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A knowledge-informed deep learning paradigm for generaliz-able and stability-optimized car-following models 一种基于知识的深度学习范式,用于泛化和稳定性优化的汽车跟随模型
IF 14.5 Q1 TRANSPORTATION Pub Date : 2025-09-20 DOI: 10.1016/j.commtr.2025.100211
Chengming Wang , Dongyao Jia , Wei Wang , Dong Ngoduy , Bei Peng , Jianping Wang
Car-following models (CFMs) are fundamental to traffic flow analysis and autonomous driving. Although calibrated physics-based and trained data-driven CFMs can replicate human driving behavior, their reliance on specific datasets limits generalization across diverse scenarios and reduces reliability in real-world deployment. In addition to behavioral fidelity, ensuring traffic stability is increasingly critical for the safe and efficient operation of autonomous vehicles (AVs), requiring CFMs that jointly address both objectives. However, existing models generally do not support a systematic integration of these goals. To bridge this gap, we propose a knowledge-informed deep learning (KIDL) paradigm that distills the generalization capabilities of pre-trained large language models (LLMs) into a lightweight and stability-aware neural architecture. LLMs are used to extract fundamental car-following knowledge beyond dataset-specific patterns, and this knowledge is transferred to a reliable, tractable, and computationally efficient model through knowledge distillation. KIDL also incorporates stability constraints directly into its training objective, ensuring that the resulting model not only emulates human-like behavior but also satisfies the local and string stability requirements essential for real-world AV deployment. We evaluate KIDL on the real-world NGSIM and HighD datasets, comparing its performance with representative physics-based, data-driven, and hybrid CFMs. Both empirical and theoretical results consistently demonstrate KIDL’s superior behavioral generalization and traffic flow stability, offering a robust and scalable solution for next-generation traffic systems.
汽车跟随模型(cfm)是交通流分析和自动驾驶的基础。尽管经过校准的基于物理的和经过训练的数据驱动的cfm可以复制人类驾驶行为,但它们对特定数据集的依赖限制了在不同场景下的泛化,降低了实际部署中的可靠性。除了行为保真度之外,确保交通稳定性对于自动驾驶汽车(av)的安全高效运行越来越重要,这就要求cfm能够同时满足这两个目标。然而,现有的模型通常不支持这些目标的系统集成。为了弥补这一差距,我们提出了一种知识知情的深度学习(KIDL)范式,该范式将预训练的大型语言模型(llm)的泛化能力提炼为轻量级且具有稳定性意识的神经架构。llm用于提取数据集特定模式之外的基本汽车跟随知识,并通过知识蒸馏将这些知识转换为可靠、可处理且计算效率高的模型。KIDL还将稳定性约束直接纳入其训练目标,确保生成的模型不仅能模拟类似人类的行为,还能满足实际自动驾驶部署中必不可少的局部和串稳定性要求。我们在真实世界的NGSIM和HighD数据集上评估了KIDL,将其性能与代表性的基于物理的、数据驱动的和混合cfm进行了比较。经验和理论结果一致证明了KIDL优越的行为泛化和交通流稳定性,为下一代交通系统提供了强大且可扩展的解决方案。
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引用次数: 0
Hierarchical Bayesian threshold excess model for real-time vehicle-based conflict prediction in dynamic traffic environ-ments 动态交通环境下基于车辆冲突实时预测的层次贝叶斯阈值过剩模型
IF 14.5 Q1 TRANSPORTATION Pub Date : 2025-09-18 DOI: 10.1016/j.commtr.2025.100210
Léah Camarcat , Yuxiang Feng , Nicolette Formosa , Mohammed Quddus
Vehicle-based collision risk assessment methods often exhibit a tradeoff between simplifying assumptions in physics-based models and the interpretability challenges of learning algorithms. To tackle this, methods based on Extreme Value Theory (EVT) have gained momentum in recent years, but there is a lack of studies employing EVT for vehicle-based applications. This paper proposes a new, context-aware conflict prediction algorithm using a hierarchical Bayesian threshold excess model. Contextual traffic data are integrated with vehicle sensor data to improve the robustness and accuracy of the model. The feasibility of real-time deployment is also examined by optimising computational efficiency, leveraging several implementations of the Hamiltonian Monte Carlo No-U-Turn Solver (NUTS). The results demonstrate that including traffic covariates improves the model goodness-of-fit by 4.80% in terms of Deviance Information Criterion, and generalisability with a decrease of 1.36% in mean absolute error. However, partially pooled models, while enhancing goodness-of-fit, result in a reduction of generalisation capabilities. Additionally, the No-U-Turn Sampler compiled in JAX demonstrated sufficient performance for both online training and inference, thus making this methodology a feasible solution for real-time deployment in vehicle-based applications.
基于车辆的碰撞风险评估方法经常在基于物理模型的简化假设和学习算法的可解释性挑战之间进行权衡。为了解决这个问题,基于极值理论(EVT)的方法近年来获得了发展势头,但在基于车辆的应用中使用极值理论的研究还很缺乏。本文提出了一种新的、上下文感知的冲突预测算法,该算法使用了层次贝叶斯阈值过剩模型。背景交通数据与车辆传感器数据相结合,提高了模型的鲁棒性和准确性。通过优化计算效率,利用哈密顿蒙特卡罗无掉头求解器(NUTS)的几种实现,还检查了实时部署的可行性。结果表明,引入交通协变量后,模型的偏差信息准则拟合优度提高了4.80%,模型的泛化性提高了1.36%,平均绝对误差降低了1.36%。然而,部分池化模型在提高拟合优度的同时,也会导致泛化能力的降低。此外,用JAX编译的No-U-Turn Sampler在在线训练和推理方面都表现出了足够的性能,从而使该方法成为基于车辆的应用程序实时部署的可行解决方案。
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引用次数: 0
Perception strategies in low-altitude transportation: Single aircraft autonomous system vs. aircraft-ground-cloud integration system 低空运输中的感知策略:单架飞机自主系统与飞机-地面-云集成系统
IF 14.5 Q1 TRANSPORTATION Pub Date : 2025-09-11 DOI: 10.1016/j.commtr.2025.100208
Yuhao Wang , Kai Wang , Jing Gong , Xiaobo Qu
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引用次数: 0
Privacy-preserving personalized pricing and matching for ride hailing platforms 为网约车平台提供保护隐私的个性化定价和匹配
IF 14.5 Q1 TRANSPORTATION Pub Date : 2025-09-11 DOI: 10.1016/j.commtr.2025.100205
Bing Song, Sisi Jian
This research addresses the growing concern of balancing personalized services with data privacy in the ride-hailing industry. While personalized pricing and matching strategies, fueled by travelers’ personal data, can optimize platform revenue, they also expose users and platforms to significant privacy risks. The correlation between personalized pricing, waiting times, and personal information might be exploited by third-party agents to infer sensitive user attributes, resulting in potential economic losses for the platform and severe consequences for users, including compromised privacy and potential discrimination. Existing privacy protection methods often fall short in providing robust and quantifiable guarantees. To overcome these limitations, this study introduces a privacy-preserving approach for personalized pricing and matching within ride-hailing platforms. The proposed approach leverages the bounded Laplace (BL) mechanism and parallel composition to inject noise into the order price and waiting time feedback provided to travelers. This study rigorously demonstrates that the proposed approach satisfies differential privacy. Furthermore, the proposed approach outperforms other classic privacy-preserving methods in terms of platform revenue. This superior performance is validated through extensive numerical experiments using realistic ride-hailing data.
这项研究解决了乘车行业日益关注的平衡个性化服务与数据隐私的问题。虽然由旅行者个人数据推动的个性化定价和匹配策略可以优化平台收入,但它们也使用户和平台面临重大的隐私风险。个性化定价、等待时间和个人信息之间的相关性可能会被第三方代理人利用来推断用户的敏感属性,从而给平台带来潜在的经济损失,并给用户带来严重的后果,包括隐私泄露和潜在的歧视。现有的隐私保护方法往往无法提供可靠和可量化的保证。为了克服这些限制,本研究引入了一种隐私保护方法,用于网约车平台的个性化定价和匹配。该方法利用有界拉普拉斯(BL)机制和并行组合将噪声注入到提供给出行者的订单价格和等待时间反馈中。该研究严格证明了所提出的方法满足差分隐私。此外,该方法在平台收益方面优于其他经典的隐私保护方法。这种优越的性能是通过广泛的数值实验,使用现实的乘车数据验证。
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引用次数: 0
Toward developing socially compliant automated vehicles: Advances, expert insights, and a conceptual framework 面向开发符合社会要求的自动驾驶汽车:进展、专家见解和概念框架
IF 14.5 Q1 TRANSPORTATION Pub Date : 2025-09-08 DOI: 10.1016/j.commtr.2025.100207
Yongqi Dong , Bart van Arem , Haneen Farah
By improving road safety, traffic efficiency, and overall mobility, automated vehicles (AVs) hold promise for revolutionizing transportation. Despite the steady advancement in high-level AVs in recent years, the transition to full automation entails a period of mixed traffic, where AVs of varying automation levels coexist with human-driven vehicles (HDVs). Making AVs socially compliant and understood by human drivers is expected to improve the safety and efficiency of mixed traffic. Thus, ensuring AVs’ compatibility with HDVs and social acceptance is crucial for their successful and seamless integration into mixed traffic. However, research in this critical area of developing socially compliant AVs (SCAVs) remains sparse. This study carries out the first comprehensive scoping review to assess the current state of the art in developing SCAVs, identifying key concepts, methodological approaches, and research gaps. An informal expert interview was also conducted to discuss the literature review results and identify critical research gaps and expectations toward SCAVs. On the basis of the scoping review and expert interview input, a conceptual framework is proposed for the development of SCAVs. The conceptual framework is evaluated via an online survey targeting researchers, technicians, policymakers, and other relevant professionals worldwide. The survey results provide valuable validation and insights, affirming the importance of the proposed conceptual framework in tackling the challenges of integrating AVs into mixed-traffic environments. Additionally, future research perspectives and suggestions are discussed, contributing to the research and development agenda of SCAVs.
通过提高道路安全、交通效率和整体机动性,自动驾驶汽车有望彻底改变交通运输。尽管近年来高级自动驾驶汽车稳步发展,但向全自动驾驶的过渡需要一段混合交通时期,不同自动化水平的自动驾驶汽车与人类驾驶的车辆(HDVs)共存。让自动驾驶汽车符合社会规范,并被人类驾驶员理解,有望提高混合交通的安全性和效率。因此,确保自动驾驶汽车与hdv的兼容性和社会接受度对于它们成功无缝地融入混合交通至关重要。然而,在开发符合社会要求的自动驾驶汽车(scav)这一关键领域的研究仍然很少。本研究进行了第一次全面的范围审查,以评估scav开发的现状,确定关键概念、方法方法和研究差距。我们还进行了一次非正式的专家访谈,讨论了文献综述的结果,并确定了关键的研究差距和对scav的期望。在评估范围和专家访谈输入的基础上,提出了scav发展的概念框架。该概念框架通过针对全球研究人员、技术人员、政策制定者和其他相关专业人员的在线调查进行评估。调查结果提供了有价值的验证和见解,肯定了拟议的概念框架在解决将自动驾驶汽车整合到混合交通环境中的挑战方面的重要性。此外,本文还对未来的研究前景和建议进行了讨论,以期为scav的研究和发展议程做出贡献。
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引用次数: 0
Safety assurance adaptive control for modular autonomous vehicles 模块化自动驾驶汽车的安全保障自适应控制
IF 14.5 Q1 TRANSPORTATION Pub Date : 2025-09-03 DOI: 10.1016/j.commtr.2025.100204
Chengyuan Ma, Hang Zhou, Peng Zhang, Ke Ma, Haotian Shi, Xiaopeng Li
Recent studies and industry developments indicate that modular autonomous vehicles (MAVs) have the potential to enhance transportation systems by offering vehicles with adjustable capacities en route. However, the practical realization of reliable control during docking/undocking operations remains a significant challenge, primarily due to safety concerns arising from the close proximity of MAVs. This study proposes a safety assurance adaptive model predictive control (SAAMPC) framework to achieve distributed docking/undocking operations for MAVs in uncertain environments. The SAAMPC framework integrates a model predictive control (MPC) controller for trajectory optimization, an adaptive module for dynamic adjustment of control parameters with disturbance, and an adaptive safety assurance module with longitudinal and lateral control barrier functions (CFB) to ensure safe operation during risky and uncertain conditions. The effectiveness of the proposed approach is validated through simulations in Simulink and field tests on a reduced-scale MAV platform. Experimental results validate that the SAAMPC framework successfully ensures smooth and safe vehicle following and robust execution of docking/undocking operations under uncertainties.
最近的研究和行业发展表明,模块化自动驾驶汽车(MAVs)有潜力通过在途中提供可调节容量的车辆来增强运输系统。然而,在对接/分离操作过程中实现可靠的控制仍然是一个重大挑战,主要是由于mav的近距离引起的安全问题。本文提出了一种安全保证自适应模型预测控制(SAAMPC)框架,以实现不确定环境下自主飞行器的分布式对接/离坞操作。SAAMPC框架集成了一个用于轨迹优化的模型预测控制(MPC)控制器,一个用于在干扰下动态调整控制参数的自适应模块,以及一个具有纵向和横向控制屏障函数(CFB)的自适应安全保证模块,以确保在危险和不确定条件下的安全运行。通过Simulink仿真和小型MAV平台的现场测试,验证了该方法的有效性。实验结果表明,SAAMPC框架成功地保证了不确定条件下车辆的平稳、安全跟随和稳健的对接/分离操作执行。
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引用次数: 0
Cross-city transfer learning: Applications and challenges for smart cities and sustainable transportation 跨城市迁移学习:智慧城市和可持续交通的应用与挑战
IF 14.5 Q1 TRANSPORTATION Pub Date : 2025-09-03 DOI: 10.1016/j.commtr.2025.100206
Ying Yang , Jiahao Zhan , Yang Liu , Qi Wang
Cross-city transfer learning (CCTL) has emerged as a crucial approach for managing the growing complexity of urban data and addressing the challenges posed by rapid urbanization. This paper provides a comprehensive review of recent advances in CCTL, with a focus on its applications in urban computing tasks, including prediction, detection, and deployment. We examine the role of CCTL in facilitating policy adaptation and influencing behavioral change. Specifically, we provide a systematic overview of widely used datasets, including traffic sensor data, GPS trajectory data, online social network data, and map data. Furthermore, we conduct an in-depth analysis of methods and evaluation metrics employed across different CCTL-based urban computing tasks. Finally, we emphasize the potential of cross-city policy transfer in promoting low-carbon and sustainable urban development. This review aims to serve as a reference for future urban development research and promote the practical implementation of CCTLs.
跨城市迁移学习(CCTL)已成为管理日益复杂的城市数据和应对快速城市化带来的挑战的关键方法。本文全面回顾了CCTL的最新进展,重点介绍了CCTL在城市计算任务中的应用,包括预测、检测和部署。我们研究了CCTL在促进政策适应和影响行为改变方面的作用。具体而言,我们提供了广泛使用的数据集的系统概述,包括交通传感器数据,GPS轨迹数据,在线社交网络数据和地图数据。此外,我们对不同基于cctl的城市计算任务所采用的方法和评估指标进行了深入分析。最后,我们强调跨城市政策转移在促进低碳和可持续城市发展方面的潜力。本文旨在为未来城市发展研究提供参考,并促进cctl的实际实施。
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引用次数: 0
Interaction dataset of autonomous vehicles with traffic lights and signs 自动驾驶车辆与交通信号灯和标志的交互数据集
IF 14.5 Q1 TRANSPORTATION Pub Date : 2025-08-22 DOI: 10.1016/j.commtr.2025.100201
Zheng Li , Zhipeng Bao , Haoming Meng , Haotian Shi , Qianwen Li , Handong Yao , Xiaopeng Li
This study presents the development of a comprehensive dataset capturing interactions between autonomous vehicles (AVs) and traffic control devices, specifically traffic lights and stop signs. Derived from the Waymo Motion dataset, our work addresses a critical gap in the existing literature by providing real-world trajectory data on how AVs navigate these traffic control devices. We propose a methodology for identifying and extracting relevant interaction trajectory data from the Waymo Motion dataset, incorporating over 37,000 instances with traffic lights and 44,000 with stop signs. Our methodology includes defining rules to identify various interaction types, extracting trajectory data, and applying a wavelet-based denoising method to smooth the acceleration and speed profiles and eliminate anomalous values, thereby enhancing the trajectory quality. Quality assessment metrics indicate that trajectories obtained in this study have anomaly proportions in acceleration and jerk profiles reduced to near-zero levels across all interaction categories. By making this dataset publicly available, we aim to address the current gap in datasets containing AV interaction behaviors with traffic lights and signs. Based on the organized and published dataset, we can gain a more in-depth understanding of AVs’ behavior when interacting with traffic lights and signs. This will facilitate research on AV integration into existing transportation infrastructures and networks, supporting the development of more accurate behavioral models and simulation tools.
本研究展示了一个综合数据集的开发,该数据集捕获了自动驾驶汽车(AVs)与交通控制设备(特别是交通信号灯和停车标志)之间的相互作用。我们的工作源自Waymo Motion数据集,通过提供关于自动驾驶汽车如何导航这些交通控制设备的真实轨迹数据,解决了现有文献中的一个关键空白。我们提出了一种方法,用于从Waymo Motion数据集中识别和提取相关的交互轨迹数据,其中包含超过37,000个交通灯实例和44,000个停车标志实例。我们的方法包括定义规则来识别各种交互类型,提取轨迹数据,并应用基于小波的去噪方法来平滑加速度和速度曲线并消除异常值,从而提高轨迹质量。质量评估指标表明,在本研究中获得的轨迹在所有相互作用类别中,加速度和震动剖面的异常比例减少到接近零的水平。通过公开该数据集,我们的目标是解决当前包含自动驾驶汽车与交通信号灯和标志交互行为的数据集的差距。基于整理和发布的数据集,我们可以更深入地了解自动驾驶汽车在与交通信号灯和标志交互时的行为。这将促进自动驾驶汽车整合到现有交通基础设施和网络的研究,支持更准确的行为模型和仿真工具的开发。
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引用次数: 0
Beyond conventional vision: RGB-event fusion for robust object detection in dynamic traffic scenarios 超越传统视觉:动态交通场景中鲁棒目标检测的rgb -事件融合
IF 14.5 Q1 TRANSPORTATION Pub Date : 2025-08-18 DOI: 10.1016/j.commtr.2025.100202
Zhanwen Liu , Yujing Sun , Yang Wang , Nan Yang , Shengbo Eben Li , Xiangmo Zhao
The dynamic range limitation is intrinsic to conventional RGB cameras, which reduces global contrast and causes the loss of high-frequency details such as textures and edges in complex, dynamic traffic environments (e.g., nighttime driving or tunnel scenes). This deficiency hinders the extraction of discriminative features and degrades the performance of frame-based traffic object detection. To address this problem, we introduce a bio-inspired event camera integrated with an RGB camera to complement high dynamic range information, and propose a motion cue fusion network (MCFNet), an innovative fusion network that optimally achieves spatiotemporal alignment and develops an adaptive strategy for cross-modal feature fusion, to overcome performance degradation under challenging lighting conditions. Specifically, we design an event correction module (ECM) that temporally aligns asynchronous event streams with their corresponding image frames through optical-flow-based warping. The ECM is jointly optimized with the downstream object detection network to learn task-ware event representations. Subsequently, the event dynamic upsampling module (EDUM) enhances the spatial resolution of event frames to align its distribution with the structures of image pixels, achieving precise spatiotemporal alignment. Finally, the cross-modal mamba fusion module (CMM) employs adaptive feature fusion through a novel cross-modal interlaced scanning mechanism, effectively integrating complementary information for robust detection performance. Experiments conducted on the DSEC-Det and PKU-DAVIS-SOD datasets demonstrate that MCFNet significantly outperforms existing methods in various poor lighting and fast moving traffic scenarios. Notably, on the DSEC-Det dataset, MCFNet achieves a remarkable improvement, surpassing the best existing methods by 7.4% in mAP50 and 1.7% in mAP metrics, respectively.
动态范围限制是传统RGB相机固有的,它会降低全局对比度,并导致在复杂的动态交通环境(例如夜间驾驶或隧道场景)中丢失高频细节,如纹理和边缘。这一缺陷阻碍了判别特征的提取,降低了基于帧的流量目标检测的性能。为了解决这一问题,我们引入了一种与RGB相机集成的生物启发事件相机来补充高动态范围信息,并提出了一种运动线索融合网络(MCFNet),这是一种创新的融合网络,可以最佳地实现时空对齐,并开发了一种跨模态特征融合的自适应策略,以克服在具有挑战性的照明条件下的性能下降。具体来说,我们设计了一个事件校正模块(ECM),该模块通过基于光流的扭曲暂时将异步事件流与其相应的图像帧对齐。ECM与下游目标检测网络联合优化,学习任务件事件表示。随后,事件动态上采样模块(EDUM)提高事件帧的空间分辨率,使其分布与图像像素结构对齐,实现精确的时空对齐。最后,跨模态曼巴融合模块(CMM)通过一种新颖的跨模态交错扫描机制,采用自适应特征融合,有效整合互补信息,实现鲁棒检测性能。在DSEC-Det和PKU-DAVIS-SOD数据集上进行的实验表明,在各种光线不足和快速移动的交通场景下,MCFNet显著优于现有方法。值得注意的是,在DSEC-Det数据集上,MCFNet取得了显著的改进,在mAP50和mAP指标上分别比现有的最佳方法高出7.4%和1.7%。
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引用次数: 0
Towards fair lights: A multi-agent masked deep reinforcement learning for efficient corridor-level traffic signal control 走向公平的灯光:用于有效的走廊级交通信号控制的多智能体掩膜深度强化学习
IF 14.5 Q1 TRANSPORTATION Pub Date : 2025-08-11 DOI: 10.1016/j.commtr.2025.100203
Xiaocai Zhang, Lok Sang Chan, Neema Nassir, Majid Sarvi
This study presents an adaptive traffic signal control (ATSC) method for managing multiple intersections at the corridor level by proposing a novel multi-agent masked deep reinforcement learning (DRL) framework. The method extends the hybrid soft-actor-critic architecture to optimize green light timings for intersections across a corridor network, fostering a balance between vehicle flow and pedestrian movements with an emphasis on humanism, fairness, and equality. By integrating an innovative phase mask mechanism, our model dynamically adapts to the fluctuating demand of different transportation modalities by discovering new states or actions that could avoid local optima and achieve higher rewards. We comprehensively test our method using five naturalistic traffic scenarios in Melbourne, Australia. The results demonstrate a significant improvement in reducing the number of impacted travellers compared to existing DRL and other baseline methods. Furthermore, the inclusion of the phase mask mechanism enhances our model's performance through ablation analyses. The proposed framework not only supports a fairer traffic signal system but also provides a scalable, adaptable solution for diverse urban traffic conditions. .
本研究通过提出一种新的多智能体掩膜深度强化学习(DRL)框架,提出了一种用于管理走廊级多个交叉口的自适应交通信号控制(ATSC)方法。该方法扩展了混合软行为者-批评家架构,以优化走廊网络交叉路口的绿灯时间,在强调人文主义、公平和平等的情况下,促进车辆流量和行人运动之间的平衡。通过集成一个创新的相位掩模机制,我们的模型通过发现新的状态或行为来动态适应不同运输方式的波动需求,从而避免局部最优并获得更高的回报。我们在澳大利亚墨尔本的五个自然交通场景中全面测试了我们的方法。结果表明,与现有的DRL和其他基线方法相比,在减少受影响的旅行者数量方面取得了重大进展。此外,通过烧蚀分析,相位掩模机制的加入提高了模型的性能。提出的框架不仅支持一个更公平的交通信号系统,而且为不同的城市交通状况提供了可扩展的、适应性强的解决方案。
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引用次数: 0
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Communications in Transportation Research
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