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Analysis of Model Predictive Intersection Control for Autonomous Vehicles 自动驾驶汽车交叉口模型预测控制分析
Q2 Engineering Pub Date : 2023-05-11 DOI: 10.3311/pptr.22082
Zsófia Farkas, András Mihály, P. Gáspár
Autonomous vehicles are in the main focus for automotive companies and urban traffic engineers as well. As their penetration rate in traffic becomes more and more pronounced due to improvement in sensor technologies and the corresponding infrastructure, new methods for autonomous vehicle controls become a necessity. For instance, autonomous vehicles can improve the performance of urban traffic and prevent the formation of congestions with the usage of Vehicle-to-Vehicle (V2V) and Vehicle-to-Infrastructure (V2I) communication based control methods. One of the key area for improvement is centralized intersection control for autonomous vehicles, by which traveling times can be reduced and efficiency of traffic flow can be improved, while safety of passengers can be guaranteed through constraints built in the centralized design. The paper presents the analysis of a Model Predictive Control (MPC) method for the coordination of autonomous vehicles at intersections by comparing it with an offline constraint optimization considering time and energy optimal intervention of vehicles. The analysis has been evaluated in high-fidelity simulation environment CarSim, where the speed trajectories, traveling times and energy consumptions have been compared for the different methods. The simulations show that the proposed time-optimal MPC intersection control method results in similar traveling times of that given by the time-optimal offline constraint optimization, while the energy optimal optimization re-quires significantly more time for the autonomous vehicle to achieve. Due to the possibility of a congestion forming in the latter case, the proposed centralized MPC method is more applicable in real traffic scenarios.
自动驾驶汽车是汽车公司和城市交通工程师的主要关注点。由于传感器技术和相应基础设施的改进,自动驾驶汽车在交通中的渗透率越来越明显,因此有必要采用新的自动驾驶汽车控制方法。例如,通过使用基于车对车(V2V)和车对基础设施(V2I)通信的控制方法,自动驾驶汽车可以提高城市交通的性能,防止拥堵的形成。其中一个需要改进的关键领域是自动驾驶汽车的交叉口集中控制,通过该控制可以减少行驶时间,提高交通流的效率,同时通过集中设计中的约束来保证乘客的安全。通过与考虑车辆时间和能量最优干预的离线约束优化方法的比较,分析了交叉口自动驾驶车辆协调的模型预测控制(MPC)方法。在高保真度仿真环境CarSim中对分析进行了评估,比较了不同方法的速度轨迹、行驶时间和能耗。仿真结果表明,所提出的时间最优MPC交叉口控制方法的行驶时间与时间最优离线约束优化所给出的行驶时间相似,而能量最优优化则需要更多的时间来实现自动驾驶汽车。由于后一种情况下可能会形成拥堵,因此所提出的集中式MPC方法更适用于实际交通场景。
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引用次数: 1
Potential Benefits of Mixed Waste Collection Methods 混合废物收集方法的潜在效益
Q2 Engineering Pub Date : 2023-05-08 DOI: 10.3311/pptr.21851
A. Titrik
It is difficult to determine the ideal way for collecting selective waste since calculations must be made taking into account a variety of collection vehicles, containers, city regions, and verifying vehicles. Additionally, we need to keep in mind that acquiring some statistical information on container filling is crucial for organizing the gathering process. The majority of the vehicles used for the gathering operate on fossil fuels like gasoline, which releases carcinogens into the atmosphere. Since the engine drives a hydraulic pump that generates power to lift the container when it is being emptied, the exhaust emissions are not solely coming from the vehicles when they reach the container. As a result, it is crucial to describe the entire gathering process. On the one hand, we want to safeguard the environment by utilizing selective gathering, but on the other hand, there are gathering vehicles that emit carcinogenic exhaust gas. In order to reduce unneeded pollution from the gathering vehicle, we aim to identify the best solution in this paper for choosing the appropriate selective material collection method.
由于必须考虑各种收集车辆、容器、城市区域和验证车辆,因此很难确定收集选择性废物的理想方法。此外,我们需要记住,获取有关容器填充的一些统计信息对于组织收集过程至关重要。大多数用于收集的车辆使用的是汽油等化石燃料,这些燃料会向大气中释放致癌物。由于发动机驱动一个液压泵,在清空集装箱时产生动力,因此废气排放不仅仅来自车辆到达集装箱时的排放。因此,描述整个采集过程是至关重要的。一方面,我们希望通过选择性收集来保护环境,但另一方面,有排放致癌废气的收集车辆。为了减少收集车辆产生的不必要的污染,本文的目标是找出选择合适的选择性材料收集方法的最佳解决方案。
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引用次数: 0
Dynamic Viscosity Prediction of Blends of Paving Grade Bitumen with Reclaimed Bitumen 路面级沥青与再生沥青共混物的动态粘度预测
Q2 Engineering Pub Date : 2023-05-05 DOI: 10.3311/pptr.21926
S. Rosta, L. Gáspár
The recycling of reclaimed asphalt pavement is of significant economic and environmental benefits. In this case, however, the satisfactory performance of the final product needs scientific planning of the mixture and thorough quality control. Before its use, a number of tests must be performed to verify that the binder meets the relevant requirements and can be used in asphalt mixtures. The binder characteristics in the reclaimed asphalt pavement and the expected properties of the binder blend in the new asphalt mixture must be known. For its prediction and calculation, a European standard offers the calculation of the penetration or softening point of the binder blend in the mixture with reclaimed asphalt content. However, in some countries, the determination of paving grade bitumen types (categories) is based not on dynamic viscosity measured with DSR instrument, so other validated test and calculation methods are in force. A viscosity-based method has not yet been validated for paving grade bitumens standardized on a penetration basis, although this method is more advantageous in many aspects when monitoring daily production processes; it is much shorter and requires less material than measuring softening point or penetration. The article deals with the measurement of the dynamic viscosity of bitumen blends of asphalt mixtures made using reclaimed asphalts, determined with a dynamic shear rheometer at different frequencies (0.1–10.0 Hz sweep). Furthermore, the relationships between the different composition ratios of national paving grade bitumens classified on the bases of penetration level and bitumens from reclaimed asphalt pavement are examined.
再生沥青路面的回收利用具有显著的经济效益和环境效益。然而,在这种情况下,最终产品的令人满意的性能需要对混合物进行科学的规划和彻底的质量控制。在使用之前,必须进行一系列测试,以验证粘合剂是否符合相关要求,并可用于沥青混合料。再生沥青路面中的粘合剂特性和新沥青混合料中粘合剂混合物的预期性能必须已知。对于其预测和计算,欧洲标准提供了具有再生沥青含量的混合物中粘合剂混合物的渗透点或软化点的计算。然而,在一些国家,摊铺级沥青类型(类别)的确定不是基于DSR仪器测量的动态粘度,因此其他经验证的测试和计算方法仍然有效。基于粘度的方法尚未被验证用于在渗透基础上标准化的铺路级沥青,尽管在监测日常生产过程时,这种方法在许多方面更有利;它比测量软化点或渗透要短得多,并且需要更少的材料。本文用动态剪切流变仪在不同频率(0.1–10.0 Hz扫描)下测定了使用再生沥青制成的沥青混合料的沥青混合物的动态粘度。此外,还考察了按渗透水平分类的国家级沥青与再生沥青路面沥青的不同组成比之间的关系。
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引用次数: 0
Profitability Determinants of Transport Service and Warehouse Enterprises 运输服务和仓储企业盈利能力的决定因素
Q2 Engineering Pub Date : 2023-05-05 DOI: 10.3311/pptr.21402
Arkadiusz J. Derkacz, A. Dudziak, O. Stopka, Mária Stopková
The main purpose of the research is to identify differences in the factors determining changes in the return on capital (ROE) of transport and warehouse enterprises in individual voivodeships in Poland. The research used the ROE decomposition method which was justified by mathematical aspects. It paid attention on the decomposition of relative differences shaping the changes in this specific indicator. The substantive basis is the modified 5-factor Du Pont model. This method allowed for analysing relative changes in three decision areas. These areas encompass operational, financial, and tax management. The findings confirmed that the differences in individual voivodeships compared to the entire section H in Poland result mainly from financial management. However, the examined differentiation was not dependent on tax management. The presented research results can represent the basis for the strategy of corporate management in section H in positioning against competitive enterprises in Poland. The research also allows for a macroeconomic analysis of the phenomena occurring in the transport as well as warehousing sector, especially in terms of changes in their profitability.
该研究的主要目的是确定在波兰个别省份的运输和仓储企业的资本回报率(ROE)的变化决定因素的差异。本研究采用的ROE分解方法在数学方面得到了证明。它关注的是形成这一具体指标变化的相对差异的分解。实质依据是修正后的五因子杜邦模型。这种方法允许分析三个决策领域的相对变化。这些领域包括运营、财务和税务管理。调查结果证实,与波兰整个H区相比,个别省的差异主要是由于财政管理。然而,所研究的差异并不依赖于税收管理。所提出的研究结果可以代表H节中针对波兰竞争企业定位的企业管理策略的基础。这项研究还允许对运输和仓储部门发生的现象进行宏观经济分析,特别是就其盈利能力的变化而言。
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引用次数: 0
Calibration Measurements and Computational Models of Sensors Used in Autonomous Vehicles 自动驾驶汽车传感器的标定测量与计算模型
Q2 Engineering Pub Date : 2023-05-03 DOI: 10.3311/pptr.18453
Csaba Hajdu, István Lakatos
An increasing number of vehicles are equipped with cameras. As perception sensors, they scan the surrounding area and supply the Advanced Driver Assistance Systems (ADAS) for building up an environmental model through the use of computer vision techniques. While they perform well under good weather conditions their efficiency is reduced by adverse environmental influences such as rain, fog and occlusion through dirt. As a consequence, the vision based ADAS obtains poor quality information, and the model also becomes faulty. This paper deals with methods to estimate information quality of cameras in order to warn the assistance system of possible wrong working conditions. In particular, situations of contamination or occlusion of the windshield or camera lens, as well as foggy weather are taken into account in this paper. In the issue of occlusion total, fractional and transparent effectuations have to be recognized and distinguished. Therefore, this paper proposes an approach based on edge analysis of consecutive frames and presents initial experimental results of the implementation. In the field of Fog Detection a method based on the Logarithmic Image Processing Model is described and the results are shown.
越来越多的车辆配备了摄像头。作为感知传感器,它们可以扫描周围区域,并提供高级驾驶辅助系统(ADAS),通过使用计算机视觉技术建立环境模型。虽然它们在良好的天气条件下表现良好,但它们的效率会受到诸如雨、雾和灰尘遮挡等不利环境影响的降低。因此,基于视觉的ADAS获得的信息质量很差,模型也会出现缺陷。本文研究了估计摄像机信息质量的方法,以便对辅助系统可能出现的错误工况进行预警。本文特别考虑了污染或遮挡挡风玻璃或相机镜头的情况,以及雾天的天气。在遮挡总量、分数效应和透明效应的问题上,必须加以识别和区分。为此,本文提出了一种基于连续帧边缘分析的方法,并给出了实现的初步实验结果。在雾检测领域,提出了一种基于对数图像处理模型的方法,并给出了结果。
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引用次数: 0
Analysis of Non-motorised Transport and Public Transport Facilities Using Bicycle Compatibility Index and Stop Coverage Ratio, in Vijayanagar, Bengaluru 使用自行车兼容性指数和站点覆盖率分析班加罗尔维贾亚纳加尔的非机动交通和公共交通设施
Q2 Engineering Pub Date : 2023-04-19 DOI: 10.3311/pptr.19195
Lingaraju Megha, S. Srikanth
Transportation development is one of the parameters indicating the development of any country. Due to improper maintenance of infrastructure, non-eco-friendly designs and practices etc. have led to congestion, accidents and environmental depletion. These problems can be addressed by developing a structured transportation system integrated with sustainability and safety. The aim of this study is to analyze the existing facilities in the study area and to suggest integration of non-motorised transport and public transport through questionnaire survey. The bicycle compatibility index is calculated to find the bicycle level of service of the study area. The bus stop coverage analysis was done by calculating the ideal stop accessibility index, actual stop accessibility index and stop coverage ratio index. From bicycle compatibility index, it can be concluded that the compatibity of the surveyed region was moderately high for bicyclists. Based on bus-stop coverage analysis, Kalyan nagar bus stop is said to have good accessibility whereas ITI layout has poor accessibility.
交通发展是衡量一个国家发展水平的指标之一。由于基础设施维护不当,不环保的设计和做法等导致了拥堵、事故和环境破坏。这些问题可以通过开发一个与可持续性和安全性相结合的结构化交通系统来解决。本研究的目的是分析研究区域内的现有设施,并通过问卷调查提出非机动交通和公共交通的整合建议。计算自行车兼容性指数,以确定研究区域的自行车服务水平。通过计算理想站点可达性指数、实际站点可达性指标和站点覆盖率指标,进行公交站点覆盖率分析。从自行车兼容性指数可以得出结论,调查地区对骑自行车的人的兼容性中等高。根据公交车站覆盖率分析,Kalyan nagar公交车站据说具有良好的可达性,而ITI布局的可达性较差。
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引用次数: 0
Combined Use of Aerial Remote Sensing and Terrestrial Survey in ICAO eTOD's Electronic Terrain- and Obstacle Data Collection 航空遥感和地面勘测在ICAO eTOD电子地形和障碍物数据收集中的联合应用
Q2 Engineering Pub Date : 2023-04-19 DOI: 10.3311/pptr.20851
Zsolt Bagdi, G. Bakó, Z. Molnár
Maintaining and enhancing aviation safety at all times is an essential factor at various airports around the world. It is not enough to keep it at that level, as we also see from history that the volume of air traffic doubles almost every 15 years. The number of aircraft in traffic is constantly increasing, and airport infrastructure needs to be developed. Consequently, the challenges for aviation are also greater. Electronic Terrain- and Obstacle Data Collection (eTOD) at airports and their surroundings are an essential procedure for aviation safety that aims to organize databases of potentially dangerous flight obstacles. The process is based on passive optical aerial remote sensing from a fixed-wing aircraft. With the help of point cloud and geoinformatics software created during the processing of in-flight recordings and additional data, strictly defined terrain- and obstacle data can be organized into databases, the format of which is regulated by international standards and documents, according to which the obstacle database can be used internationally. These data sets are needed not only because they are required by law, but also because they form the basis for the design of various aircraft procedures and make a major contribution to safe aviation.
在任何时候保持和加强航空安全是世界各地机场的一个重要因素。把它保持在这个水平是不够的,因为我们从历史上也看到,空中交通量几乎每15年翻一番。交通中的飞机数量不断增加,机场基础设施需要发展。因此,航空业面临的挑战也更大。机场及其周围环境的电子地形和障碍物数据收集(eTOD)是航空安全的重要程序,旨在组织潜在危险飞行障碍物的数据库。该过程基于固定翼飞机的被动光学航空遥感。在处理飞行记录和附加数据过程中创建的点云和地理信息学软件的帮助下,严格定义的地形和障碍物数据可以组织成数据库,数据库的格式由国际标准和文件规定,根据这些数据库,障碍物数据库可以在国际上使用。需要这些数据集不仅因为它们是法律所要求的,而且因为它们构成了设计各种飞机程序的基础,并对航空安全作出了重大贡献。
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引用次数: 0
Experimental Investigation of the Friction Modifying Effects of Graphene and C60 Fullerene Used as Nanoadditives in Engine Lubricating Oil Performed on an Oscillating Tribometer 石墨烯和C60富勒烯纳米添加剂对发动机润滑油摩擦改性效果的实验研究
Q2 Engineering Pub Date : 2023-03-30 DOI: 10.3311/pptr.20594
C. Tóth-Nagy, Á. Szabó
The present article presents the results of tribological investigations performed on an off-the-shelf engine lubricant containing nanoadditives of multilayered graphene and C60 fullerene alternately. As anthropogenic CO2 is believed to be highly responsible for global climate change, its emission is regulated in many countries. CO2 emissions can be significantly decreased by improving the efficiency i.e. decreasing the losses in an engine. Hence reducing frictional losses was the ultimate scope of the investigations presented in this article. The experiments were carried out on an oscillating tribometer at the Department of Internal Combustion Engines at Széchenyi István University. The experiments showed that multilayered graphene in engine lubricant did not modify the friction coefficient inevitably (-1% to +4%). Fullerene nanoparticles, however, reduced the friction by 4–8%. The optimal fullerene doping quantity that resulted in the lowest friction showed to be at around 0.14 wt%.
本文介绍了一种含有多层石墨烯和C60富勒烯的纳米添加剂的现成发动机润滑油的摩擦学研究结果。由于人为排放的二氧化碳被认为是全球气候变化的主要原因,许多国家都对其排放进行了管制。通过提高效率,即减少发动机的损耗,可以显著减少二氧化碳的排放。因此,减少摩擦损失是本文所提出的研究的最终范围。实验是在szassachenyi István大学内燃机系的振动摩擦计上进行的。实验表明,在发动机润滑油中加入多层石墨烯并不会不可避免地改变摩擦系数(-1% ~ +4%)。然而,富勒烯纳米颗粒减少了4-8%的摩擦。产生最低摩擦的最佳富勒烯掺杂量约为0.14 wt%。
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引用次数: 0
Long Term, Pre, and Post Impacts of SARS-CoV-2 Pandemic on Road Traffic Crashes in the Case of Budapest, Hungary 以匈牙利布达佩斯为例,严重急性呼吸系统综合征冠状病毒2型疫情对道路交通事故的长期、前期和后期影响
Q2 Engineering Pub Date : 2023-03-16 DOI: 10.3311/pptr.20765
Debela Jima, T. Sipos
SARS-CoV-2 is a pandemic that affects road traffic flaw and crashes globally. This study attempted to compare the situation of road traffic crashes in the city of Budapest before and after the SARS-CoV-2 pandemic to better understand its long-term percussive effects. The study considers 12208 road traffic crashes that registered between 20 May 2018 – 31 December 2021. The rate and severity of road traffic crashes during the SARS-CoV-2 pandemic examined by using a percentage frequency distribution and a severity index. This study depicted that most crashes reported during the normal daytime between15:01-18:00 (peak hour). The study indicated that during the SARS-CoV-2 pandemic the road traffic crashes were reduced by 20.15%. A rear-end collision was one of the most common type of catastrophes highly registered. Road users, particularly drivers, heavily endorsed crashes. Even though the proportion of road traffic crashes caused by alcohol consumption was modest (6%), the rate of alcohol consumption and its concentration increased slightly during the SARS-CoV-2 pandemic. At the same time the number of crashes caused by high-speed traffic maneuvers reduced. Improper interpretation of road traffic signs, road pavement condition and failure to respect proper sight distance were influential reasons of road traffic crashes among the top. Meanwhile, the distributional impact of careless driving in the aftermath of the SARS-CoV-2 pandemic causes a shift in rank. Therefore, this study proved that during SARS-CoV-2 pandemics road traffic crashes reduced, the rate and concentration of alcohol consumption increased, and careless driving was encouraged.
SARS-CoV-2是一种影响全球道路交通缺陷和交通事故的大流行病。本研究试图比较布达佩斯市在SARS-CoV-2大流行之前和之后的道路交通事故情况,以更好地了解其长期冲击影响。该研究考虑了2018年5月20日至2021年12月31日期间登记的12208起道路交通事故。通过使用百分比频率分布和严重程度指数检查了SARS-CoV-2大流行期间道路交通事故的发生率和严重程度。该研究描述了大多数事故报告发生在正常的白天15:01-18:00(高峰时间)之间。研究表明,在SARS-CoV-2大流行期间,道路交通事故减少了20.15%。追尾碰撞是最常见的灾难类型之一。道路使用者,尤其是司机,严重支持撞车事故。尽管饮酒引起的道路交通事故比例不大(6%),但在SARS-CoV-2大流行期间,饮酒率及其浓度略有上升。与此同时,高速交通机动造成的撞车事故减少了。道路交通事故发生的主要原因是对道路交通标志的错误解读、道路路面状况和不尊重正确的视距。与此同时,在SARS-CoV-2大流行之后,粗心驾驶对分配的影响导致了排名的变化。因此,本研究证明,在SARS-CoV-2大流行期间,道路交通事故减少,饮酒的比率和浓度增加,并鼓励粗心驾驶。
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引用次数: 1
An In-depth Statistical Analysis of Driver Speeding Attitudes and Behavior 驾驶员超速态度和行为的深度统计分析
Q2 Engineering Pub Date : 2023-02-20 DOI: 10.3311/pptr.20450
A. Atieh, K. Jadaan, H. Naghawi
Speeding, which encompasses driving above the speed limits, is an aggravating factor in the severity of crashes. It has also serious consequences on the environment and energy consumption.This paper aims to thoroughly investigate the speeding behavior of Jordanian drivers through a comprehensive statistical analysis of driver speeding attitudes and behavior reaching to the most effective interventions and strategies that would mitigate this phenomenon.Data were collected through distributing a pre-designed questionnaire and receiving a total of 1,049 responses. The Public Security Directorate (PSD) provided the speed-related data.The collected data were subjected to rigorous statistical analysis including factor analysis, bivariate Pearson's correlation test, bivariate analysis, and multivariate logistic regression analysis.Based on the outcome of the study, potential measures for reducing speeding that would be both effective and personally acceptable in Jordan are recommended. The dominant measures were mainly law enforcement actions since it is believed that financial disincentives are most effective.
超速行驶包括超速行驶,是造成车祸严重程度的一个加重因素。它还对环境和能源消耗造成严重后果。本文旨在通过对约旦司机超速态度和行为的全面统计分析,深入调查约旦司机的超速行为,从而找到最有效的干预措施和策略来缓解这一现象。数据是通过分发预先设计的问卷收集的,共收到1049份回复。公共安全局(PSD)提供了与速度相关的数据。对收集的数据进行严格的统计分析,包括因子分析、双变量皮尔逊相关检验、双变量分析和多变量逻辑回归分析。根据研究结果,建议采取在约旦既有效又个人可接受的潜在措施来减少超速。主要措施主要是执法行动,因为人们认为财政抑制措施最为有效。
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引用次数: 0
期刊
Periodica Polytechnica Transportation Engineering
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