At present, the COVID-19 pandemic still presents with outbreaks occasionally, and pedestrians in public areas are at risk of being infected by the viruses. In order to reduce the risk of cross-infection, an advanced pedestrian state sensing method for automated patrol vehicles based on multi-sensor fusion is proposed to sense pedestrian state. Firstly, the pedestrian data output by the Euclidean clustering algorithm and the YOLO V4 network are obtained, and a decision-level fusion method is adopted to improve the accuracy of pedestrian detection. Then, combined with the pedestrian detection results, we calculate the crowd density distribution based on multi-layer fusion and estimate the crowd density in the scenario according to the density distribution. In addition, once the crowd aggregates, the body temperature of the aggregated crowd is detected by a thermal infrared camera. Finally, based on the proposed method, an experiment with an automated patrol vehicle is designed to verify the accuracy and feasibility. The experimental results have shown that the mean accuracy of pedestrian detection is increased by 17.1% compared with using a single sensor. The area of crowd aggregation is divided, and the mean error of the crowd density estimation is 3.74%. The maximum error between the body temperature detection results and thermometer measurement results is less than 0.8°, and the abnormal temperature targets can be determined in the scenario, which can provide an efficient advanced pedestrian state sensing technique for the prevention and control area of an epidemic.

Intelligent connected vehicles (ICVs) have played an important role in improving the intelligence degree of transportation systems, and improving the trajectory prediction capability of ICVs is beneficial for traffic efficiency and safety. In this paper, a real-time trajectory prediction method based on vehicle-to-everything (V2X) communication is proposed for ICVs to improve the accuracy of their trajectory prediction. Firstly, this paper applies a Gaussian mixture probability hypothesis density (GM-PHD) model to construct the multidimension dataset of ICV states. Secondly, this paper adopts vehicular microscopic data with more dimensions, which is output by GM-PHD as the input of LSTM to ensure the consistency of the prediction results. Then, the signal light factor and Q-Learning algorithm were applied to improve the LSTM model, adding features in the spatial dimension to complement the temporal features used in the LSTM. When compared with the previous models, more consideration was given to the dynamic spatial environment. Finally, an intersection at Fushi Road in Shijingshan District, Beijing, was selected as the field test scenario. The final experimental results show that the GM-PHD model achieved an average error of 0.1181 m, which is a 44.05% reduction compared to the LiDAR-based model. Meanwhile, the error of the proposed model can reach 0.501 m. When compared to the social LSTM model, the prediction error was reduced by 29.43% under the average displacement error (ADE) metric. The proposed method can provide data support and an effective theoretical basis for decision systems to improve traffic safety.