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Bifurcation control based on improved intelligent driver model considering stability and minimum gasoline consumption 基于考虑稳定性和最小汽油消耗的改进智能驾驶员模型的分岔控制
IF 3.6 2区 工程技术 Q2 TRANSPORTATION Pub Date : 2025-05-04 DOI: 10.1080/23249935.2023.2243345
Liyou Li , Weilin Ren , Rongjun Cheng
Advanced driver assistance system (ADAS) plays an important role in the transition period before the full maturity of self-driving technology. In this paper, an intelligent driver model with multiple time delays (IDM-MTD) is established to describe the dynamic characteristics of vehicles equipped with ADAS. Moreover, a control term that considers the velocity difference between the current and historical moment is selected for assistance driving. A novel framework is proposed to determine control parameters in controlled IDM-MTD. The definite integral stability method (DISM) is integrated into the framework to constrain the range of parameters that make the system stable. In the control strategy design process, this paper places significant emphasis on the implementation of the DISM modification to effectively address redundant iteration steps by exploiting the characteristic of bifurcation. Through numerical simulation, a two-dimensional optimal parameter combination is found, which not only stabilizes traffic flow but also produces minimal gasoline consumption.
高级驾驶辅助系统(ADAS)在自动驾驶技术完全成熟之前的过渡阶段发挥着重要作用。本文建立了多时滞智能驾驶员模型(IDM-MTD)来描述ADAS车辆的动态特性。同时,选取考虑当前时刻与历史时刻速度差的控制项进行辅助驾驶。提出了一种确定受控IDM-MTD控制参数的新框架。将定积分稳定性方法(DISM)引入到该框架中,以约束系统稳定的参数范围。在控制策略设计过程中,本文重点研究了利用分岔特性对DISM进行修改以有效解决冗余迭代步骤的问题。通过数值模拟,找到了既能稳定交通流量又能使汽油消耗最小的二维最优参数组合。
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引用次数: 0
A multiclass simulation-based dynamic traffic assignment model for mixed traffic flow of connected and autonomous vehicles and human-driven vehicles 基于多类仿真的网联自动驾驶车辆与人工驾驶车辆混合交通流动态交通分配模型
IF 3.6 2区 工程技术 Q2 TRANSPORTATION Pub Date : 2025-05-04 DOI: 10.1080/23249935.2023.2257805
Behzad Bamdad Mehrabani , Jakob Erdmann , Luca Sgambi , Seyedehsan Seyedabrishami , Maaike Snelder
Connected and Autonomous Vehicles (CAVs) may exhibit different driving and route choice behaviours compared to Human-Driven Vehicles (HDVs), which can result in a mixed traffic flow with multiple classes of route choice behaviour. Therefore, it is necessary to solve the Multiclass Traffic Assignment Problem (TAP) for mixed traffic flow. However, most existing studies have relied on analytical solutions. Furthermore, simulation-based methods have not fully considered all of CAVs’ potential capabilities. This study presents an open-source solution framework for the multiclass simulation-based TAP in mixed traffic of CAVs and HDVs. The proposed model assumes that CAVs follow system optimal with rerouting capabilities, while HDVs follow user equilibrium. It also considers the impact of CAVs on road capacity at both micro and meso scales. The proposed model is demonstrated through three case studies. This study provides a valuable tool that can consider several assumptions for better understanding the impact of CAVs on mixed traffic flow.
与人类驾驶汽车(HDVs)相比,联网和自动驾驶汽车(cav)可能表现出不同的驾驶和路线选择行为,这可能导致具有多种路线选择行为的混合交通流。因此,有必要解决混合交通流的多类交通分配问题(TAP)。然而,大多数现有的研究都依赖于分析解决方案。此外,基于仿真的方法并没有充分考虑到自动驾驶汽车的所有潜在能力。本研究提出了一个开源的解决方案框架,用于在cav和hcv混合流量中基于多类仿真的TAP。该模型假设自动驾驶汽车遵循具有重路由能力的系统最优,而自动驾驶汽车遵循用户均衡。本文还从微观和中观两方面考虑了自动驾驶汽车对道路通行能力的影响。本文通过三个案例对所提出的模型进行了验证。本研究提供了一个有价值的工具,可以考虑几个假设,以更好地理解自动驾驶汽车对混合交通流的影响。
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引用次数: 0
The optimal solution to the energy-efficient train control in a multi-trains system-part 1: the algorithm design 多列车系统中节能列车控制的最优解——算法设计
IF 3.6 2区 工程技术 Q2 TRANSPORTATION Pub Date : 2025-05-04 DOI: 10.1080/23249935.2023.2267685
Yu Rao , Xiaoyun Feng , Qingyuan Wang , Pengfei Sun
When a train travels in a multi-trains system, the power flow of other trains and the track grades make up the spatial–temporal area (STA) for the train. Finding the optimal solution for the energy-efficient train control problem in STA can help reduce the net energy consumption. This paper studies the analytic method to obtain the optimal solution. In Part 1, we propose an algorithm specifically designed for this problem. The underlying structure of the algorithm is the connection between three optimal states through the optimal feasible strategy. We propose an algebraic method to calculate the optimal feasible strategy and discuss how it intersects with the speed limit. In Part 2, we will discuss the optimality and uniqueness of the optimal feasible strategy. Case studies using data from a real freight railway line are given to demonstrate the effectiveness of the proposed algorithm.
当列车在多列车系统中运行时,其他列车的功率流和轨道等级构成了列车的时空区域(STA)。寻找列车节能控制问题的最优解有助于降低净能耗。本文研究了求最优解的解析方法。在第1部分中,我们提出了一个专门针对这个问题设计的算法。该算法的底层结构是通过最优可行策略将三种最优状态连接起来。我们提出了一种计算最优可行策略的代数方法,并讨论了最优可行策略如何与限速相交。在第二部分中,我们将讨论最优可行策略的最优性和唯一性。最后以实际货运铁路的数据为例,验证了该算法的有效性。
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引用次数: 0
Convexity and global optimisation of lane-based fixed-time signal model for delay minimisation at an isolated intersection 基于车道的隔离交叉口延迟最小化固定时间信号模型的凸性与全局优化
IF 3.6 2区 工程技术 Q2 TRANSPORTATION Pub Date : 2025-05-04 DOI: 10.1080/23249935.2023.2259014
Haiming Hao , Hui Jin
Lane-based fixed-time signal is basic to various signal control strategies. It performs well in maximizing road capacity, but is faced with significant challenge in minimizing traffic delay. This study validates the convexity of lane-based fixed-time signal model for delay minimization, when lane markings are determined as well as flow factors. Thus Breadth first search algorithm is developed to enumerate the feasible lane markings, which are then screened with flow factors. Cutting plane algorithm is applied to the CMINLP for each feasible lane markings, where the non-linear delay function is converted to a series of linear ones, until the relaxed delay converges to the actual delay. Branch pruning strategy is established for efficiency, to eliminate the lane markings with uncompetitive delay. Numerical analyses follow to validate the proposed algorithm. This research promotes the redesign of lane-based fixed-time signal control.
基于车道的固定时间信号是各种信号控制策略的基础。它在最大化道路容量方面表现良好,但在最小化交通延误方面面临重大挑战。本研究验证了当车道标线和流量因素确定时,基于车道的固定时间信号模型的延迟最小化的凸性。为此,提出了宽度优先搜索算法,以枚举可行的车道标记,然后用流量因素对其进行筛选。对每个可行的车道标线对CMINLP进行切平面算法,将非线性延迟函数转换为一系列线性延迟函数,直到松弛延迟收敛到实际延迟。为了提高效率,建立了分支修剪策略,以消除具有非竞争延迟的车道标线。数值分析验证了算法的有效性。该研究促进了基于车道的固定时间信号控制的重新设计。
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引用次数: 0
Mapping the spatial organisation of air transport network by WENA-MLST analysis 基于WENA-MLST分析的航空运输网络空间组织映射
IF 3.6 2区 工程技术 Q2 TRANSPORTATION Pub Date : 2025-05-04 DOI: 10.1080/23249935.2023.2261044
Chengliang Liu , Bangjuan Wang , Hong Zhang
Due to the airline hubs’ organisation such as linkage, hierarchical structure, and hub-and-spoke remains a mystery at a global scale. Thereby, the research aims to unravel the spatial organisation of airline hubs in the air transport network (ATN) by  using weighted ego network analysis (WENA), Ht-index, and maximum leaf spanning tree (MLST) at multi-scales. The findings provide valuable insights into the status of different regional cities in the ATN and the critical relationship between hubs and their associated spokes. The result shows that the ATN is a legibly hierarchical network, and three types of airline hubs, i.e. global, international, and regional hubs have been identified. Additionally, the study reveals that the ATN is made up of several regional hub-and-spoke systems, where hubs dominate their subgraphs, with range and geographical proximity effects are observed. Finally, the role of airline hubs as international gateways and domestic hubs is also noted.
由于航空枢纽的组织结构,如联系,层次结构,中心和辐条在全球范围内仍然是一个谜。因此,本研究旨在通过多尺度的加权自我网络分析(WENA)、ht指数和最大叶生成树(MLST)来揭示航空运输网络(ATN)中航空枢纽的空间组织。研究结果为了解ATN中不同区域城市的状况以及枢纽和相关辐条之间的关键关系提供了有价值的见解。结果表明,ATN是一个清晰的分层网络,并确定了三种类型的航空枢纽,即全球、国际和区域枢纽。此外,研究表明,ATN是由几个区域中心和辐条系统组成的,其中中心主导其子图,观察到范围和地理邻近效应。最后,还指出了航空枢纽作为国际门户和国内枢纽的作用。
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引用次数: 0
Empirical study of the effects of physics-guided machine learning on freeway traffic flow modelling: model comparisons using field data 物理引导机器学习对高速公路交通流建模影响的实证研究:使用现场数据的模型比较
IF 3.6 2区 工程技术 Q2 TRANSPORTATION Pub Date : 2025-05-04 DOI: 10.1080/23249935.2023.2264949
Zhao Zhang , Yun Yuan , Mingchen Li , Pan Lu , Xianfeng Terry Yang
Recent studies have shown the successful implementation of classical model-based approaches (e.g. macroscopic traffic flow modelling) and data-driven approaches (e.g. machine learning – ML) to model freeway traffic patterns, while both have their limitations. Even though model-based approaches could depict real-world traffic dynamics, they could potentially lead to inaccurate estimations due to traffic fluctuations and uncertainties. In data-driven models, the acquisition of sufficient high-quality data is required to ensure the model performance. However, many transportation applications often suffer from data shortage and noises. To overcome those limitations, this study aims to introduce and evaluate a new model, named as physics-guided machine learning (PGML), that integrates the classical traffic flow model (TFM) with the machine learning technique. This PGML model leverages the output of a traffic flow model along with observational features to generate estimations using a neural network framework. More specifically, it applies physics-guided loss functions in the learning objective of neural networks to ensure that the model not only consists with the training set but also shows lower errors on the known physics of the unlabelled set. To illustrate the effectiveness of the PGML, this study implements empirical studies with a real-world dataset collected from a stretch of I-15 freeway in Utah. Experimental study results show that the proposed PGML model could outperform the other compatible methods, including calibrated traffic flow models, pure machine learning methods, and physics unguided machine learning (PUML).
最近的研究表明,经典的基于模型的方法(如宏观交通流建模)和数据驱动的方法(如机器学习- ML)成功地实现了高速公路交通模式的建模,但两者都有其局限性。尽管基于模型的方法可以描述真实世界的交通动态,但由于交通波动和不确定性,它们可能导致不准确的估计。在数据驱动的模型中,需要获取足够的高质量数据来保证模型的性能。然而,许多交通运输应用经常受到数据短缺和噪声的困扰。为了克服这些限制,本研究旨在引入和评估一种新的模型,称为物理引导机器学习(PGML),该模型将经典交通流模型(TFM)与机器学习技术相结合。该PGML模型利用交通流模型的输出以及观测特征,使用神经网络框架生成估计。更具体地说,它在神经网络的学习目标中应用物理引导损失函数,以确保模型不仅与训练集一致,而且在未标记集的已知物理上显示更低的误差。为了说明PGML的有效性,本研究使用从犹他州I-15高速公路一段收集的真实数据集进行了实证研究。实验研究结果表明,PGML模型优于其他兼容方法,包括校准交通流模型、纯机器学习方法和物理非引导机器学习(PUML)。
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引用次数: 0
Coordinated flow model for strategic planning of autonomous mobility-on-demand systems 自主移动按需系统战略规划的协调流模型
IF 3.6 2区 工程技术 Q2 TRANSPORTATION Pub Date : 2025-05-04 DOI: 10.1080/23249935.2023.2253474
Jiangbo (Gabe) Yu , Michael F. Hyland
High-quality strategic planning of autonomous mobility-on-demand (AMOD) systems is critical for the success of the subsequent phases of AMOD system implementation. To assist in strategic AMOD planning, we propose a dynamic and flexible flow-based model of an AMOD system. The proposed model is computationally fast while capturing the state transitions of two coordinated flows (i.e. co-flows): the AMOD service fleet vehicles and AMOD customers. Capturing important quantity dynamics and conservations through a system of ordinary differential equations, the model can economically respond to a large number and a wide range of scenario-testing requests. The paper illustrates the model efficacy through a basic example and a more realistic case study. The case study envisions replacing Manhattan's existing taxi service with a hypothetical AMOD system. The results show that even a simple co-flow model can robustly predict the systemwide AMOD dynamics and support the strategic planning of AMOD systems.
自主按需出行(AMOD)系统的高质量战略规划对于AMOD系统后续实施阶段的成功至关重要。为了帮助AMOD的战略规划,我们提出了一个动态、灵活的AMOD系统流模型。所提出的模型在捕获两个协调流(即共流)的状态转换时计算速度很快:AMOD服务车队车辆和AMOD客户。通过常微分方程系统捕获重要的数量动态和守恒,该模型可以经济地响应大量和广泛的场景测试请求。本文通过一个基本实例和一个较为现实的案例来说明模型的有效性。该案例研究设想用一种假想的AMOD系统取代曼哈顿现有的出租车服务。结果表明,即使是一个简单的共流模型也可以鲁棒地预测系统范围内的AMOD动态,并支持AMOD系统的战略规划。
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引用次数: 0
Multi-period emergency vehicle fleet redistribution and dispatching 多时段应急车队再分配调度
IF 3.6 2区 工程技术 Q2 TRANSPORTATION Pub Date : 2025-05-04 DOI: 10.1080/23249935.2023.2243344
Zheyi Tan , Lu Zhen , Zhiyuan Yang , Lilan Liu , Tianyi Fan
This research paper delves into the intricate task of redistributing and dispatching emergency vehicles across multiple periods, while considering the unpredictable occurrence time and locations of traffic accidents. To address this challenge, we propose a two-stage stochastic programming model aimed at minimising the expected penalty cost in the face of various random scenarios. In the first stage, we determine a baseline schedule for redistributing the emergency vehicle fleets across multiple periods. In the second stage, we strategically dispatch the vehicle fleets to address traffic accidents in each scenario. To tackle this model, we employ a solution method based on variable neighbourhood search. We conduct numerical experiments and provide a real-world example to validate the effectiveness of the proposed model. Furthermore, we perform sensitivity analysis to extract managerial implications that can potentially enhance accident rescue efforts.
本文研究了在交通事故发生时间和地点不可预测的情况下,应急车辆在多个时段的重新分配和调度问题。为了解决这一挑战,我们提出了一个两阶段的随机规划模型,旨在最小化面对各种随机场景的预期惩罚成本。在第一阶段,我们确定了在多个时期重新分配应急车队的基线时间表。在第二阶段,我们策略性地调配车队,以处理每个场景下的交通事故。为了解决这个问题,我们采用了一种基于可变邻域搜索的求解方法。我们进行了数值实验,并提供了一个实际的例子来验证所提出的模型的有效性。此外,我们进行敏感性分析,以提取可能加强事故救援工作的管理影响。
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引用次数: 0
Extension of a static into a semi-dynamic traffic assignment model with strict capacity constraints 将具有严格容量约束的静态交通分配模型扩展为半动态交通分配模型
IF 3.6 2区 工程技术 Q2 TRANSPORTATION Pub Date : 2025-05-04 DOI: 10.1080/23249935.2023.2249118
Luuk Brederode , Lotte Gerards , Luc Wismans , Adam Pel , Serge Hoogendoorn
To improve the accuracy of large-scale strategic transport models in congested conditions, this paper presents a straightforward extension of a static capacity-constrained traffic assignment model into a semi-dynamic version. The semi-dynamic model is more accurate than its static counterpart as it relaxes the empty network assumption, but, unlike its dynamic counterpart, maintains the stability and scalability properties required for application in large-scale strategic transport model systems. Applications show that, contrary to static models, semi-dynamic queue sizes and delays are very similar to dynamic outcomes, whereas only the congestion patterns differ due to the omission of spillback. The static and semi-dynamic models are able to reach user equilibrium conditions, whereas the dynamic model cannot. On a real-world transport model, the static model omits up to 76% of collective losses. It is therefore very likely that the empty network assumption influences (policy) decisions based on static model outcomes.
为了提高拥挤条件下大规模战略交通模型的准确性,本文将静态容量约束交通分配模型直接扩展为半动态模型。半动态模型比静态模型更精确,因为它放松了空网络假设,但与动态模型不同的是,它保持了在大规模战略运输模型系统中应用所需的稳定性和可扩展性。应用表明,与静态模型相反,半动态队列大小和延迟与动态结果非常相似,而由于遗漏溢出,只有拥塞模式不同。静态和半动态模型能够达到用户平衡条件,而动态模型则不能。在现实世界的运输模型中,静态模型忽略了高达76%的集体损失。因此,空网络假设很可能影响基于静态模型结果的(政策)决策。
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引用次数: 0
Optimal vehicle capacity and dispatching policy considering crowding in public bus transit services 考虑拥挤的公交系统最优车辆容量与调度策略
IF 3.6 2区 工程技术 Q2 TRANSPORTATION Pub Date : 2025-05-04 DOI: 10.1080/23249935.2023.2258996
Reza Mahmoudi , Saeid Saidi , S. C. Wirasinghe
This study investigates the often overlooked impact of on-board crowding on operational and user costs in public transit systems, specifically within a many-to-many bus transit line with varying demand patterns. While previous research has used mathematical programming for similar problems, this paper employs analytical approaches to offer deeper insights and address fundamental questions. First, we propose an approach to determine optimal bus capacities, factoring in in-vehicle crowding costs, assuming a fixed headway. Second, we explore the optimal dispatching policy for buses with fixed capacities, considering crowding costs. Third, we optimize both headway and vehicle capacity simultaneously. Our findings reveal that optimal vehicle capacity correlates with average passenger trip length and the square root of crowding-discomfort costs, especially when crowding increases linearly with load factor. When both headway and capacity are variable, smaller vehicles with shorter headways are favored, particularly in moderate-demand scenarios, especially with cost-effective staff models like autonomous fleets.
本研究调查了公共交通系统中经常被忽视的上车拥挤对运营和用户成本的影响,特别是在具有不同需求模式的多对多公交线路中。虽然以前的研究使用数学规划来解决类似的问题,但本文采用分析方法来提供更深入的见解并解决基本问题。首先,我们提出了一种方法来确定最优公交容量,考虑到车内拥挤成本,假设车头距固定。其次,在考虑拥挤成本的情况下,探讨了固定容量公交的最优调度策略。三是同步优化车头时距和车辆容量。研究结果表明,最优车辆容量与乘客平均行程长度和拥挤不适成本的平方根相关,特别是当拥挤程度随载客量线性增加时。当车头距和容量都是可变的时候,车头距较短的小型车辆更受青睐,尤其是在需求适中的情况下,尤其是在自动驾驶车队等具有成本效益的员工模式下。
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引用次数: 0
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Transportmetrica A-Transport Science
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