Publications

Publications — Published

Graph-Based Interaction-Aware Multimodal 2D Vehicle Trajectory Prediction Using Diffusion Graph Convolutional Networks

IEEE Transactions on Intelligent Vehicles, doi: 10.1109/TIV.2023.3341071.

Wu, K., Zhou, Y., Shi, H., Li, X., & Ran, B. (2023). [Link]

A Digital Twin Framework for Physical-Virtual Integration in Enhancing Connected Vehicle Corridor Data Pipeline

IEEE Transactions on Intelligent Transportation Systems

Wu, K., Li, P., Cheng, Y., Parker, S. T., Noyce, D., Ran, B. & Ye, X. (2025). [Link]

Development of the Data Pipeline for a Connected Vehicle Corridor

ASCE International Conference on Transportation and Development 2023 (pp. 218-230)

Wu, K., Cheng, Y., Parker, S. T., Ran, B., & Noyce, D. A. (2023). [Link]

How Does C-V2X Perform in Urban Environments? Results from Real-world Empirical Experiments on Urban Arterials

IEEE Transactions on Intelligent Vehicles, doi: 10.1109/TIV.2023.3326735.

Li, P., Wu, K., Cheng, Y., Parker, S., & Noyce, D. A. (2023). [Link]

Predictive Analysis of Vehicular Lane Changes: An Integrated LSTM Approach

Applied Sciences 13 (18), 10157.

Liu, H., Wu, K., Fu, S., Shi, H., & Xu, H. (2023). [Link]

Work zone crash occurrence prediction based on planning stage work zone configurations using an artificial neural network

Transportation research record, 2676(11), 377-384.

Cheng, Y., Wu, K., Li, H., Parker, S., Ran, B., & Noyce, D. (2022). [Link]

A Predictive Deep Reinforcement Learning Based Connected Automated Vehicle Anticipatory Longitudinal Control in a Mixed Traffic Lane Change Condition

IEEE Internet of Things Journal

Shi, H., Shi, K., Wu, K., Li, W., Zhou, Y., & Ran, B. (2025). [Link]

Physics-informed deep reinforcement learning-based integrated two-dimensional car-following control strategy for connected automated vehicles

Knowledge-Based Systems, 269, 110485.

Shi, H., Zhou, Y., Wu, K., Chen, S., Ran, B., & Nie, Q. (2023). [Link]

Goal-based Neural Physics Vehicle Trajectory Prediction Model

Transportation Research Part C: Emerging Technologies, 179, 105283.

Gan, R., Shi, H., Li, P., Wu, K., An, B., Li, L., Ma, J., Ma, C., & Ran, B. (2025). [Link]

Connected automated vehicle cooperative control with a deep reinforcement learning approach in a mixed traffic environment

Transportation Research Part C: Emerging Technologies, 133, 103421.

Shi, H., Zhou, Y., Wu, K., Wang, X., Lin, Y., & Ran, B. (2021). [Link]

A Deep Long Short-Term Memory Network Embedded Model Predictive Control Strategies for Car-Following Control of Connected Automated Vehicles in Mixed Traffic

IEEE Transactions on Intelligent Transportation Systems, doi: 10.1109/TITS.2024.3412329.

Zhou, Y., Zhang, Z., Ding, F., Ahn, S., Wu, K., & Ran, B. (2024). [Link]

Under Review & Preprints

Hypergraph-based Motion Generation through Multi-modal Interaction Relational Reasoning for Connected and Automated Vehicles

Submitted to Transportation Research Part C: Emerging Technologies

Wu, K., Shi, H., Zhou, Y., Lord, D., Ran, B. & Ye, X. (2024). [Link]

A Deep Learning Enabled Economical Informatization Framework with Sparsely Located Sensors

Submitted to Nature Communications

Wu, K., Zhou, Y., Wang, X., Shi, H., Li, X., Ye, X., Qu, X., & Ran, B. (2025).

V2X-LLM: Enhancing V2X Integration and Understanding in Connected Vehicle Corridors

Submitted to IEEE Transactions on Intelligent Transportation Systems

Wu, K., Li, P., Zhou, Y., Gan, R., You, J., Cheng, Y., Zhu, J., Parker, S. T., Noyce, D., Ran, B. & Tu, Z.(2025). [Link]

AI²-Active Safety: AI-enabled Interaction-aware Active Safety Analysis with Vehicle Dynamics

Wu, K., Li, Z., Li, S., Ye, X., Lord, D., & Zhou, Y.(2025). [Link]

V2XSynth: An LLM-Driven, Retrieval-Augmented Framework for Realistic V2X Scenario Synthesis

Wu, K., Zhang, H., Li, P., Gan, R., You, J., Tu, Z., and Zhou, Y. (2025).

Virtual Roads, Smarter Safety: A Digital Twin Framework for Mixed Autonomous Traffic Analysis

Submitted to IEEE Internet of Things Journal

Zhang, H., Yue, X., Tian, K., Li, S., Wu, K., Li, Z., Lord, D., & Zhou, Y. (2025). [Link]

On the Collision Risk of Stochastic Traffic: Analytical Approximation in 2D and 3D Space for Generic Vehicles

Zhang, H., Li, Z., Wu, K., Lord, D., Tu, Z., Zhou, Y. (2025).

Generative AI for Autonomous Driving: Frontiers and Opportunities

Wang, Y., Xing, S., Can, C., Li, R., Hua, H., Tian, K., Mo, Z., Gao, X., Wu, K., Zhou, S., et al. (2025). [Link]

AirV2X: Unified Air-Ground Vehicle-to-Everything Collaboration

Gao, X., Wu, Y., Luo, X., Wu, K., Chen, X., Wang, Y., Liu, C., Zhou, Y., & Tu, Z. (2025). [Link]

Simulating the Unseen: Crash Prediction AI Should Learn from What Did Not Happen

Li, Z., Cao, X., Gao, X., Tian, K., Wu, K., Anis, M., Zhang, H., Long, K., Jiang, J., Li, X., Zhang, Y., Yang, T., Lord, D., Tu, Z., & Zhou, Y. (2025). [Link]

Automated Vehicles Should be Connected with Natural Language

Gao, X., Wu, K., Zhang, H., Tian, K., Zhou, Y., & Tu, Z. (2025). [Link]

Emerging Crash Hotspot Forecasting and Evolutionary Tracking for Informed Traffic Safety Enforcement

Zhu, J., Wu, K., Li, P., Parker, S. T., Ran, B., and Noyce, D. A. (2025).

Planning Safety Trajectories with Dual-Phase, Physics-Informed, and Transportation Knowledge-Driven Large Language Models

Submitted to IEEE Transactions on Intelligent Transportation Systems

Gan, R., Li, P., Long, K., Ma, J., An, B., You, J., Wu, K., Ran, B. (2025) [Link]

V2X-VLM: End-to-End V2X Cooperative Autonomous Driving Through Large Vision Language Models

You, J., Shi, H., Jiang, Z., Huang, Z., Gan, R., Wu, K., Cheng, X., Li, X., & Ran, B. (2024). [Link]

Crossfusor: A Cross-Attention Transformer Enhanced Conditional Diffusion Model for Car-Following Trajectory Prediction

You, J., Shi, H., Wu, K., Long, K., Fu, S., Chen, S., & Ran, B. (2024). [Link]

FollowGen: A Scaled Noise Conditional Diffusion Model for Car-Following Trajectory Prediction

You, J., Gan, R., Tang, W., Huang, Z., Liu, J., Jiang, Z., Shi, H., Wu, K., Long, K., Fu, S., Chen, S., & Ran, B. (2024). [Link]

Vulnerabilities of Autonomous Vehicles under Adversarial Attacks on the Trajectory Prediction and Motion Planning

He, Z., Chen, D., Wu, K., & Zhou, Y. (2025).

Real-World Data Inspired Interactive Connected Traffic Scenario Generation

You, J., Li, P., Cheng, Y., Wu, K., Gan, R., Parker, S., & Ran, B. (2024) [Link]

Integrating Spatiotemporal Vision Transformer into Digital Twins for High-Resolution Heat Stress Forecasting in Campus Environments.

Submitted to Journal of Planning Education and Research

Gong, W., Ye, X., Wu, K., Jamonnak, S., Zhang, W., Yang, Y., & Huang, X. (2025).

A Digital Twin-Driven Recommendation System for Adaptive Campus Course Timetabling.

Wu, K., Ye, X., Jamonnak, S., Feng, X. (2025).

Working

Vision-Language Control for Safe Autonomous Driving

Wu, K., Zhou, Y., Tu, Z., Li, Z., et al. (2025).

Traj-MoE: Visual–Language–Grounded Mixture-of-Experts for Joint Multi-Agent Scenario and Trajectory Prediction

Wu, K., Zhou, Y., Tu, Z., et al. (2025).

Explainable and Generalizable Relational Reasoning for Multi-Agent Multi-modal Interaction

Wu, K., Shi, H., Zhou, Y., & Ran, B. (2025).

Hypergraph-based Interaction-aware Motion Planning

Wu, K., Li, S., Zhou, Y., et al. (2025).

LLM-Driven Digital Twin Framework for Behavior Modeling and Scenario Generation in Autonomous Driving.

Wu, K., Li, P., Zhou, Y., Gan, R., You, J., Tu, Z., et al. (2025).

LLM-Enhanced Universal and Interpretable Human Mobility Prediction

Wu, K., Zhou, S., Ye, X., Zhou, Y. (2025).

Prototype of a Cost-Effective Roadside Device System for Vehicle Positioning in Cooperative Autonomous Driving.

Wu, K., Cheng, Y., Gan, R., You, J., Ran, B., Parker, S. T. (2025).

Eco-Focused Control Optimization of Mixed Traffic Flow Within Vehicular Networks for Sustainable Transport

Yuan, T., Shi, H., Li, Z., Wu, K., Liu, H., & Ran, B. (2024).

Presentations

Hypergraph-based Motion Generation through Multi-modal Interaction Relational Reasoning for Connected and Automated Vehicles

Poster Presentation of ACP30 Vehicle-Highway Automation, Transportation Research Board 104th Annual Meeting. Washington, D.C. Jan 2025.

Wu, K., Shi, H., Zhou, Y., Lord, D., Ran, B. & Ye, X. (2024).

V2X-LLM: Improving Vehicle-to-Everything Integration and Understanding with Large Language Models

Podium Presentation of AED50 ChatGPT and Beyond: A Large Language Model–Based Transportation Perspective, Transportation Research Board 104th Annual Meeting. Washington, D.C. Jan 2025.

Wu, K., Li, P., Cheng, Y., You, J., Gan, R., Zhu, J., Parker, S. T., Noyce, D., & Ran, B. (2024).

Real-World Data Inspired Interactive Connected Traffic Scenario Generation

Poster Presentation of ACP30 Vehicle-Highway Automation, Transportation Research Board 104th Annual Meeting. Washington, D.C. Jan 2025.

You, J., Li, P., Cheng, Y., Wu, K., Gan, R., Parker, S., & Ran, B. (2024).

V2X-VLM: End-to-End V2X Cooperative Autonomous Driving Through Large Vision Language Models

Poster Presentation of ACP30 Vehicle-Highway Automation, Transportation Research Board 104th Annual Meeting. Washington, D.C. Jan 2025.

You, J., Shi, H., Jiang, Z., Huang, Z., Gan, R., Wu, K., Cheng, X., Li, X., & Ran, B. (2024).

Goal-based Neural Physics Vehicle Trajectory Prediction Model

Poster Presentation of AED50 Advances in Artificial Intelligence for Traffic Management and Safety, Transportation Research Board 104th Annual Meeting. Washington, D.C. Jan 2025.

Gan, R., Shi, H., Li, P., Wu, K., An, B., Li, L., Ma, J., Ma, C., & Ran, B. (2024).

Crossfusor: A Cross-Attention Transformer Enhanced Conditional Diffusion Model for Car-Following Trajectory Prediction

Poster Presentation of ACP30, Transportation Research Board 104th Annual Meeting. Washington, D.C. Jan 2025.

You, J., Shi, H., Wu, K., Long, K., Fu, S., Chen, S., & Ran, B. (2024).

Data Pipeline of a Connected Vehicle Corridor: A Leap Towards Digital Twin

Podium Presentation of CAV Impacts Track, Advancing CAV Deployment Resilience Through Virtual Twin Establishment, ASCE ICTD 2024. Atlanta, Georgia, June 2024.

Wu, K., Cheng, Y., Li, P., Parker, S. T., Ran, B., & Noyce, D. A. (2024).

Development of the Data Pipeline for a Connected Vehicle Corridor

Podium Presentation of CAV Impacts Track, CAV Data-Empowered Traffic System Operation Innovations, ASCE ICTD 2023. Austin, Texas, June 2023.

Wu, K., Cheng, Y., Parker, S. T., Ran, B., & Noyce, D. A. (2023). [Link]

Multimodal Interaction-Aware 2D Vehicle Trajectory Prediction based on Diffusion Graph Convolutional Networks

Poster Presentation of AED50 Safe and Smart Transportation Systems Powered by AI, TRB 103rd. Washington, D.C., Jan 2024.

Wu, K., Zhou, Y., Shi, H., Li, X., & Ran, B. (2024).

The Enhancement of the Data Pipeline of a Connected Vehicle Corridor: A Leap Towards Digital Twin Implementation

Poster Presentation of AED30 Information Systems and Technology, TRB 103rd. Washington, D.C., Jan 2024.

Wu, K., Cheng, Y., Li, P., Parker, S. T., Ran, B., & Noyce, D. A. (2024).

How Does C-V2X Perform in Urban Environments? Results from Real-world Empirical Experiments on Urban Arterials

Poster Presentation of AED20 Applications and Innovations in Urban Travel Data, TRB 103rd. Washington, D.C., Jan 2024.

Li, P., Wu, K., Cheng, Y., Huang, Z., Gan, R., Parker, S., & Noyce, D. A. (2024).

Development of the Data Pipeline for a Connected Vehicle Corridor

Poster Presentation of AED30 Information Systems and Technology, TRB 102nd. Washington, D.C., Jan 2023.

Wu, K., Cheng, Y., Parker, S. T., Ran, B., & Noyce, D. A. (2023).

Work zone crash occurrence prediction based on planning stage work zone configurations using an artificial neural network

Poster Presentation of ACS20 Advancing New Methods and Data, TRB 101st. Washington, D.C., Jan 2022.

Cheng, Y., Wu, K., Li, H., Parker, S. T., Ran, B., & Noyce, D. (2022).

Using High-Resolution Archived Operational Traffic Data for Transportation Management during COVID-19 Pandemic

Poster Presentation of ACP70 Advances in Traffic Monitoring Research and Practice, TRB 100th. Washington, D.C., Jan 2021.

Cheng, Y., Wu, K., Parker, S. T., Schneider, E., Riehl J., & Noyce, D. (2021).

Patent Publications

Intelligent Road Side Unit (RSU) Network for Automated Driving

US Patent Application 2022343755 A1

Ran, B., Cheng, Y., Chen, T., Li, S., Shi, K., Yao, Y., Wu, K., Zhang, Z., Ding, F., Tan, H., Wu, Y., Dong, S., Ye, L., Li, X. [Link]

Autonomous Vehicle and Cloud Control System

US Patent Application 2022375335 A1

Ran, B., Cheng, Y., Chen, T., Yao, Y., Wu, K., Shi, H., Li, S., Shi, K., Zhang, Z., Ding, F., Tan, H., Wu, Y., Dong, S., Ye, L., Li, X. [Link]

Intelligent Information Conversion for Automatic Driving

US Patent Application 2022219731 A1

Ran, B., Wu, R., Li, H., Cheng, Y., Zhou, K., Tuo, X., Zhang, W., Xu, C., Li, X., Wu, K. [Link]

Function Allocation for Automated Driving Systems

US Patent Application 2021394797 A1

Ran, B., Chen, T., Dong, S., Cheng, Y., Zhang, M., Li, X., Li, S., Shi, K., Shi, H., Yao, Y., Mo, Y., Liu, H., Wu, K., Yi, R. [Link]

Systematic Intelligent System

US Patent Application 2022171400 A1

Chen, T., Ran, B., Dong, S., Wu, K., Cheng, Y., Li, L., Li, S., Li, X., Mo, Y., Yao, Y., Shi, K., Shi, H., Li, H. [Link]

Intelligent Roadside Toolbox

US Patent Application 2021311491 A1

Li, S., Ran, B., Cheng, Y., Chen, T., Li, X., Dong, S., Shi, K., Shi, H., Yao, Y., Yi, R., Wu, K., Zhou, Y. [Link]

Collaborative Automated Driving System

US Patent Application 2022270476 A1

Ran, B., Chen, T., Li, X., Cheng, Y., Li, S., Dong, S., Yao, Y., Shi, K., Shi, H., Wu, K., Fu, S. [Link]

Function Allocation for Automated Driving Systems

US Patent Application 2022111858 A1

Ran, B., Mao, P., Lu, W., Yi, Z., Li, L., Cheng, Y., Xu, L., Zheng, Y., Chen, T., Shi, H., Wu, K. [Link]

Device Allocation System

US Patent Application 2021314752 A1

Ran, B., Dong, S., Cheng, Y., Chen, T., Li, S., Li, X., Shi, K., Shi, H., Wu, K., Yao, Y., Yi, R. [Link]

Mobile Intelligent Road Infrastructure System

US Patent Application 2022281484 A1

Ran, B., Lu, W., Chen, T., Cheng, Y., Li, L., Liang, B., Yao, Y., Shi, K., Wu, K. [Link]

Connected Reference Marker System

WIPO Patent Application WO 2022265899 A2

Ran, B., Shi, K., Lu, W., Cheng, Y., Zhang, H., Shi, H., Chen, T., Liang, B., Yao, Y., Wu, K., Fu, S. [Link]

Autonomous vehicle cloud system

US Patent Application 20240005779 A1

Ran, B., Zheng, Y., Wang, C., Cheng, Y., Yao, Y., Wu, K., Chen, T., Shi, H., Li, S., Shi, K., Zhang, Z., Ding, F., Tan, H., Wu, Y., Dong, S., Ye, L., Li, X. [Link]

© Keshu Wu (05/2025)