
computing. Based on the evaluation of overall computational intensity, an example of fusing Sydney
Coordinated Adaptive Trafc System (SCATS) data and Global Positioning System (GPS) data for trafc
state estimation is parallelized and executed on CI resources to test the accuracy of domain decomposition and the efciency of parallelized implementation. The experimental results show that the ITS
computational domain is decomposed into load-balanced sub-domains, therefore facilitating signicant
acceleration for parallelized big trafc data fusion.
& 2015 Elsevier B.V. All rights reserved.
Keywords:
Intelligent transportation systems
Computational intensity
Computational domain
Formalization
Parallel computing
1. Introduction
The quantity of trafc data collected from different types of
sensors widely deployed in urban districts have increased dramatically in the recent few decades, with the data quality improving
signicantly. This trend will continue in the foreseeable future,
and lead to the urgent requirement of big trafc data understanding and analysis in intelligent transportation systems (ITS)
[1]. A solution involves the use of Cyber-Infrastructure (CI) which
can support the analysis of computation-intensive and dataintensive problems in high performance [2]. This solution generically consists of four steps: (1) formalized understanding and
representation of heterogeneous big trafc data; (2) computational
intensity evaluation on ITS applications; (3) algorithmic parallelization to create computing tasks; and (4) CI scheduling and
allocation for parallel computing. For each step, the output of its
previous step is used as its input. Therefore, in order to efciently
n
Corresponding author at: College of Computer Science, Zhejiang University,
310012 Hangzhou, China. Tel.: 86 571 28866898; fax: 86 571 28866717.
E-mail address: xiayingjie@zju.edu.cn (Y. Xia).
http://dx.doi.org/10.1016/j.neucom.2014.10.104
0925-2312/& 2015 Elsevier B.V. All rights reserved.
on the domain, two types of computational intensity transformation functions, data-centric function and operation-centric function, are adopted to elucidate the computational intensity of a
particular big trafc data analysis in three principle aspects,
memory, I/O, and computing time. Different aspects of computational intensity are synthesized to decompose the computational
domain into load-balanced sub-domains, which create computing
tasks to be executed in parallel. CI resources are allocated to all
tasks according to the matching of computing capability and
computational intensity, to improve the efciency of the parallel
computing. The formalization of computational intensity provides
a comprehensive evaluation of algorithmic complexity and correlation between neighboring data cells, and therefore can facilitate
to accelerate big trafc data analysis because of the accurate
domain decomposition by overall computational intensity.
The rest of the paper is organized as follows. Some related work
about data-driven ITS and computational complexity analysis is
reviewed in Section 2. Section 3 introduces the ITS computational
domain theory to formally represent multi-sensor heterogeneous
trafc data. Section 4 species the data-centric and operationcentric transformation functions to implement the computational
intensity transformation into different aspects. We also dene the
overall computational intensity in Section 4. An example application of data-driven ITS, multi-sensor data fusion for trafc state
estimation, is illustrated in Section 5. Section6 analyzes the
utilization of computational intensity for parallel computing by
using real trafc data, and conducts load-balance, accuracy, and
efciency tests on the data. Finally, the conclusion with remarks
on future work is drawn in Section 7.
2. Related work
Recently, the conventional ITS is evolving into the data-driven
ITS where data collected from multiple trafc sensors play an
essential role in ITS. Based on the types of trafc sensors used, the
way to process data, and the specic applications, a full datadriven ITS can be classied. The main classied categories include
vision-driven ITS, multisource-driven ITS, learning-driven ITS, and
visualization-driven ITS [1].
Vision-driven ITS takes the trafc data collected from video
sensors as input, and uses the processing output for ITS related
applications, such as (1) trafc object detection [4], monitoring [5],
and recognition [6], (2) trafc behavior analysis [7], (3) trafc data
statistical analysis [4], and (4) vehicle trajectory construction [8].
However, vision-driven ITS suffers from the environmental constraints, e.g., snow, static or dynamic shadows, and rain [9].
Therefore, multisource-driven ITS uses multiple types of sensors,
such as Sydney Coordinated Adaptive Trafc System (SCATS) loop
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160
For example, the time slot is set as 15 min, and t of cell is set as
1 min. This means that the data unit consists of (15 min/1 min)
15 layers of cells in xt axis. These 15 layers of cells will be
processed entirely in the ITS applications. In the rest parts of the
paper, we use the computational domain with one data unit as the
example, for the computational intensity transformation and
parallel processing.
Based on the specication above, the normalized computational domain is dened as (1), where a cell at a position
i=xt ; j=ylx ; k=zly A I 3 , i 1,, xt ; j 1,, ylx ; k 1,, zly denotes a
three-dimensional vector as (2)
f : I 3 0; 1 0; 1 0; 1-R3
10
11
5. An illustrative example
5
TRd and TRo can be comprised of multiple transformation subfunctions as (9) and (10), where represents function multiplication [27]. All these sub-functions output the same aspect and
their order should be consistent with the specic input and output
sequences between neighboring sub-functions, and thus the
function multiplication cannot obey the commutative law:
161
There are four combinations of these two types of computational transformation functions, data-centric and operation-centric, non-data-centric and operation-centric, data-centric and nonoperation-centric, non-data-centric and non-operation-centric. A
particular ITS data application must be placed into one of these
combinations to evaluate its computational intensity. Specically,
in this part an example on fusing a large amount of SCATS and GPS
data for trafc state estimation is provided to demonstrate how
computational transformation functions are used to derive computational intensity from the formalized data representation. Since
the example is a data-intensive and computation-intensive program, it requires both data-centric and operation-centric functions
to transform into memory consumption, I/O count, and CPU
computing time.
5.1. Trafc data fusion
162
mi si;t
1
Pi 1
ni;t s; d
ni;t d
X
si;t st i 1 mi si;t
X
Xi 1 si;t i 1 mi si;j
12
13
14
where the number 2 indicates that there are two types of trafc
sensors, SCATS and GPS, and the value of BPA_number is determined by the number of speed segmentation levels. Towards a cell
set cs with n cells, such as data of one road segment (i, j) within a
time slice, the memory consumption can be directly calculated by
DSTRd I=O cs nnDSTRd I=O i; j; k
nnmemoryUnit n2nBPA_number
15
n2nBPA_number 2nBPA_number 1
3
16
X
\ i 1 si;t
i 1 mi si;t , and the
number 1 denotes the writing (input) count of the fusion result.
The computing time aspect of trafc data fusion can be
evaluated by the following operation-centric transformation function:
DSTRo t i; j; k timeUnit nBPA_number nN i;j;kn eighbors
2
17
163
18
w2 I=O_Speed=667 MHz
19
w3 CPU=2 GHz
20
3
3
8:5nBPA_number 4:5nBPA_number
0:625nBPA_number 0:5nN i;j;k_neighbors
21
Supposing that we adopt a three-level speed segmentation strategy, BPA_number 3, OCI of one cell can be calculated as
OCI 147 2:375nNi;j;k_neighbors
22
Fig. 6. The corresponding octree structure of domain decomposition in Fig. 4.
Therefore, the cells aggregate their OCI values, which will be used
to decompose ITS computational domain into load-balanced subdomains.
6.2. Octree-based computational domain decomposition
The octree structure is a representation of regular partition of
three-dimensional space into eight octants by recursively decomposing until achieving a tradeoff between the number of subdomains and their computational intensity [31]. Some kinds of
octrees have been dened, differing in the rules that govern data
decomposition, data type indexed, and other details [32]. A basic
octree in the three-dimensional space is an 8-way branching tree,
wherein at each level a cubic domain is decomposed into eight
equal-size cubes. By traversing all the leaf nodes of the octree, the
generated sub-domains are represented by a specic data structure which is linked and stored in a single directional list [33]. Big
trafc data in the computational domain can be decomposed into
data pieces in sub-domains by the octree structure.
In the fusion example, we take OCI as a metric, and calculate its
threshold for domain decomposition through dividing the OCI
value of whole computational domain by a specied number of
computing nodes. By representing SCATS and GPS data collected
from Shanghai downtown area into a computational domain, a
threshold can be calculated by
OCI threshold OCI computational_domain =N computing_node 1; 793; 152:6=64
23
where 1,793,152.6 denotes the sum of OCI values of all the subdomains and 64 denotes the number of common-used computing
nodes in CI resources. This threshold calculation can facilitate to
make full use of computing resources, and achieve better performance in load-balance. The octree-based domain decomposition is
shown in Fig. 5. Each sub-domain is tagged with A-B-C where A
denotes its level in the corresponding octree structure in Fig. 6, B
denotes its sequence number in that level, and C denotes its OCI
164
Fig. 7. Cluster nodes allocation for the computation on sub-domains in the fusion
example.
24
165
Fig. 8. OCI values of all the sub-domains. (a) OCI values of 71 sub-domains by thresholds 28,018 or 56,036. (b) OCI values of 29 sub-domains by thresholds 224,144.
166
167
25
Fig. 11. Computational throughput of single fusion part and multiple parts by 1, 2,
4, 8, 16, 32, 64, 128, and 256 computing cores.
168
Chunhui Wang received his Bachelor degree in Department of Automation from Nanjing University of Posts
and Telecommunications, China. He is currently a
Graduate Student in Hangzhou Normal University. His
research interests include data fusion, data mining, and
intelligent transportation systems.