Applying machine learning to construct braking emission model for real-world road driving

Brake emissions from vehicles are increasing as the number of vehicles increases. However, current research on brake emissions, particularly the intensity and characteristics of emissions under real road conditions, is significantly inadequate compared to exhaust emissions. To this end, a dataset of 600 (200 unique real-world braking events simulated using three types of brake pads) real-world braking events (called brake pad segments) was constructed and a mapping function between the average brake emission intensity of PM2.5 from the segments and the segment features was established by five algorithms (multiple linear regression (MLR) and four machine learning algorithms). Based on the five algorithms, the importance of the different features of the fragments was discussed and brake energy intensity (BEI) and metal content (MC) of the brake pad emissions were identified as the most significant factors affecting brake emissions and used as the final modeling features. Among the five algorithms, categorical boosting (CatBoost) had the best prediction performance, with a mean R2 and RMSE of 0.83 and 0.039 respectively for the tenfold cross-validation. In addition, the CatBoost-based model was further compared with the MOVES model to demonstrate its applicability. The CatBoost-based model has better prediction performance than the MOVES model. The MOVES model overpredicts brake fragment emissions for urban roads and underpredicts brake fragment emissions for motorways. Furthermore, the CatBoost-based model was interpreted and visualized by an individual conditional expectation (ICE) plot to break the machine learning "black box", with BEI and MC showing nonlinear monotonic increasing relationships with braking emissions. ICE plot also provides viable technical solutions for controlling brake emissions in the future. Both avoiding aggressive braking driving behavior (e.g., the application of smart transportation technologies) and using brake pads with less metal content (e.g., using ceramic brake pads) can effectively reduce brake emissions. The construction of a machine learning-based brake emission model and the white-boxing of its model provide excellent insights for the future detailed assessment and control of brake emissions.