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Optimal Design of a Hazardous Materials Transportation Network considering Uncertainty in Accident Consequences 考虑事故后果不确定性的危险品运输网络优化设计
IF 2 4区 工程技术 Q2 ENGINEERING, CIVIL Pub Date : 2024-10-04 DOI: 10.1155/2024/1850690
Hongfei Jia, Junzhe Li

Hazardous materials pose significant dangers during transportation due to their flammable and explosive properties. The consequences of accidents involving such materials are often severe and irreparable. A well-designed hazardous materials transportation network can mitigate these risks. However, designing such a network presents two major challenges: quantifying the risk associated with hazardous materials transportation and addressing the hierarchical relationship between government and companies. To address these challenges, we enhance the accuracy of accident probability estimates and the comprehensiveness of accident consequence assessments, incorporating the uncertainty of accident outcomes. We propose a comprehensive risk assessment model and develop a bilevel programming model to reflect the hierarchical relationship. In this model, the government at the upper level aims to minimize the total risk, while companies at the lower level seek to minimize their total costs. The model is transformed using chance-constrained programming and solved using heuristic algorithms. We apply the model to the highway network in Anhui province, China, to verify its validity. The results demonstrate that the model effectively manages the hierarchical relationship between government and companies, reduces the risk of hazardous materials transportation, and enhances the stability and safety of the transportation network.

危险品因其易燃易爆的特性,在运输过程中会带来极大的危险。涉及此类材料的事故后果往往十分严重,无法弥补。设计合理的危险品运输网络可以降低这些风险。然而,设计这样的网络面临两大挑战:量化与危险品运输相关的风险以及处理政府和公司之间的等级关系。为了应对这些挑战,我们提高了事故概率估计的准确性和事故后果评估的全面性,并将事故结果的不确定性纳入其中。我们提出了一个综合风险评估模型,并开发了一个双级编程模型来反映等级关系。在该模型中,处于上层的政府旨在最大限度地降低总风险,而处于下层的企业则旨在最大限度地降低总成本。该模型通过机会约束编程进行转换,并采用启发式算法求解。我们将该模型应用于中国安徽省的高速公路网络,以验证其有效性。结果表明,该模型有效管理了政府与企业之间的层级关系,降低了危险品运输风险,提高了运输网络的稳定性和安全性。
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引用次数: 0
Bilevel Optimization of Regular Bus-Subway-Shared Bicycle Cooperative Operation considering Dual Uncertainties 考虑双重不确定性的常规公交-地铁-共享单车合作运营的双层优化
IF 2 4区 工程技术 Q2 ENGINEERING, CIVIL Pub Date : 2024-09-28 DOI: 10.1155/2024/5416014
Yunqiang Xue, Tong He, Tao Li, Hongzhi Guan, Yang Qiu

The primary objective of this paper is to minimize the overall travel costs for passengers while simultaneously maximizing the operational revenue for the transportation company. This is achieved through the optimization and adjustment of various factors, such as the intervals between regular bus and subway services, the duration of vehicle stops at each station, and the pricing structure for subway and shared bicycle usage. By enhancing the efficiency of passenger travel, we have successfully bolstered the company’s operational profits. In contrast to prior research, this paper comprehensively considers the dual uncertainties associated with both bus operations and shared bicycle operations within a cooperative system. By establishing a coordinated dual-level optimization model for regular bus, subway, and bike-sharing networks under dual uncertainty conditions, we employed convex combination techniques to unify the dual uncertain variables into a single objective, which was then incorporated into a chance-constrained bilevel programming model. Ultimately, we utilized KKT conditions to transform the model from a bilevel to a single level for resolution. This paper centers its research on the collaborative system comprising the Nanchang Metro Line 1, Bus Route 520, Bus Route 211, and the adjacent region hosting a cluster of shared bicycles. By leveraging Python programming, optimization models, empirical data on traffic flow and stoppage times, and OD data, we conducted an optimization analysis to solve the problem at hand. According to the optimization results, passenger waiting time, passenger transfer time, and passenger on board time are effectively reduced by 6.81%, 18.29%, and 23.92%. At a confidence level of 95%, the resulting time level results in a 12.44% reduction in total travel time. The average subway fare increased by 18.12%, the average shared bicycle fare decreased by 19.12%, and the total cost of travel expenses increased by 16.68%. The final total cost of travel was reduced by 4.06%, and the business operating income was increased by 13.10%. The comprehensive optimization results have effectively fulfilled the objectives of the bilevel optimization model, thereby confirming the rationality and practicality of the optimization approach. The research outcomes hold significant practical implications for facilitating the efficient and cooperative development of urban transportation networks, ultimately enhancing the convenience of residents’ travel experiences.

本文的主要目标是最大限度地降低乘客的总体出行成本,同时最大限度地增加运输公司的运营收入。通过优化和调整常规公交和地铁服务的间隔时间、车辆在每个站点的停靠时间以及地铁和共享单车使用的定价结构等各种因素,实现了这一目标。通过提高乘客的出行效率,我们成功地提高了公司的运营利润。与之前的研究相比,本文全面考虑了合作系统中与公交车运营和共享单车运营相关的双重不确定性。通过建立双不确定性条件下常规公交、地铁和共享单车网络的协调双层优化模型,我们采用凸组合技术将双不确定性变量统一为单一目标,然后将其纳入机会约束双层编程模型。最后,我们利用 KKT 条件将该模型从双层模型转化为单层模型,以求解决。本文研究的中心是由南昌地铁 1 号线、公交 520 路、公交 211 路以及邻近区域的共享单车群组成的协作系统。通过利用 Python 编程、优化模型、交通流量和停运时间的经验数据以及 OD 数据,我们进行了优化分析,以解决当前的问题。优化结果显示,乘客等候时间、乘客换乘时间和乘客上车时间分别有效缩短了 6.81%、18.29% 和 23.92%。在置信度为 95% 的情况下,优化后的时间水平使总旅行时间减少了 12.44%。地铁的平均票价增加了 18.12%,共享单车的平均票价减少了 19.12%,出行总费用增加了 16.68%。最终出行总成本降低了 4.06%,商业运营收入增加了 13.10%。综合优化结果有效地实现了双层优化模型的目标,从而证实了优化方法的合理性和实用性。研究成果对于促进城市交通网络的高效协同发展,最终提升居民出行体验的便利性具有重要的现实意义。
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引用次数: 0
Optimizing Urban Traffic Management: Investigating the Impact of Probe Vehicle Road Coverage, Penetration Rates, and Speed Data Quality in Macroscopic Fundamental Diagram Estimation 优化城市交通管理:探究宏观基本图估算中探测车道路覆盖率、渗透率和速度数据质量的影响
IF 2 4区 工程技术 Q2 ENGINEERING, CIVIL Pub Date : 2024-09-28 DOI: 10.1155/2024/2189950
Syed Muzammil Abbas Rizvi, Bernhard Friedrich

Probe vehicles and loop detectors collect traffic data for empirical MFD estimation. The accuracy of MFD estimation is contingent upon the percentage of road network links covered (road coverage) and the extent of information (penetration rate) from each link. While the previous research has explored the effects of loop detector road coverage and probe vehicle penetration rates, the impact of probe vehicle road coverage remains unaddressed. Furthermore, the unequal distribution and low penetration rates of probe vehicles undermine the reliability of the data obtained from them. Therefore, this study aimed to (i) examine the impact of probe vehicle road coverage on MFD estimation, (ii) enhance the reliability of the spatial data by using speed data reconstruction, (iii) highlight the increased role of spatial data in the accuracy of MFD estimation, and (iv) develop a performance factor of speed data quality to demonstrate that the quality of spatial data is more susceptible to the penetration rate than road coverage. The results underlined the role of FCD road coverage in MFD estimation, and the proposed methodology significantly improves spatial data quality. The study concluded that spatial and temporal data affect the MFD estimation differently, and the proposed performance factor increases the role of spatial data in MFD estimation.

探测车和环路探测器收集交通数据,用于根据经验估算多式联运数据。多式联运估算的准确性取决于所覆盖的路网链路的百分比(道路覆盖率)和每个链路的信息量(渗透率)。以往的研究探讨了环路探测器道路覆盖率和探测车渗透率的影响,但探测车道路覆盖率的影响仍未得到解决。此外,探测车分布不均和渗透率低也会影响从探测车获取数据的可靠性。因此,本研究旨在:(i) 检验探测车辆道路覆盖率对多频段数据估算的影响;(ii) 利用速度数据重构提高空间数据的可靠性;(iii) 强调空间数据在多频段数据估算准确性中的重要作用;(iv) 开发速度数据质量性能系数,以证明空间数据质量更容易受到渗透率而非道路覆盖率的影响。研究结果强调了 FCD 道路覆盖率在多频段数据估算中的作用,所提出的方法显著提高了空间数据质量。研究得出结论,空间数据和时间数据对中频段估算的影响不同,而所提出的性能因子提高了空间数据在中频段估算中的作用。
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引用次数: 0
Ethanol Fuel Blending Program in India: Analysis of Environmental, Economic, and Policy Aspects Using System Dynamics Approach 印度乙醇燃料混合计划:利用系统动力学方法分析环境、经济和政策问题
IF 2 4区 工程技术 Q2 ENGINEERING, CIVIL Pub Date : 2024-09-25 DOI: 10.1155/2024/2002187
Gaurav Kumar, Ramakrushna Padhy, Debabrata Das, Sushmita A. Narayana

India initiated its ethanol fuel blending program (EBP) two decades ago to enhance energy security, reduce crude imports, and promote low-carbon transportation. However, despite government initiatives and policies, the EBP has made slower progress than anticipated. For the long-term adoption and success of the EBP, the following critical areas must be analyzed: integrated ethanol production from multiple feedstocks, demand and linkage to industries requiring ethanol, impact on the environment and revenue prospects, and evaluation of the policy measures adopted. This study addresses these topics by analyzing the interaction between various industries (demand) and ethanol production from multiple sources (supply) using system dynamics modeling. Simulation and scenario analysis have been used to evaluate the environmental and economic performance of ethanol blends under the influence of various policy parameters. The findings indicate that, contrary to the conventional belief, the production of ethanol directly from sugarcane juice does not significantly threaten food security. Higher blending ratios yield enhanced environmental benefits and revenues in the short term, but these are outweighed by the long-term benefits of lower blending ratios. The findings also indicate that encouraging second-generation ethanol production from rice stalks and increasing the blending ratios will reduce CO2 emissions. However, the goals set for blending cannot be achieved until measures to diversify feedstocks and improve the infrastructure for ethanol production are scaled up.

二十年前,印度启动了乙醇燃料混合计划(EBP),以加强能源安全,减少原油进口,促进低碳运输。然而,尽管政府出台了相关举措和政策,乙醇燃料混合计划的进展速度却低于预期。要想长期采用 EBP 并取得成功,必须对以下关键领域进行分析:利用多种原料进行综合乙醇生产、需求和与需要乙醇的行业的联系、对环境和收入前景的影响以及对所采取的政策措施的评估。本研究采用系统动力学建模方法,分析了各行业(需求)与多种来源的乙醇生产(供应)之间的相互作用,从而解决了这些问题。模拟和情景分析被用来评估乙醇混合物在各种政策参数影响下的环境和经济表现。研究结果表明,与传统观点相反,直接利用甘蔗汁生产乙醇不会对粮食安全造成重大威胁。较高的混合比例在短期内会带来更多的环境效益和收入,但较低的混合比例所带来的长期效益要大于这些效益。研究结果还表明,鼓励利用稻秆生产第二代乙醇和提高混合比例将减少二氧化碳排放。然而,在扩大乙醇生产原料多样化和改善基础设施的措施之前,无法实现设定的混合目标。
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引用次数: 0
Evaluation of Spatiotemporal Transit Accessibility: Weighted Indexing Using the CRITIC-MCDM Approach and Performance Gap Analysis 时空交通可达性评估:使用 CRITIC-MCDM 方法和性能差距分析进行加权指数计算
IF 2 4区 工程技术 Q2 ENGINEERING, CIVIL Pub Date : 2024-09-25 DOI: 10.1155/2024/6343594
Rohit Rathod, Gaurang Joshi, Arkatkar Shriniwas

Transit performance is greatly influenced by its accessibility, which considers the spatial distribution of transit facilities with different periods of operation. The present study analyzes the spatiotemporal variation in transit accessibility and proposes a modification to enhance the evaluation process. The proposed modification involves assigning weighted indexing to the public transport coverage index (PTCI) using the CRITIC (criteria importance through intercriteria correlation) MCDM technique. The indicators exhibit temporal and spatial variations based on network and operational characteristics, with temporal variations relying on the number of scheduled transits and spatial variations influenced by the network and other operational attributes. The case study conducted in Surat, India, reveals that areas such as the city center and inner fringe have a higher concentration of scheduled transits and bus stops. However, demand fulfillment, measured by the offered seat capacity per population, is relatively low in most zones. To prioritize areas for resource allocation and policy implementation, the use of “RAdial REferenced Scatter QUAdRant (RARE SQUARE) Performance” charts are developed, which provide a straightforward tool to validate findings. The study highlights a low relative transit demand in the city, resulting in a mode share of approximately 2.5%.

公交性能在很大程度上受其可达性的影响,而可达性考虑的是不同运营时段公交设施的空间分布。本研究分析了公交可达性的时空变化,并提出了改进评估过程的修改建议。建议的修改包括使用 CRITIC(通过标准间相关性确定标准重要性)MCDM 技术为公共交通覆盖指数(PTCI)分配加权指数。这些指标根据网络和运营特征呈现出时间和空间变化,时间变化依赖于计划过境次数,空间变化则受网络和其他运营属性的影响。在印度苏拉特进行的案例研究显示,市中心和内城边缘等地区有较多的定期班车和公交站点。然而,在大多数区域,以每人口提供的座位数衡量的需求满足率相对较低。为了优先考虑资源分配和政策实施的区域,我们开发了 "RAdial REferenced Scatter QUAdRant (RARE SQUARE) Performance "图表,它为验证研究结果提供了一个直接的工具。研究结果表明,该市的相对公交需求较低,因此公交模式所占比例约为 2.5%。
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引用次数: 0
3D Monitoring Model for Real-Time Displacement of Metro Tunnel under “Dual Carbon” Background 双碳 "背景下地铁隧道实时位移三维监测模型
IF 2 4区 工程技术 Q2 ENGINEERING, CIVIL Pub Date : 2024-09-17 DOI: 10.1155/2024/1224240
Jianyong Chai, Limin Jia, Jian Cao, Jianfeng Liu, Zhe Chen, Shubin Li, Xuejuan Wang, Hong Han

Real-time automatic displacement monitoring of metro tunnels is vital for ensuring operational safety and contributes to carbon reduction goals by improving system efficiency. This study focuses on key monitoring elements such as displacement, settlement, convergence, and cracking. Through the analysis of continuous monitoring data, a real-time displacement monitoring model for metro tunnels based on robotic total stations is proposed. This model can timely identify potential risks, thereby ensuring the safe operation of tunnels and reducing carbon emissions from unnecessary maintenance operations, thereby reducing the carbon footprint of metro operations. This article takes the Jinan Metro Tunnel Displacement Real-time Monitoring Project in China as a case study and constructs a comprehensive monitoring framework using robotic total stations, intelligent automated deformation monitoring data collectors, and cloud servers. The implementation details of the project, displacement monitoring principles, monitoring system construction, and data analysis processes are elaborated in detail. Taking the monitoring data of Jinan Metro Line 2 from April 1, 2022, to May 31, 2023, as an example, the results show that the tunnel displacement is within the safe range, verifying the practical application value of the method proposed in this paper. It can effectively ensure the safe operation of the metro and promote sustainable development and low-carbon metro construction.

地铁隧道的实时自动位移监测对确保运营安全至关重要,并可通过提高系统效率来实现碳减排目标。本研究重点关注位移、沉降、收敛和开裂等关键监测要素。通过对连续监测数据的分析,提出了一种基于机器人全站仪的地铁隧道实时位移监测模型。该模型可及时发现潜在风险,从而确保隧道的安全运营,并减少不必要的维护作业所产生的碳排放,从而降低地铁运营的碳足迹。本文以中国济南地铁隧道位移实时监测项目为例,利用机器人全站仪、智能自动化变形监测数据采集器和云服务器构建了一个综合监测框架。详细阐述了项目的实施细节、位移监测原理、监测系统构建和数据分析流程。以济南地铁2号线2022年4月1日至2023年5月31日的监测数据为例,结果显示隧道位移在安全范围内,验证了本文提出的方法的实际应用价值。它能有效保证地铁的安全运营,促进地铁建设的可持续发展和低碳环保。
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引用次数: 0
Measuring Travel Time Reliability for Urban Residents’ Commutes via the Integration of Information Entropy and Standard Deviation 通过整合信息熵和标准偏差测量城市居民通勤的旅行时间可靠性
IF 2 4区 工程技术 Q2 ENGINEERING, CIVIL Pub Date : 2024-09-16 DOI: 10.1155/2024/8249757
Junjun Zhan

Travel Time Reliability (TTR) plays a pivotal role in commuting. Nevertheless, existing measurement methods are not specifically designed for commuting scenarios, and their direct application to assess TTR for commuting may yield results incongruent with actual commuting conditions, as they overly rely on measures like mean and percentiles. Drawing on the cyclical characteristics of commuting, the study has established a TTR measurement model based on information entropy and standard deviation, tailored to individual commuters. By selecting commuting data from extensive travel datasets and applying both this model and conventional measurement methods, the focus is on quantitatively analyzing TTR for metro commuters and car commuters under various feature conditions, with a particular emphasis on commuting to work. The objective is to verify the feasibility and advantages of the proposed model. The research indicates that, compared to typical measurement methods, this model more accurately reflects TTR for commuting purposes. The results underscore a significantly superior TTR for metro commuters over car commuters. Distance and departure time exert a substantial impact on the TTR of car commuters, while distance and transfer times moderately influence the TTR of metro commuters. These findings serve as a crucial foundation for enhancing the quality of commuting experiences.

旅行时间可靠性(TTR)在通勤中起着举足轻重的作用。然而,现有的测量方法并不是专门针对通勤场景设计的,直接用于评估通勤的旅行时间可靠性可能会产生与实际通勤情况不符的结果,因为它们过分依赖于平均值和百分位数等测量方法。根据通勤的周期性特点,本研究建立了基于信息熵和标准差的通勤时间测量模型,为通勤者量身定制。通过从广泛的出行数据集中选取通勤数据,并同时应用该模型和传统测量方法,重点对不同特征条件下的地铁通勤者和汽车通勤者的 TTR 进行定量分析,尤其侧重于上下班通勤。目的是验证拟议模型的可行性和优势。研究表明,与典型的测量方法相比,该模型能更准确地反映通勤时的总运行时间。结果表明,地铁通勤者的 TTR 明显优于汽车通勤者。距离和出发时间对汽车通勤者的 TTR 有很大影响,而距离和换乘时间对地铁通勤者的 TTR 影响不大。这些发现为提高通勤体验质量奠定了重要基础。
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引用次数: 0
A Lane Change Strategy to Enhance Traffic Safety in the Coexistence of Autonomous Vehicles and Manual Vehicles 自动驾驶汽车与手动驾驶汽车共存时提高交通安全的变道策略
IF 2 4区 工程技术 Q2 ENGINEERING, CIVIL Pub Date : 2024-09-13 DOI: 10.1155/2024/6126204
Young Jo, Cheol Oh

Vehicle interactions with different driving behaviors in mixed traffic conditions, in which autonomous vehicles (AVs) and manual vehicles (MVs) coexist, would result in unstable traffic flow leading to a potential crash risk. A proactive traffic management strategy is required to enhance both safety and mobility by preventing hazardous events in connected environments. The purpose of this study is to develop a Proactive Lane-changE Assistant Strategy for Automated iNnovative Transportation (PLEASANT) to enhance traffic safety. PLEASANT is a strategy for providing lane change assistance information to vehicles approaching risky situations such as crashes, broken vehicles, and upcoming hazardous obstacles. In addition, this study proposed a comprehensive simulation framework that incorporates driving simulation and traffic simulation to evaluate the performance of PLEASANT when dealing with mixed traffic. To characterize vehicle interactions between AVs and MVs, this study analyzes driving behavior in mixed car-following situations based on multiagent driving simulation (MADS), which is able to synchronize the space and time domains on the road by connecting two driving simulators. The characteristics of vehicle interactions between AVs and MVs were incorporated into microscopic traffic simulations. The effectiveness of PLEASANT was evaluated based on the crash potential index from the perspective of safety. The results showed that PLEASANT was capable of enhancing traffic safety by approximately 21%. PLEASANT is expected to be useful as a novel management strategy for enhancing traffic safety in mixed-traffic environments.

在自动驾驶车辆(AV)和手动驾驶车辆(MV)共存的混合交通条件下,不同驾驶行为的车辆相互作用会导致交通流不稳定,从而引发潜在的碰撞风险。需要采取积极主动的交通管理策略,通过预防互联环境中的危险事件来提高安全性和机动性。本研究的目的是为自动创新交通(PLEASANT)开发一种主动变道辅助策略,以提高交通安全。PLEASANT 是一种为接近危险情况(如碰撞、破损车辆和即将出现的危险障碍)的车辆提供变道辅助信息的策略。此外,本研究还提出了一个综合仿真框架,将驾驶仿真和交通仿真结合起来,以评估 PLEASANT 在处理混合交通时的性能。为了描述 AV 与 MV 之间的车辆交互特征,本研究基于多代理驾驶模拟(MADS)分析了混合跟车情况下的驾驶行为。MADS 能够通过连接两个驾驶模拟器来同步道路上的空间域和时间域。在微观交通模拟中纳入了 AV 和 MV 之间的车辆互动特征。从安全角度出发,根据碰撞可能性指数对 PLEASANT 的有效性进行了评估。结果表明,PLEASANT 能够将交通安全提高约 21%。预计 PLEASANT 可作为一种新型管理策略,用于提高混合交通环境中的交通安全。
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引用次数: 0
Deep Learning Algorithms for Traffic Forecasting: A Comprehensive Review and Comparison with Classical Ones 用于交通预测的深度学习算法:全面回顾及与经典算法的比较
IF 2 4区 工程技术 Q2 ENGINEERING, CIVIL Pub Date : 2024-09-11 DOI: 10.1155/2024/9981657
Shahriar Afandizadeh, Saeid Abdolahi, Hamid Mirzahossein

Accurate and timely forecasting of critical components is pivotal in intelligent transportation systems and traffic management, crucially mitigating congestion and enhancing safety. This paper aims to comprehensively review deep learning algorithms and classical models employed in traffic forecasting. Spanning diverse traffic datasets, the study encompasses various scenarios, offering a nuanced understanding of traffic forecasting methods. Reviewing 111 seminal research works since the 1980s, encompassing both deep learning and classical models, the paper begins by detailing the data sources utilized in transportation systems. Subsequently, it delves into the theoretical underpinnings of prevalent deep learning algorithms and classical models prevalent in traffic forecasting. Furthermore, it investigates the application of these algorithms and models in forecasting key traffic characteristics, informed by their utility in transport and traffic analyses. Finally, the study elucidates the merits and drawbacks of proposed models through applied research in traffic forecasting. Findings indicate that while deep learning algorithms and classic models serve as valuable tools, their suitability varies across contexts, necessitating careful consideration in future studies. The study underscores research opportunities in road traffic forecasting, providing a comprehensive guide for future endeavors in this domain.

准确及时地预测关键部件在智能交通系统和交通管理中至关重要,对缓解拥堵和提高安全性至关重要。本文旨在全面回顾交通预测中采用的深度学习算法和经典模型。研究跨越不同的交通数据集,涵盖各种场景,为交通预测方法提供了细致入微的理解。本文回顾了自 20 世纪 80 年代以来的 111 项开创性研究成果,包括深度学习和经典模型,首先详细介绍了交通系统中使用的数据源。随后,论文深入探讨了交通预测中流行的深度学习算法和经典模型的理论基础。此外,它还研究了这些算法和模型在预测关键交通特征中的应用,并介绍了它们在运输和交通分析中的实用性。最后,研究通过对交通预测的应用研究,阐明了拟议模型的优缺点。研究结果表明,虽然深度学习算法和经典模型是有价值的工具,但它们在不同情况下的适用性各不相同,需要在未来的研究中仔细考虑。该研究强调了道路交通预测的研究机会,为该领域未来的工作提供了全面指导。
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引用次数: 0
2D-Action Asynchronous Cooperative Lane Change Trajectory Planning Method for Connected and Automated Vehicles 用于互联和自动驾驶车辆的二维行动异步合作变道轨迹规划方法
IF 2 4区 工程技术 Q2 ENGINEERING, CIVIL Pub Date : 2024-09-09 DOI: 10.1155/2024/5540444
Liyang Wei, Weihua Zhang, Haijian Bai, Jingyu Li

The ability to change lanes safely, efficiently, and comfortably is an important prerequisite for the application of Connected-Automated Vehicles (CAVs). Based on the five-order polynomial trajectory planning for CAVs, the 2D-Action Asynchronous Lane Change (AALC) trajectory planning model is constructed by further considering the longitudinal and lateral driving action execution time parameters. This is done to improve the applicability of the lane change model and increase the CAV lane change success rate. The continuous collision space algorithm is constructed by determining the continuity condition of collision trajectory parameter solution space through the monotonicity of trajectory curve parameters and collision form classification. AALC trajectory safety judgment is realized through this algorithm. A cooperative lane change trajectory evaluation objective function is constructed, considering multivehicle comfort and efficiency. Finally, the AALC model is solved in the continuous collision space according to the optimal objective function, and the lane change is divided into free, cooperative, and refused according to the optimization. The results indicate that the AALC model achieves the transfer of collision space between lanes through asynchronous process of behavior execution time window, thereby reducing the possibility of vehicle collision. The AALC model reduces the degree of change of cooperative lane change parameters by asynchronous process of behavior, increasing the number of free lane change trajectories by about 17%, effectively reducing the occurrence of lane change refusal, improving the successful rate of lane change, and enhancing the overall evaluation of the lane change. The AALC model realizes the reallocation of collision space between different lanes through asynchronous process, making it more suitable for environments with large differences in vehicle gaps such as ramp merging. The collision-based trajectory optimization algorithm can quickly obtain the corresponding safety space and optimal trajectory. The maximum calculation time for a single cooperative lane change is 0.073 s, thus enabling real-time trajectory planning.

安全、高效、舒适地变换车道是车联网(CAV)应用的重要前提。在针对 CAV 的五阶多项式轨迹规划基础上,进一步考虑纵向和横向驾驶动作执行时间参数,构建了二维动作异步变道(AALC)轨迹规划模型。这样做是为了改善变道模型的适用性,提高 CAV 变道的成功率。通过轨迹曲线参数的单调性和碰撞形式分类确定碰撞轨迹参数解空间的连续性条件,构建连续碰撞空间算法。通过该算法实现了 AALC 轨迹安全判断。在考虑多车舒适性和效率的基础上,构建了合作变道轨迹评价目标函数。最后,根据最优目标函数在连续碰撞空间中求解 AALC 模型,并根据优化结果将变道分为自由变道、合作变道和拒绝变道。结果表明,AALC 模型通过行为执行时间窗的异步过程实现了车道间碰撞空间的转移,从而降低了车辆碰撞的可能性。AALC 模型通过异步行为过程降低了协同变道参数的变化程度,使自由变道轨迹数量增加了约 17%,有效减少了拒绝变道的发生,提高了变道成功率,提升了变道的整体评价。AALC 模型通过异步过程实现了不同车道间碰撞空间的重新分配,更适用于匝道并线等车辆间隙差异较大的环境。基于碰撞的轨迹优化算法可以快速获得相应的安全空间和最优轨迹。单次合作变道的最大计算时间为 0.073 秒,从而实现了实时轨迹规划。
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Journal of Advanced Transportation
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