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Assessing the Determinant Factors Influencing Transport Mode Choice: A Case of Debre Berhan City 影响交通方式选择的决定因素评价——以德伯勒市为例
IF 2 4区 工程技术 Q2 ENGINEERING, CIVIL Pub Date : 2025-06-28 DOI: 10.1155/atr/2393859
Seyte Kelela, Yonas Minalu Emagnu, Kalkidan Kefale Berta

Mode choice behavior directly affects the layout of the urban transportation system and serves as the foundation for the development of policies about the planning and administration of urban transportation. This study focused on the city’s various transportation options, aiming to pinpoint and investigate several factors influencing transportation mode selection. The data included the traffic survey; traveler interviews were gathered using a questionnaire survey, structured interviews, and secondary documents. The collected data from the questionnaire survey were then analyzed using a multinomial logit (MNL) model to assess the relationships between different parameters and mode choice. The investigation considered several concerns, including travel distance, travel time, travel cost, safety, environmental impact, health benefits, and comfort. Both qualitative and quantitative methods of sustainability have been integrated into this study. The MNL model’s pseudo-R-squared value illustrates the apparent correlation between the independent and dependent variables. The multilayer perceptron (MLP) model was used as a comparison model. The results show that MLP has higher predictive performance than the MNL model in assessing transport mode choice in the city. The study reveals that travel distance, time, availability, health benefits, comfort, safety, cost, and environmental impact significantly influence mode choice for work trips. Public services are safer, less environmentally impactful, and more accessible, while walking is safest, offers health benefits, and is more environmentally friendly but is preferred by the youngest. Private vehicle users offer more safety but are less cost-effective. Minibus users provide better cost-benefit and safety but take longer travel times. Overall, the study was used to understand passenger preferences and critical factors in transport options, thereby aiding policymakers in making informed decisions and suggestions for improving the transport system in similar cities.

模式选择行为直接影响城市交通系统的布局,是城市交通规划和管理政策制定的基础。本研究聚焦于城市的各种交通选择,旨在找出和调查影响交通方式选择的几个因素。数据包括交通调查;通过问卷调查、结构化访谈和二手文件收集旅行者访谈。然后利用多项logit (MNL)模型对问卷调查收集的数据进行分析,以评估不同参数与模式选择之间的关系。调查考虑了几个问题,包括旅行距离、旅行时间、旅行成本、安全、环境影响、健康效益和舒适度。本研究结合了可持续性的定性和定量方法。MNL模型的伪r平方值说明了自变量和因变量之间的明显相关性。采用多层感知器(MLP)模型作为比较模型。结果表明,在评估城市交通方式选择方面,MLP模型比MNL模型具有更高的预测性能。研究表明,出行距离、时间、可获得性、健康效益、舒适度、安全性、成本和环境影响显著影响工作出行方式的选择。公共服务更安全,对环境的影响更小,更容易获得,而步行更安全,提供健康益处,更环保,但最年轻的人更喜欢。私家车用户更安全,但成本效益较低。小巴用户的成本效益和安全性更高,但需要更长的旅行时间。总体而言,该研究用于了解乘客偏好和交通选择的关键因素,从而帮助决策者做出明智的决策和建议,以改善类似城市的交通系统。
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引用次数: 0
Investigation and Analysis of the Acceptance of the License Plate–Based Restriction Policy: A Case Study in Hangzhou, China 基于牌照的限行政策接受度调查与分析——以杭州市为例
IF 2 4区 工程技术 Q2 ENGINEERING, CIVIL Pub Date : 2025-06-27 DOI: 10.1155/atr/5512705
Yexing Yin, Gang Yu, Rongchuan Lin, Sheng Jin, Cheng Xu

In order to better understand the factors that affect Hangzhou residents’ acceptance of the license plate–based restriction (LPR) policy, new factors such as fairness, family life cycle factors, and preacceptance of alternative measures were added to explore new interactions between different factors. A questionnaire survey was completed among 958 residents of Hangzhou City, and a partial least squares structural equation model (PLS-SEM) was established to analyze the factors that affect the acceptance of the LPR policy. An analysis of socioeconomic attributes is conducted to explore the impact of education, age, and family life cycle factors on the acceptance of the LPR policy. The results indicate that perceived cost-effectiveness, social norms, policy cognition, fairness, important goals, and preacceptance of alternative measures have significant direct effects on the postacceptance of the LPR policy, while fairness and important goals have indirect effects through social norms. Regarding postacceptance, perceived effectiveness can only indirectly affect postacceptance of the LPR policy through policy cognition and perceived cost-effectiveness. Responsibility attribution can only indirectly affect postacceptance through important goals. As the education level and age increase, residents’ acceptance of the LPR policy will decrease; young families without children and families with minor children have lower acceptance of the LPR policy than families with all adult members and elder families without children.

为了更好地了解影响杭州市居民对车牌限行政策接受度的因素,本研究增加了公平性、家庭生命周期因素和替代措施预接受度等新因素,探索不同因素之间新的相互作用。通过对杭州市958名居民进行问卷调查,建立偏最小二乘结构方程模型(PLS-SEM),分析影响LPR政策接受度的因素。通过社会经济属性分析,探讨教育、年龄和家庭生命周期因素对LPR政策接受度的影响。结果表明,感知成本效益、社会规范、政策认知、公平性、重要目标和替代措施的预接受对LPR政策的后接受有显著的直接影响,而公平性和重要目标通过社会规范对LPR政策的后接受有间接影响。对于后接受,感知有效性只能通过政策认知和感知成本效益间接影响LPR政策的后接受。责任归因只能通过重要目标间接影响后接受。随着受教育程度和年龄的增加,居民对LPR政策的接受程度会降低;没有子女的年轻家庭和有未成年子女的家庭对LPR政策的接受度低于有全部成年成员的家庭和没有子女的老年家庭。
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引用次数: 0
Vehicle Collision Warning Based on Combination of the YOLO Algorithm and the Kalman Filter in the Driving Assistance System 驾驶辅助系统中基于YOLO算法与卡尔曼滤波相结合的车辆碰撞预警
IF 2 4区 工程技术 Q2 ENGINEERING, CIVIL Pub Date : 2025-06-21 DOI: 10.1155/atr/1188373
Guihua Miao, Weihe Wang, Jinjun Tang, Fang Li, Yunyi Liang

Vehicle forward collision warning based on machine vision can help to reduce the incidence of traffic accidents. Many researchers have studied this topic in recent years. However, most of the existing studies only focus on one stage of the process such as vehicle detection and distance measurement. It will face many issues in practical application. To solve these problems, we propose a framework for forward collision warning. This study applies the YOLO algorithm to detect the vehicle and uses the Kalman filter to track the vehicle. The monocular vision distance measuring method is used to estimate the distance and travel speed. Finally, we adopt the time to collision (TTC) to decide whether to trigger the warning process. In the speed measurement stage, we design an appropriate time interval to calculate the relative speed of the front vehicle. In the collision warning segment, a TTC threshold is set by considering not only vehicle safety guarantees but also avoiding hard barking that would make drivers uncomfortable. Furthermore, we set a warning area to filter the false warning when the car overtakes and meets. Experiments with real traffic scenes demonstrate that the performance of the proposed model is good to make accurate collision prediction and warning.

基于机器视觉的车辆前向碰撞预警有助于降低交通事故的发生率。近年来,许多研究者对这一课题进行了研究。然而,现有的研究大多集中在车辆检测和距离测量等过程的一个阶段。在实际应用中会遇到很多问题。为了解决这些问题,我们提出了一个前向碰撞预警框架。本研究采用YOLO算法对车辆进行检测,并采用卡尔曼滤波对车辆进行跟踪。采用单目视觉距离测量法来估计距离和行驶速度。最后,采用碰撞时间(TTC)来决定是否触发预警过程。在测速阶段,我们设计了合适的时间间隔来计算前车的相对速度。在碰撞警告部分,TTC阈值的设置不仅考虑了车辆的安全保障,还考虑了避免司机不舒服的猛烈吠叫。此外,我们还设置了一个警告区域,过滤车辆超车和相遇时的错误警告。实际交通场景实验表明,该模型具有较好的碰撞预测和预警效果。
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引用次数: 0
Optimization Methods for Customized Bus Routes in Random Environments 随机环境下公交线路定制优化方法
IF 2 4区 工程技术 Q2 ENGINEERING, CIVIL Pub Date : 2025-06-19 DOI: 10.1155/atr/1680317
Fangyuan Gong, Chuanjun Jia, Xu Wu

The customized bus in operation faces numerous random factors that affect the service level and attractiveness to passengers. Therefore, this paper investigates the optimization problem of customized bus routes considering random vehicle travel times and the capability to respond to dynamic requests in real time. We developed a stochastic programming model that minimizes total cost and passenger travel time. The innovation lies in the model’s ability to respond to requests made by passengers during service and to model the randomness of vehicle travel times using a known distribution. Furthermore, we propose a heuristic algorithm combining the nondominated sorting genetic algorithm II (NSGA-II) and a variable neighborhood search operator. This algorithm starts by generating an optimized initial path based on initial reservation demands and then employs a dynamic adjustment mechanism to respond to real-time requests. The effectiveness and superiority of our algorithm are validated through an illustrative example. Finally, numerical experiments using taxi trajectory data demonstrate that considering both randomness and real-time aspects can significantly reduce the total cost and penalties for early and late arrivals and improve the bus service level.

定制客车在运营过程中面临着许多随机因素,这些因素会影响服务水平和对乘客的吸引力。因此,本文研究了考虑随机车辆行驶时间和实时响应动态请求能力的定制公交路线优化问题。我们开发了一个随机规划模型,使总成本和乘客旅行时间最小化。创新之处在于该模型能够在服务期间响应乘客提出的要求,并利用已知分布对车辆行驶时间的随机性进行建模。在此基础上,提出了一种结合非支配排序遗传算法II (NSGA-II)和可变邻域搜索算子的启发式算法。该算法首先根据初始预留需求生成优化的初始路径,然后采用动态调整机制响应实时请求。通过实例验证了该算法的有效性和优越性。最后,利用出租车轨迹数据进行了数值实验,结果表明,同时考虑随机性和实时性可以显著降低早到和晚到的总成本和处罚,提高公交服务水平。
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引用次数: 0
Simulation Research on Highway Driving Stability Early Warning System Under Crosswind Conditions 侧风条件下公路行驶稳定性预警系统仿真研究
IF 2 4区 工程技术 Q2 ENGINEERING, CIVIL Pub Date : 2025-06-19 DOI: 10.1155/atr/8598011
Baohua Guo, Weifan Gu, Ziyan Zhao, Xiaoyu Zhang, Anthony Sigama

Aiming to address the issue of highway traffic safety under crosswind conditions, this study utilizes the CarSim/TruckSim simulation platform to systematically analyze the effects of crosswind speed and direction on the driving stability of cars and trucks. A safety speed model is developed for different road adhesion coefficients, and a highway crosswind warning system is designed. Through 625 simulation experiments, the study reveals that lateral offset, lateral acceleration, and lateral load transfer rate are significantly influenced by vehicle speed, wind speed, wind direction, and road adhesion coefficient, with the road adhesion coefficient identified as the key factor. Separate safety speed models for cars and trucks under various road and crosswind conditions are established. The findings are as follows: for cars, crosswind speed and direction impact safe driving speed only when the road adhesion coefficient is 0.1. Overall, for constant wind direction, safe driving speed decreases as wind speed increases; at a constant wind speed, safe driving speed gradually decreases as wind direction shifts from 45° to 135°. For trucks, when the road adhesion coefficient ranges from 0.1 to 0.9, the relationship between safe driving speed, wind speed, and wind direction mirrors that of small cars. However, the critical safety speed for trucks is 40% lower than that for cars under identical crosswind conditions when the road adhesion coefficient is 0.1. Based on the Visual FoxPro platform, which enables real-time early warning decision-making through the integration of the safety speed model, the highway driving stability early warning system (comprising information collection, processing, and release modules) is applied to the Zhengzhou Taohuayu Yellow River Highway Bridge case. The system is verified to significantly enhance highway driving safety and provides technical support for dynamic safety management and control of highways under crosswind conditions.

针对侧风条件下的公路交通安全问题,本研究利用CarSim/TruckSim仿真平台,系统分析了侧风速度和风向对汽车和卡车行驶稳定性的影响。建立了不同路面附着系数下的安全速度模型,设计了公路侧风预警系统。通过625次仿真实验,研究发现车速、风速、风向和路面附着系数对横向偏移量、横向加速度和横向载荷传递率有显著影响,其中路面附着系数是影响横向偏移量、横向加速度和横向载荷传递率的关键因素。建立了不同道路和侧风条件下轿车和货车的独立安全速度模型。研究结果表明:对于汽车而言,侧风速度和方向只有在道路附着系数为0.1时才会影响安全行驶速度。总体而言,在一定风向下,安全行车速度随风速的增大而减小;在一定风速下,随着风向从45°转向135°,安全行车速度逐渐减小。对于卡车,当道路附着系数在0.1 ~ 0.9范围内时,安全行驶速度与风速、风向的关系与小型汽车相似。然而,在相同侧风条件下,当道路附着系数为0.1时,卡车的临界安全速度比汽车低40%。基于Visual FoxPro平台,通过集成安全速度模型实现实时预警决策,将公路行驶稳定性预警系统(包括信息采集、处理和发布模块)应用于郑州桃花峪黄河公路桥案例。经验证,该系统显著提高了公路行车安全性,为侧风条件下公路动态安全管控提供了技术支持。
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引用次数: 0
A Hybrid Spatial–Temporal Deep Learning Method for Metro Tunnel Displacement Prediction Under “Dual Carbon” Background “双碳”背景下地铁隧道位移预测的混合时空深度学习方法
IF 2 4区 工程技术 Q2 ENGINEERING, CIVIL Pub Date : 2025-06-18 DOI: 10.1155/atr/7189559
Jianyong Chai, Limin Jia, Jianfeng Liu, Enguang Hou, Zhe Chen

The burgeoning urbanization and construction activities pose significant challenges to the structural integrity and safety of the existing metro tunnels. This study introduces a hybrid spatial–temporal deep learning model, integrating graph convolutional network (GCN) and long short-term memory (LSTM) networks, to predict metro tunnel displacements under the imperatives of “dual carbon” goals. The model leverages the strengths of GCNs in capturing spatial correlations and LSTM networks in processing temporal dynamics, offering a robust framework for accurate displacement prediction. The methodology encompasses data preprocessing, including outlier removal and missing value imputation, followed by feature extraction and normalization. The proposed GCN-LSTM model is trained on historical displacement data, employing a robotic total station (RTS) for high-precision monitoring. The model’s performance is evaluated using metrics such as root mean square error (RMSE), mean absolute error (MAE), and weighted mean absolute percentage error (WMAPE) and is compared against other models including LSTM, recurrent neural network (RNN), gated recurrent unit (GRU), residual LSTM (ResLSTM), and a variant of GCN-LSTM. The results indicate that the GCN-LSTM model outperforms comparative models across various sliding window sizes, demonstrating lower error metrics and higher stability. The model’s efficacy is further corroborated through a case study on the Jinan Metro Line 2, where it provides reliable predictions crucial for proactive maintenance and sustainable urban development. The study contributes to the field of metro tunnel displacement prediction and supports the advancement of intelligent monitoring systems for urban infrastructure.

快速发展的城市化和建设活动对现有地铁隧道的结构完整性和安全性提出了重大挑战。本研究引入了一种混合时空深度学习模型,整合了图卷积网络(GCN)和长短期记忆(LSTM)网络,以预测“双碳”目标下的地铁隧道位移。该模型利用了GCNs在捕获空间相关性和LSTM网络在处理时间动态方面的优势,为准确的位移预测提供了一个强大的框架。该方法包括数据预处理,包括异常值去除和缺失值输入,然后是特征提取和归一化。提出的GCN-LSTM模型基于历史位移数据进行训练,采用机器人全站仪(RTS)进行高精度监测。该模型的性能使用均方根误差(RMSE)、平均绝对误差(MAE)和加权平均绝对百分比误差(WMAPE)等指标进行评估,并与LSTM、循环神经网络(RNN)、门通循环单元(GRU)、残差LSTM (ResLSTM)和GCN-LSTM的变体等其他模型进行比较。结果表明,GCN-LSTM模型在各种滑动窗口大小上都优于比较模型,具有更低的误差指标和更高的稳定性。该模型的有效性通过济南地铁2号线的案例研究得到进一步证实,该模型为积极维护和可持续城市发展提供了可靠的预测。该研究为地铁隧道位移预测领域的发展做出了贡献,为城市基础设施智能监控系统的发展提供了支持。
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引用次数: 0
Efficient Algorithm for the Nonadditive Traffic Assignment Problem With Link Capacity Constraints 带链路容量约束的非加性交通分配问题的高效算法
IF 2 4区 工程技术 Q2 ENGINEERING, CIVIL Pub Date : 2025-06-16 DOI: 10.1155/atr/9941645
Wangxin Hu, Zhongxiang Huang, Shihao Cao

This paper presents an insightful examination of the modeling and efficient solution algorithm for the link capacitated nonadditive traffic assignment problem (CNaTAP) to provide highly accurate flow solutions for large-scale networks. Despite the increasing significance of the CNaTAP, the ability to efficiently solve it for satisfactory accuracy in practical applications remains inadequate. Given that existing CNaTAP models and algorithms are typically limited to small experimental networks, the CNaTAP model is formulated as a variational inequality (VI) problem in this paper. This formulation is decomposed into two VI subproblems that involve equilibrium and capacity constraints, utilizing the Karush–Kuhn–Tucker (KKT) conditions. The Lagrangian multipliers for the capacity constraints are treated as fixed costs for the links in the equilibrium subproblem, ensuring the stability of the Cartesian product structure within the feasible set. This approach facilitates the decomposition of OD pairs, enabling the efficient solution of CNaTAP in large-scale networks. In addition, an algorithmic framework is developed that incorporates high-frequency updates of these Lagrangian multipliers, along with an adaptive Barzilai–Borwein (ABB) step-size calculation method applied to expedite convergence in the equilibrium subproblem. Extensive numerical experiments confirm the efficacy of the proposed algorithm in efficiently solving large-scale networks with high convergence accuracy.

本文对链路容量非加性流量分配问题(CNaTAP)的建模和有效求解算法进行了深入的研究,以期为大规模网络提供高精度的流量解。尽管CNaTAP的重要性日益增加,但在实际应用中有效求解其精度令人满意的能力仍然不足。鉴于现有CNaTAP模型和算法通常局限于小型实验网络,本文将CNaTAP模型表述为一个变分不等式(VI)问题。利用Karush-Kuhn-Tucker (KKT)条件,将该公式分解为涉及均衡和容量约束的两个VI子问题。将容量约束的拉格朗日乘子作为平衡子问题中各环节的固定代价,保证了可行集中笛卡尔积结构的稳定性。该方法简化了OD对的分解,使大规模网络中CNaTAP的高效解决成为可能。此外,还开发了一种算法框架,该框架结合了这些拉格朗日乘子的高频更新,以及用于加速平衡子问题收敛的自适应Barzilai-Borwein (ABB)步长计算方法。大量的数值实验证实了该算法在求解大规模网络方面的有效性,具有较高的收敛精度。
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引用次数: 0
A Distributed Magnetic Sensor Network: Vehicle Trajectory Tracking Based on Cellular Automaton 分布式磁传感器网络:基于元胞自动机的车辆轨迹跟踪
IF 2 4区 工程技术 Q2 ENGINEERING, CIVIL Pub Date : 2025-06-16 DOI: 10.1155/atr/5528500
Xinpeng Yao, Yanli Sun, Mengfei Liu, Hua Wang, Zijian Wang, Wei Quan, Wen Rong

Magnetic sensor-based vehicle detection is a crucial approach for traffic information collection. However, existing methods that rely on individual magnetic sensors—typically installed at the lane center or roadside—struggle in multilane scenarios due to weak data correlation across sensors and limited accuracy from the isolated sensor. To address these challenges, this paper proposes a novel method that integrates a distributed wireless magnetic sensor network with a temporal-spatial correlation algorithm to associate vehicle signals from multiple sensors. Compared with traditional single-sensor methods, the proposed approach significantly enhances detection reliability by enabling cross-lane vehicle signal fusion. A vehicle position localization technique is introduced to identify detection events, achieving a detection rate of approximately 90%. Experimental results show that while common errors include lane positioning, duplication, omission, and interference, these tend to counteract each other, resulting in a traffic volume detection accuracy of 99.6%. Furthermore, a cellular automaton-based trajectory tracking model is proposed to connect vehicle positions into continuous trajectories, yielding an 89.0% trajectory accuracy and further reducing detection errors. The construction of vehicle trajectories also lays a foundation for future applications such as vehicle speed estimation and vehicle type classification.

基于磁传感器的车辆检测是交通信息采集的重要手段。然而,现有的方法依赖于单独的磁传感器——通常安装在车道中心或路边——在多车道情况下,由于传感器之间的数据相关性较弱,并且单个传感器的精度有限。为了解决这些挑战,本文提出了一种将分布式无线磁传感器网络与时空相关算法相结合的新方法,以关联来自多个传感器的车辆信号。与传统的单传感器检测方法相比,该方法实现了跨车道车辆信号融合,显著提高了检测可靠性。引入车辆位置定位技术来识别检测事件,检测率约为90%。实验结果表明,虽然常见的错误包括车道定位、重复、遗漏和干扰,但这些错误往往相互抵消,导致交通量检测准确率达到99.6%。此外,提出了一种基于元胞自动机的轨迹跟踪模型,将车辆位置连接到连续轨迹中,轨迹精度达到89.0%,进一步降低了检测误差。车辆轨迹的构建也为未来的车辆速度估计和车辆类型分类等应用奠定了基础。
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引用次数: 0
Coordinated Scheduling of Automated Loading Platforms in Commercial Logistics 商业物流中自动装卸平台的协调调度
IF 2 4区 工程技术 Q2 ENGINEERING, CIVIL Pub Date : 2025-06-13 DOI: 10.1155/atr/1463346
Xiaoqian Nie, Lu Qin, Zixuan Peng, Chuanhan Zhou

Automated warehousing and distribution has been an innovation approach to reduce costs and increase efficiency in logistics industry. Taking the intelligent demonstration warehouse in a commercial logistics park in Shandong, China as the background, this paper constructs a platform resource scheduling model under the Automatic Guided Vehicle (AGV) sharing mode to solve the problems of platform allocation and equipment scheduling, and solves it using the simulated annealing algorithm. This paper designs First-Come, First-Served (FCFS) rule, platform resource scheduling rules when AGVs are used separately, and platform resource scheduling rules when AGVs are shared, outputting platform operation scheduling schemes. Meanwhile, different numbers of AGVs are scheduled under the AGV sharing mode to validate the model and algorithm. The results show that the platform resource scheduling model proposed in this paper improves the platform utilization rate by 4.4% compared to the traditional FCFS rule, and the latest departure event is advanced by 95 min. The AGV sharing mode can complete vehicle loading tasks in a shorter time and with faster operational efficiency.

自动化仓储配送已成为物流业降低成本、提高效率的创新途径。本文以山东某商业物流园区智能示范仓库为背景,构建了自动导引车(AGV)共享模式下的平台资源调度模型,解决平台分配和设备调度问题,并采用模拟退火算法进行求解。设计了先到先得(First-Come, first - serve, FCFS)规则、agv单独使用时的平台资源调度规则和agv共享时的平台资源调度规则,输出平台运行调度方案。同时,在AGV共享模式下调度不同数量的AGV,对模型和算法进行验证。结果表明,与传统的FCFS规则相比,本文提出的平台资源调度模型使平台利用率提高了4.4%,最晚发车事件提前了95 min。AGV共享模式可以在更短的时间内以更快的运行效率完成车辆装载任务。
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引用次数: 0
Comparison of Different Controller Architectures for Autonomous Driving and Recommendations for Robust and Safe Implementations 自动驾驶不同控制器架构的比较以及鲁棒和安全实现的建议
IF 2 4区 工程技术 Q2 ENGINEERING, CIVIL Pub Date : 2025-06-12 DOI: 10.1155/atr/9995539
M. A. Shadab Siddiqui, M. S. Rabbi, Md Jobayer Islam, Radif Uddin Ahmed

This comprehensive review examines various controller architectures for autonomous driving systems, from rule-based approaches to advanced deep learning methods. Research trends reveal a significant shift toward deep learning approaches (65.6%) compared to rule-based methods (34.4%), reflecting the growing dominance of data-driven techniques in autonomous vehicle research. Performance analysis of transformer-based models demonstrates exceptional accuracy, with ViT-SAC achieving 100% success rate in low-density traffic scenarios and DRLNDT reaching 99.9% success rate in navigation tasks. Temporal reasoning capabilities assessment shows BEVWorld excelling in context maintenance and historical data integration (both 95/100), while Holistic Transformer demonstrates superior noise robustness (95/100). Computational efficiency varies significantly, with VCNN (38.50 FPS) and DSCNN Transformer (34.07 FPS) exceeding real-time thresholds, while complex BEV architectures like BEVSegformer (3.97 FPS) require further optimization. Simulation platform comparison identifies CARLA as the most comprehensive environment, supporting five of seven key testing features, though no single platform provides complete coverage of all requirements. Technical challenges assessment quantifies real-time processing requirements as the most critical challenge (90/100), followed by generalization limitations (85/100). These suggest that while rule-based approaches offer computational efficiency and interpretability, deep learning methods demonstrate superior perception and decision-making capabilities. A balanced combination of learning-based, rule-based, and simulation-based validation approaches, with particular emphasis on addressing real-time performance and generalization capabilities, will likely be necessary to achieve reliable autonomous driving systems capable of navigating complex and dynamic environments.

这篇全面的综述研究了自动驾驶系统的各种控制器架构,从基于规则的方法到先进的深度学习方法。与基于规则的方法(34.4%)相比,研究趋势显示深度学习方法(65.6%)的显著转变,反映了数据驱动技术在自动驾驶汽车研究中的日益主导地位。基于变压器的模型的性能分析显示出卓越的准确性,在低密度交通场景中,ViT-SAC的成功率达到100%,而DRLNDT在导航任务中的成功率达到99.9%。时间推理能力评估显示,BEVWorld在上下文维护和历史数据集成方面表现出色(均为95/100),而Holistic Transformer在噪声稳健性方面表现出色(95/100)。计算效率差异很大,VCNN (38.50 FPS)和DSCNN Transformer (34.07 FPS)超过了实时阈值,而BEVSegformer (3.97 FPS)等复杂的BEV架构需要进一步优化。仿真平台比较表明CARLA是最全面的环境,支持7个关键测试特性中的5个,尽管没有一个平台能够完全覆盖所有需求。技术挑战评估将实时处理需求量化为最关键的挑战(90/100),其次是泛化限制(85/100)。这表明,虽然基于规则的方法提供了计算效率和可解释性,但深度学习方法展示了卓越的感知和决策能力。基于学习、基于规则和基于仿真的验证方法的平衡组合,特别强调解决实时性能和泛化能力,可能是实现能够在复杂和动态环境中导航的可靠自动驾驶系统所必需的。
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引用次数: 0
期刊
Journal of Advanced Transportation
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