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Harnessing multimodal large language models for traffic knowledge graph generation and decision-making 利用多模态大语言模型生成交通知识图谱并进行决策
IF 12.5 Q1 TRANSPORTATION Pub Date : 2024-11-06 DOI: 10.1016/j.commtr.2024.100146
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引用次数: 0
Controllability test for nonlinear datatic systems 非线性数据系统的可控性测试
IF 12.5 Q1 TRANSPORTATION Pub Date : 2024-11-04 DOI: 10.1016/j.commtr.2024.100143
Controllability is a fundamental property of control systems, serving as the prerequisite for controller design. While controllability test is well established in modelic (i.e., model-driven) control systems, extending it to datatic (i.e., data-driven) control systems is still a challenging task due to the absence of system models. In this study, we propose a general controllability test method for nonlinear systems with datatic description, where the system behaviors are merely described by data. In this situation, the state transition information of a dynamic system is available only at a limited number of data points, leaving the behaviors beyond these points unknown. Different from traditional exact controllability, we introduce a new concept called ϵ-controllability, which extends the definition from point-to-point form to point-to-region form. Accordingly, our focus shifts to checking whether the system state can be steered to a closed state ball centered on the target state, rather than exactly at that target state. Given a known state transition sample, the Lipschitz continuity assumption restricts the one-step transition of all the points in a state ball to a small neighborhood of the subsequent state. This property is referred to as one-step controllability backpropagation, i.e., if the states within this neighborhood are ϵ-controllable, those within the state ball are also ϵ-controllable. On its basis, we propose a tree search algorithm called maximum expansion of controllable subset (MECS) to identify controllable states in the dataset. Starting with a specific target state, our algorithm can iteratively propagate controllability from a known state ball to a new one. This iterative process gradually enlarges the ϵ-controllable subset by incorporating new controllable balls until all ϵ-controllable states are searched. Besides, a simplified version of MECS is proposed by solving a special shortest path problem, called Floyd expansion with radius fixed (FERF). FERF maintains a fixed radius of all controllable balls based on a mutual controllability assumption of neighboring states. The effectiveness of our method is validated in three datatic control systems whose dynamic behaviors are described by sampled data.
可控性是控制系统的基本属性,是控制器设计的先决条件。虽然可控性测试已在模型(即模型驱动)控制系统中得到广泛应用,但由于缺乏系统模型,将其扩展到数据(即数据驱动)控制系统仍是一项具有挑战性的任务。在本研究中,我们提出了一种针对数据描述非线性系统的通用可控性测试方法,即系统行为仅由数据描述。在这种情况下,动态系统的状态转换信息只能在有限的数据点上获得,而这些点以外的行为则是未知的。与传统的精确可控性不同,我们引入了一个名为ϵ-可控性的新概念,它将定义从点到点形式扩展到点到区域形式。因此,我们的重点转移到检查系统状态是否能被引导到以目标状态为中心的闭合状态球上,而不是精确到目标状态。给定一个已知的状态转换样本,Lipschitz 连续性假设将状态球中所有点的一步转换限制在后续状态的一个小邻域内。这一特性被称为一步可控性反向传播,即如果该邻域内的状态是ϵ可控的,则状态球内的状态也是ϵ可控的。在此基础上,我们提出了一种名为 "可控子集最大扩展"(MECS)的树搜索算法,用于识别数据集中的可控状态。从一个特定的目标状态开始,我们的算法可以迭代地将可控性从一个已知的状态球传播到一个新的状态球。这一迭代过程通过加入新的可控状态球,逐渐扩大ϵ可控子集,直至搜索到所有ϵ可控状态。此外,还提出了一种简化版的 MECS,即求解一个特殊的最短路径问题,称为半径固定的 Floyd 扩展(FERF)。FERF 基于相邻状态的相互可控性假设,保持所有可控球的固定半径。我们在三个数据控制系统中验证了这一方法的有效性,这些系统的动态行为由采样数据描述。
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引用次数: 0
Intelligent vehicle platooning transit 智能车辆排队过境
IF 12.5 Q1 TRANSPORTATION Pub Date : 2024-11-04 DOI: 10.1016/j.commtr.2024.100145
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引用次数: 0
A multi-functional simulation platform for on-demand ride service operations 按需乘车服务运营的多功能模拟平台
IF 12.5 Q1 TRANSPORTATION Pub Date : 2024-10-21 DOI: 10.1016/j.commtr.2024.100141
On-demand ride services or ride-sourcing services have been experiencing fast development and steadily reshaping the way people travel in the past decade. Various optimization algorithms, including reinforcement learning approaches, have been developed to help ride-sourcing platforms design better operational strategies to achieve higher efficiency. However, due to cost and reliability issues, it is commonly infeasible to validate these models and train/test these optimization algorithms within real-world ride-sourcing platforms. Acting as a proper test bed, a simulation platform for ride-sourcing systems will thus be essential for both researchers and industrial practitioners. While previous studies have established simulators for their tasks, they lack a fair and public platform for comparing the models/algorithms proposed by different researchers. In addition, the existing simulators still face many challenges, ranging from their closeness to real environments of ride-sourcing systems to the completeness of tasks they can implement. To address the challenges, we propose a novel simulation platform for ride-sourcing systems on real transportation networks. It provides a few accessible portals to train and test various optimization algorithms, especially reinforcement learning algorithms, for a variety of tasks, including on-demand matching, idle vehicle repositioning, and dynamic pricing. Evaluated on real-world data-based experiments, the simulator is demonstrated to be an efficient and effective test bed for various tasks related to on-demand ride service operations.
按需乘车服务或乘车外包服务在过去十年中经历了快速发展,并稳步重塑了人们的出行方式。包括强化学习方法在内的各种优化算法已被开发出来,以帮助乘车外包平台设计更好的运营策略,从而实现更高的效率。然而,由于成本和可靠性问题,在现实世界的乘车外包平台中验证这些模型和训练/测试这些优化算法通常是不可行的。因此,作为一个合适的测试平台,乘车外包系统仿真平台对研究人员和工业从业人员都至关重要。虽然之前的研究已经为其任务建立了模拟器,但它们缺乏一个公平、公开的平台来比较不同研究人员提出的模型/算法。此外,现有的模拟器还面临着许多挑战,从是否贴近真实的乘车外包系统环境到所能实现任务的完整性等。为了应对这些挑战,我们提出了一个新颖的真实交通网络上的乘车外包系统模拟平台。它提供了几个可访问的门户,用于训练和测试各种优化算法,特别是强化学习算法,以完成各种任务,包括按需匹配、闲置车辆重新定位和动态定价。通过基于真实世界数据的实验评估,证明该模拟器是按需乘车服务运营相关各种任务的高效测试平台。
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引用次数: 0
Traffic expertise meets residual RL: Knowledge-informed model-based residual reinforcement learning for CAV trajectory control 交通专业知识与残差 RL 的结合:基于知识模型的残差强化学习用于 CAV 轨迹控制
IF 12.5 Q1 TRANSPORTATION Pub Date : 2024-10-18 DOI: 10.1016/j.commtr.2024.100142
Model-based reinforcement learning (RL) is anticipated to exhibit higher sample efficiency than model-free RL by utilizing a virtual environment model. However, obtaining sufficiently accurate representations of environmental dynamics is challenging because of uncertainties in complex systems and environments. An inaccurate environment model may degrade the sample efficiency and performance of model-based RL. Furthermore, while model-based RL can improve sample efficiency, it often still requires substantial training time to learn from scratch, potentially limiting its advantages over model-free approaches. To address these challenges, this paper introduces a knowledge-informed model-based residual reinforcement learning framework aimed at enhancing learning efficiency by infusing established expert knowledge into the learning process and avoiding the issue of beginning from zero. Our approach integrates traffic expert knowledge into a virtual environment model, employing the intelligent driver model (IDM) for basic dynamics and neural networks for residual dynamics, thus ensuring adaptability to complex scenarios. We propose a novel strategy that combines traditional control methods with residual RL, facilitating efficient learning and policy optimization without the need to learn from scratch. The proposed approach is applied to connected automated vehicle (CAV) trajectory control tasks for the dissipation of stop-and-go waves in mixed traffic flows. The experimental results demonstrate that our proposed approach enables the CAV agent to achieve superior performance in trajectory control compared with the baseline agents in terms of sample efficiency, traffic flow smoothness and traffic mobility.
通过利用虚拟环境模型,基于模型的强化学习(RL)有望比无模型强化学习表现出更高的采样效率。然而,由于复杂系统和环境中的不确定性,获得足够准确的环境动态表征具有挑战性。不准确的环境模型可能会降低基于模型的 RL 的采样效率和性能。此外,虽然基于模型的 RL 可以提高采样效率,但它通常仍需要大量的训练时间来从头开始学习,这可能会限制它相对于无模型方法的优势。为了应对这些挑战,本文介绍了一种基于知识的模型残差强化学习框架,旨在通过在学习过程中注入已有的专家知识来提高学习效率,避免从零开始的问题。我们的方法将交通专家知识整合到虚拟环境模型中,采用智能驾驶员模型(IDM)来处理基本动态,采用神经网络来处理残差动态,从而确保对复杂场景的适应性。我们提出了一种新颖的策略,将传统控制方法与残差 RL 相结合,促进高效学习和策略优化,而无需从头开始学习。我们将所提出的方法应用于联网自动驾驶汽车(CAV)的轨迹控制任务,以消除混合交通流中的走走停停现象。实验结果表明,与基线代理相比,我们提出的方法使 CAV 代理在样本效率、交通流平稳性和交通流动性方面实现了更优越的轨迹控制性能。
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引用次数: 0
Collaborative electric vehicle routing with meet points 带汇合点的协作式电动汽车路线规划
IF 12.5 Q1 TRANSPORTATION Pub Date : 2024-09-19 DOI: 10.1016/j.commtr.2024.100135
In this paper, we develop a profit-sharing-based optimal routing mechanism to incentivize horizontal collaboration among urban goods distributors. The core of this mechanism is based on exchanging goods at meet points, which is optimally planned en route. We propose a Collaborative Electric Vehicle Routing Problem with Meet Points (CoEVRPMP) considering constraints such as time windows, opportunity charging, and meet-point synchronization. The proposed CoEVRPMP is formulated as a mixed-integer nonlinear programming model. We present an exact method via branching and a matheuristic that combines adaptive large neighborhood search with linear programming. The viability and scalability of the collaborative method are demonstrated through numerical case studies, including a real-world case and a large-scale experiment with up to 500 customers. The findings underscore the significance of horizontal collaboration among delivery companies in attaining both higher individual profits and lower total costs. Moreover, collaboration helps to reduce the environmental footprint by decreasing travel distance.
在本文中,我们开发了一种基于利润分享的最优路由机制,以激励城市商品分销商之间的横向协作。该机制的核心是在汇合点进行货物交换,并在途中进行优化规划。考虑到时间窗口、充电机会和汇合点同步等约束条件,我们提出了带汇合点的电动汽车协作路由问题(CoEVRPMP)。所提出的 CoEVRPMP 是一个混合整数非线性编程模型。我们提出了一种通过分支的精确方法,以及一种将自适应大邻域搜索与线性规划相结合的数学方法。协作方法的可行性和可扩展性通过数值案例研究得到了证明,包括一个真实案例和一个多达 500 个客户的大规模实验。研究结果表明,快递公司之间的横向协作对于实现更高的单个利润和更低的总成本具有重要意义。此外,协作还有助于通过减少旅行距离来减少对环境的影响。
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引用次数: 0
Exploring the application of blockchain technology in crowdsource autonomous driving map updating 探索区块链技术在众包自动驾驶地图更新中的应用
IF 12.5 Q1 TRANSPORTATION Pub Date : 2024-09-14 DOI: 10.1016/j.commtr.2024.100140
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引用次数: 0
Efficacy of decentralized traffic signal controllers on stabilizing heterogeneous urban grid network 分散式交通信号控制器在稳定异构城市网格网络方面的功效
IF 12.5 Q1 TRANSPORTATION Pub Date : 2024-09-13 DOI: 10.1016/j.commtr.2024.100137

Macroscopic Fundamental Diagrams (MFDs) are valuable for designing and evaluating network-wide traffic management schemes. Since obtaining empirical MFDs can be expensive, analytical methodologies are crucial to estimate variations in MFD shapes under different control strategies and predict their efficacy in mitigating congestion. Analyses of urban grid networks' abstractions can provide an inexpensive methodology to obtain a qualitative understanding of impacts of control policies. However, existing abstractions are valid only for simple intersection layouts with unidirectional and single-lane links and two conflicting movement groups. Naturally, the real intersections are more complex, with multiple incoming and outgoing lanes, heterogeneous incoming links' capacities and several conflicting movement groups. To this end, we consider a grid network with differences in capacities of horizontal and vertical directions, allowing us to investigate the characteristics of control policies that can avoid pernicious gridlock in heterogeneous networks. We develop a new, more comprehensive network abstraction of such grid networks to analyze and compare the impacts of two families of decentralized Traffic Signal Controllers (TSCs) on the network's stability. The obtained theoretical insights are verified using microsimulation results of grid networks with multiple signalized intersections. The analyses suggest that considering both upstream and downstream congestion information in deciding signal plans can encourage more evenly distributed traffic in the network, making them more robust and effective at all congestion levels. The study provides a framework to understand general expectations from decentralized control policies when network inhomogeneity arises due to variations in incoming link capacities and turning directions.

宏观基本图(MFD)对于设计和评估全网交通管理方案非常重要。由于获取经验性 MFD 的成本可能很高,因此分析方法对于估算不同控制策略下 MFD 形状的变化以及预测其在缓解拥堵方面的功效至关重要。对城市网格网络的抽象分析可以提供一种廉价的方法来定性了解控制策略的影响。然而,现有的抽象方法仅适用于单向、单车道和两个冲突运动组的简单交叉口布局。自然,真实的交叉口更为复杂,有多条进出车道、不同的进出连接能力和多个相互冲突的运动组。为此,我们考虑了横向和纵向通行能力不同的网格网络,从而研究了在异构网络中避免恶性堵塞的控制策略的特点。我们为这种网格网络开发了一种新的、更全面的网络抽象,以分析和比较两个分散式交通信号控制器(TSC)系列对网络稳定性的影响。我们利用具有多个信号灯交叉口的网格网络的微观模拟结果验证了所获得的理论见解。分析表明,在决定信号计划时同时考虑上游和下游的拥堵信息,可以促使网络中的交通分布更加均匀,使其在所有拥堵水平下都更加稳健有效。这项研究提供了一个框架,让我们了解当入网链路容量和转弯方向的变化导致网络不均匀时,分散控制政策的一般预期。
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引用次数: 0
Fleet data based traffic modeling 基于车队数据的交通建模
IF 12.5 Q1 TRANSPORTATION Pub Date : 2024-09-07 DOI: 10.1016/j.commtr.2024.100138

Although the available traffic data from navigation systems have increased steadily in recent years, it only reflects average travel time and possibly Origin-Destination information as samples, exclusively. However, the number of vehicles participating in the traffic – in other words, the traffic flows being the basic traffic engineering information for strategic planning or even for real-time management – is still missing or only available sporadically due to the limited number of traditional traffic sensors on the network level. To tackle this gap, an efficient calibration process is introduced to exploit the Floating Car Data combined with the classical macroscopic traffic assignment procedure. By optimally scaling the Origin-Destination matrices of the sample fleet, an appropriate model can be approximated to provide traffic flow data beside average speeds. The iterative tuning method is developed using a genetic algorithm to realize a complete macroscopic traffic model. The method has been tested through two different real-world traffic networks, justifying the viability of the proposed method. Overall, the contribution of the study is a practical solution based on commonly available fleet traffic data, suggested for practitioners in traffic planning and management.

尽管近年来导航系统提供的交通数据稳步增长,但这些数据仅反映了平均旅行时间,可能还包括作为样本的起点-目的地信息。然而,由于网络层面的传统交通传感器数量有限,参与交通的车辆数量(换句话说,交通流量是战略规划甚至实时管理的基本交通工程信息)仍然缺失或只能零星获得。为解决这一问题,我们引入了一种高效的校准程序,将浮动车数据与经典的宏观交通分配程序相结合。通过对样本车队的出发地-目的地矩阵进行优化缩放,可以近似建立一个适当的模型,以提供平均速度旁边的交通流量数据。使用遗传算法开发的迭代调整方法可实现完整的宏观交通模型。该方法通过两个不同的真实交通网络进行了测试,证明了所提方法的可行性。总之,该研究的贡献在于基于常见的车队交通数据,为交通规划和管理从业人员提供了一个实用的解决方案。
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引用次数: 0
Experimental assessment of communication delay's impact on connected automated vehicle speed volatility and energy consumption 通信延迟对联网自动驾驶汽车速度波动和能耗影响的实验评估
IF 12.5 Q1 TRANSPORTATION Pub Date : 2024-08-22 DOI: 10.1016/j.commtr.2024.100136

Communication delays within connected and autonomous vehicles (CAVs) pose significant risks. It is imperative to address these issues to ensure the safe and effective operation of CAVs. However, the exploration of communication delays on CAV operations and their energy use remains sparse in the literature. To fill the research gap, this study leverages the facilities at America Center of Mobility (ACM) Smart City Test Center to implement and evaluate a CAV merging control algorithm through vehicle-in-the-loop testing. This study aims at achieving three main objectives: (1) develop and implement a CAV merging control strategy in the experimental test bed through vehicle-in-the-loop testing, (2) propose analytical models to quantify the impacts of communication delay on the variability of CAV speed and energy consumption based on field experiment data, and (3) create a predictive model for energy usage considering various CAV attributes and dynamics, e.g., speed, acceleration, yaw rate, and communication delays. To our knowledge, this is one of the first attempts at evaluating the impacts of communication delays on CAV merging operational control with field data, making critical advancement in the field. The results suggest that communication delay has a more substantial effect on energy consumption under high-speed volatility compared to low-speed volatility. Among all factors examined, acceleration is the dominant characteristic that influences energy usage. It also revealed that even minor improvements in communication delay can yield tangible improvements in energy efficiency. The results provide guidance on CAV field experiments and the influence of communication delays on CAV operation and energy consumption.

联网和自动驾驶汽车(CAV)内的通信延迟会带来巨大风险。当务之急是解决这些问题,以确保 CAV 安全有效地运行。然而,关于通信延迟对 CAV 运行及其能源使用的影响的研究在文献中仍然很少。为了填补这一研究空白,本研究利用美国移动中心(ACM)智能城市测试中心的设施,通过车辆在环测试,实施并评估了一种 CAV 合并控制算法。本研究旨在实现三个主要目标:(1)通过车辆在环测试,在实验测试平台上开发并实施 CAV 合并控制策略;(2)基于现场实验数据,提出分析模型,量化通信延迟对 CAV 速度和能耗变化的影响;以及(3)考虑 CAV 的各种属性和动态特性(如速度、加速度、偏航率和通信延迟),创建能耗预测模型。据我们所知,这是结合运行控制和现场数据评估通信延迟对 CAV 影响的首次尝试,在该领域取得了重要进展。结果表明,与低速波动相比,高速波动下通信延迟对能耗的影响更大。在研究的所有因素中,加速度是影响能耗的主要特征。研究还显示,即使是通信延迟方面的微小改进,也能切实提高能效。研究结果为 CAV 现场实验以及通信延迟对 CAV 运行和能耗的影响提供了指导。
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引用次数: 0
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Communications in Transportation Research
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