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DAnoScenE: a driving anomaly scenario extraction framework for autonomous vehicles in urban streets DAnoScenE:城市街道自动驾驶车辆异常驾驶场景提取框架
IF 3.6 3区 工程技术 Q3 TRANSPORTATION Pub Date : 2023-12-14 DOI: 10.1080/15472450.2023.2291680
Yuening Hu, Dan Zhao, Ying Wang, Guangming Zhao
Autonomous vehicles (AVs) hold great potential to improve traffic safety. However, urban streets present a dynamic environment where unforeseen and complex scenarios can arise. The establishment of...
自动驾驶汽车(AV)在改善交通安全方面具有巨大潜力。然而,城市街道是一个动态环境,可能会出现不可预见的复杂情况。建立...
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引用次数: 0
Modified Gipps model: a collision-free car following model 改良吉普斯模型:无碰撞汽车跟随模型
IF 3.6 3区 工程技术 Q3 TRANSPORTATION Pub Date : 2023-12-12 DOI: 10.1080/15472450.2023.2289149
Dhwani Shah, Chris Lee, Yong Hoon Kim
Car following (CF) models are used in microscopic traffic simulation tools to help assess the effects of a new road design or to assess the effect of change in traffic flow. In 1981, Gipps develope...
微观交通模拟工具中使用的汽车跟随(CF)模型可帮助评估新道路设计的效果或交通流量变化的影响。1981 年,吉普斯开发了汽车跟随模型。
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引用次数: 0
An efficient data-driven method to construct dynamic service areas from large-scale taxi location data 从大规模出租车位置数据构建动态服务区的高效数据驱动方法
IF 3.6 3区 工程技术 Q3 TRANSPORTATION Pub Date : 2023-12-06 DOI: 10.1080/15472450.2023.2289123
Minh Hieu Nguyen, Soohyun Kim, Sung Bum Yun, Sangyoon Park, Joon Heo
Service area analysis is crucial for determining the accessibility of public facilities in smart cities. However, the acquisition of service areas using conventional approaches has been limited. Fi...
服务区分析对于确定智慧城市公共设施的可达性至关重要。然而,使用传统方法获取服务区的范围有限。服务区分析
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引用次数: 0
Trajectory optimization for connected and automated vehicles in a drop-off area of the departure curbside 出发路边落客区联网自动驾驶车辆的轨迹优化
IF 2.8 3区 工程技术 Q3 TRANSPORTATION Pub Date : 2023-11-02 DOI: 10.1080/15472450.2022.2077650
Chang Lu , Yuehui Wu , Hao Li , Huizhao Tu
Recently, advanced in-vehicle technologies have led to the emergence of connected and automated vehicles (CAVs). CAVs are supposed to improve traffic efficiency and safety by coordinating the vehicles based on the communication among vehicles. This study addresses the trajectory optimization of CAVs in the drop-off area of the departure curbside, which consists of many conflict points. We first propose a centralized control method to optimize the trajectories of CAVs and then propose an implementation procedure to deal with the dynamic features and reduce the problem scales for practical instances. Contrast experiments are conducted to test the performance of the proposed control method. Results under various scenarios (different volumes, safety gaps, and desired speeds) demonstrate that CAVs controlled by the proposed method significantly outperform human-driven vehicles without control concerning mean travel time in the drop-off area.
近年来,先进的车载技术导致了联网和自动驾驶汽车(cav)的出现。自动驾驶汽车的目标是通过车辆之间的通信来协调车辆,从而提高交通效率和安全性。本文研究了由多个冲突点组成的出发路边落客区自动驾驶汽车的轨迹优化问题。本文首先提出了一种自动驾驶汽车轨迹优化的集中控制方法,然后针对实例提出了处理自动驾驶汽车动态特征和减小问题规模的实现步骤。对比实验验证了所提控制方法的性能。在不同情况下(不同体积、安全缺口和期望速度)的结果表明,采用该方法控制的自动驾驶汽车在落客区平均行驶时间方面明显优于无人驾驶汽车。
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引用次数: 0
Operational and safety impacts of integrated variable speed limit with dynamic hard shoulder running 动态硬肩综合变速限制对运行和安全的影响
IF 2.8 3区 工程技术 Q3 TRANSPORTATION Pub Date : 2023-11-02 DOI: 10.1080/15472450.2022.2078664
Karan Arora , Lina Kattan
The combination of various Intelligent Transportation System (ITS) strategies generally has manifold effects, much greater than when strategies are implemented individually. This research introduces a novel dynamic control strategy, which includes the dynamic use of a Model Predictive Control (MPC) based Variable Speed Limit (VSL) integrated with the dynamic use of Hard Shoulder Running (HSR). Both VSL and HSR are proactively triggered to allow for necessary control measures to be taken to delay and possibly avoid the formation of a bottleneck. For traffic prediction, a modified METANET model is developed which takes into consideration the complex nature of driver’s behavior along with driver’s compliance, capacity drop and posted speed limits. The modified METANET model is shown to be more efficient than conventional macroscopic prediction models in detecting traffic congestions. This MPC based strategy was tested on a section of Deerfoot Trail, Calgary, Alberta using an exclusively developed integrated VISSIM-COM-MATLAB interface. The results from this study suggested that the integrated VSL and HSR control strategy results in a 21.09% increase in average speed and 33.44%. in vehicle-throughput. Furthermore, there was a noticeable reduction in the average travel time by 39.98% and in the total number of stops, by 32.43%. Importantly, the safety analysis performed using Surrogate Safety Assessment Model (SSAM) revealed a notable reduction in collisions, by 29.73%.
智能交通系统(ITS)各种策略的组合通常具有多方面的效果,远远大于单独实施策略时的效果。本文介绍了一种新的动态控制策略,该策略将基于模型预测控制(MPC)的可变限速(VSL)与硬肩跑(HSR)的动态使用相结合。VSL和高铁都是主动触发的,以便采取必要的控制措施来延迟并可能避免形成瓶颈。对于交通预测,我们开发了一个改进的METANET模型,该模型考虑了驾驶员行为的复杂性以及驾驶员的依从性、容量下降和发布的速度限制。改进的METANET模型比传统的宏观预测模型更能有效地检测交通拥堵。这种基于MPC的策略在阿尔伯塔省卡尔加里的Deerfoot Trail的一段上进行了测试,使用了专门开发的集成VISSIM-COM-MATLAB接口。研究结果表明,采用高铁与高速公路相结合的控制策略,平均速度提高21.09%,平均速度提高33.44%。在vehicle-throughput。此外,平均旅行时间减少了39.98%,总停靠次数减少了32.43%。重要的是,使用替代安全评估模型(SSAM)进行的安全分析显示,碰撞率显著降低了29.73%。
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引用次数: 0
Research on route hierarchical control strategy from the perspective of macroscopic traffic network 宏观交通网络视角下的路线分级控制策略研究
IF 2.8 3区 工程技术 Q3 TRANSPORTATION Pub Date : 2023-11-02 DOI: 10.1080/15472450.2022.2084337
Leilei Kang , Weike Lu , Lan Liu
In order to alleviate traffic congestion, transfer the regional orientation of macroscopic traffic flow to microscopic routes, and form a unified and coordinated framework of macro path decision and micro path decision, a vehicle route hierarchical control strategy is proposed from the perspective of network macro aggregated information. Firstly, according to the homogeneity of vehicle density distribution, a network is divided into several sub-regions, and then the macro-aggregate dynamic mapping relationship of each sub-area is analyzed. Secondly, a traffic equilibrium distribution model is established under heterogeneous macro path conditions to minimize the travel time of traffic flow. To bring macro traffic flow solved by the above model to the projected into the actual network level, the logit route model is used to guide macro traffic flow to the micro-scale road network with the help of a simplified network. Finally, the SUMO simulation platform is employed to achieve the solution and verification of the hierarchical vehicle path control method. The experimental results prove that the strategy can effectively reduce the congestion of the urban road network during peak hours and improve the traffic capacity of the road network. It is also demonstrated that macroscopic aggregate information is one of the reliable information sources for vehicle path control and guidance in a road network.
摘要为了缓解交通拥堵,将宏观交通流的区域取向转移到微观路径上,形成宏观路径决策和微观路径决策的统一协调框架,从网络宏观聚合信息的角度提出了一种车辆路径分层控制策略。首先,根据车辆密度分布的均匀性,将路网划分为若干子区域,然后分析各子区域之间的宏观总体动态映射关系;其次,建立了异构宏观路径条件下的交通均衡分配模型,以最小化交通流的行驶时间;为了将上述模型求解的宏观交通流投影到实际的网络层面,采用logit路径模型,借助简化的网络将宏观交通流引导到微观尺度的路网中。最后,利用SUMO仿真平台实现了层次化车辆路径控制方法的求解与验证。实验结果证明,该策略可以有效地减少城市道路网络在高峰时段的拥堵,提高道路网络的通行能力。研究还表明,宏观聚合信息是道路网络中车辆路径控制和引导的可靠信息源之一。
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引用次数: 0
Robust control strategy for platoon of connected and autonomous vehicles considering falsified information injected through communication links 考虑通过通信链路注入虚假信息的互联和自动驾驶车辆队列鲁棒控制策略
IF 2.8 3区 工程技术 Q3 TRANSPORTATION Pub Date : 2023-11-02 DOI: 10.1080/15472450.2022.2078203
Anye Zhou , Jian Wang , Srinivas Peeta
Connected and Autonomous Vehicles (CAVs) in a platoon can exchange real-time information using Vehicle-to-Vehicle (V2V) communication technology to enhance platoon control performance. However, the V2V communication technology also provides opportunities for cyber-attacks, where falsified information can be injected into vehicle controllers to disrupt the platoon operation and even induce vehicle collisions. To address this problem, this study proposes a robust platoon control strategy for CAVs to mitigate the impacts of the falsified information to maneuver the CAV platoon to achieve consensus safely. The proposed control strategy consists of three components: (i) a H robust control law, which consistently negates the disturbance induced by falsified information; (ii) a state observer which estimates the vehicle states and disturbance induced by falsified information and inputs the estimated results into the H robust control law to compute a synthesized control decision; and (iii) a control decision regulator which applies a Control Barrier Function-based Quadratic Programming (CBF-QP) to regulate the control decision computed by the H robust control law to avoid actuator saturation issue and ensure safe spacing for each vehicle in the platoon. Numerical experiments demonstrate that the proposed control strategy can effectively drive the CAV platoon to the desired consensus safely and efficiently under the impacts of falsified information injection.
摘要联网自动驾驶车辆通过V2V通信技术进行实时信息交换,提高了车队控制性能。然而,V2V通信技术也为网络攻击提供了机会,伪造的信息可以注入车辆控制器,破坏队列操作,甚至引发车辆碰撞。为了解决这一问题,本研究提出了一种针对自动驾驶汽车的鲁棒队列控制策略,以减轻伪造信息的影响,使自动驾驶汽车的队列安全达成共识。所提出的控制策略由三个部分组成:(i)鲁棒控制律,它始终否定由伪造信息引起的干扰;(ii)一个状态观测器,它估计由伪造信息引起的车辆状态和干扰,并将估计结果输入到鲁棒控制律中,以计算综合控制决策;(iii)控制决策调节器,该调节器采用基于控制障碍函数的二次规划(CBF-QP)来调节由鲁棒控制律计算的控制决策,以避免执行器饱和问题并确保队列中每辆车的安全间距。数值实验表明,在伪信息注入的影响下,所提出的控制策略能有效地将CAV排安全高效地驱动到期望共识。
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引用次数: 0
Coordinated control model for arterials with asymmetric traffic 交通不对称的交通干线协调控制模型
IF 2.8 3区 工程技术 Q3 TRANSPORTATION Pub Date : 2023-11-02 DOI: 10.1080/15472450.2022.2078204
Xianyue Peng , Hao Wang
To alleviate the congestion caused by the tidal traffic and to improve the operational performance of both directions in arterials, this paper proposes a coordinated control model for arterials with asymmetric traffic demands in both oversaturated and unsaturated directions. The model utilizes a three-step architecture: (1) A mixed-integer linear programming model is built to maximize the throughput according to the relationship between traffic supply and demand as well as the balance between inflow and outflow. (2) A quadratic programming model is constructed to minimize the vehicle delay in the oversaturated direction based on Lighthill-Whitham-Richards theory. (3) A mixed-integer linear programming model is built to maximize the variable bandwidth in the unsaturated direction by introducing the relaxation variable. Furthermore, a three-step algorithm is used to solve the model and obtain the optimal arterial signal timing. Finally, a simulation model is put forward to verify the coordinated model. The results indicate that the model meet the asymmetric traffic demand through optimizing the arterial throughput, reducing delay in the oversaturated direction and maximizing the green wave bandwidth in the unsaturated direction.
摘要为了缓解潮汐交通引起的拥堵,提高主干道双向运行性能,提出了一种针对过饱和和不饱和方向交通需求不对称的主干道协调控制模型。该模型采用三步走的架构:(1)根据交通供需关系和流入与流出平衡,建立混合整数线性规划模型,以实现吞吐量最大化。(2)基于lighhill - whitham - richards理论,构建了过饱和方向上最小化车辆延迟的二次规划模型。(3)通过引入松弛变量,建立了非饱和方向可变带宽最大化的混合整数线性规划模型。采用三步算法对模型进行求解,得到最优的动脉信号配时。最后,提出了仿真模型对协调模型进行验证。结果表明,该模型通过优化干线吞吐量、减少过饱和方向的延迟和最大化不饱和方向的绿波带宽来满足非对称交通需求。
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引用次数: 0
Machine learning for activity pattern detection 用于活动模式检测的机器学习
IF 2.8 3区 工程技术 Q3 TRANSPORTATION Pub Date : 2023-11-02 DOI: 10.1080/15472450.2022.2084336
Natalia Selini Hadjidimitriou , Guido Cantelmo , Constantinos Antoniou
This paper proposes a data fusion approach to automatically detect activity patterns in a GPS dataset based on travel diaries and correct misclassification errors. The Activity Patterns Detection consists of a Supervised Learning framework, thanks to which the activity purposes in the travel diaries are learned and then predicted in the GPS dataset. Furthermore, we deploy Unsupervised Learning to identify similar spatial and temporal activities in the GPS dataset and, based on travel diaries, to correct the misclassification errors. This work shows that, based on a few observations in the travel diaries and a set of features such as the resting time before the activity takes place, the number of occurrences of the same trip and the percentage of the trip made during daytime and the speed, it is possible to detect activities with an overall accuracy of 90%. Since the GPS dataset does not have information on the activity performed by the user, in reality, the aggregated results are validated based on the Kolmogorov-Smirnov test. The experiment shows that, with a confidence level of 99%, the majority of spatial and temporal feature distributions of activities in the travel diaries dataset are similar to those in the GPS dataset. Thanks to this approach, planners and transport operators can automatically obtain spatial and temporal patterns of frequent activities in urban areas.
提出了一种基于旅行日志的GPS数据集活动模式自动检测和误分类纠错的数据融合方法。活动模式检测由一个监督学习框架组成,通过该框架,可以学习旅行日记中的活动目的,然后在GPS数据集中进行预测。此外,我们利用无监督学习来识别GPS数据集中相似的时空活动,并基于旅行日记来纠正误分类错误。这项工作表明,基于旅行日记中的一些观察和一系列特征,如活动发生前的休息时间、同一旅行的发生次数、白天旅行的百分比和速度,有可能以90%的总体准确率检测活动。由于GPS数据集没有关于用户执行的活动的信息,实际上,汇总结果是基于Kolmogorov-Smirnov测试进行验证的。实验表明,在99%的置信水平下,游记数据集中活动的大部分时空特征分布与GPS数据集中活动的时空特征分布相似。由于这种方法,规划者和交通运营商可以自动获得城市地区频繁活动的空间和时间模式。
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引用次数: 0
Algebraic method of regional green wave coordinated control 区域绿波协调控制的代数方法
IF 2.8 3区 工程技术 Q3 TRANSPORTATION Pub Date : 2023-11-02 DOI: 10.1080/15472450.2022.2084335
Kai Lu , Shuyan Jiang , Wuping Xin , Jiehua Zhang , Kezhi He
This study proposes an algebraic method of regional green wave coordinated control (AM-RGWCC) that can operate efficiently. The research on regional green wave coordinated control (RGWCC) has gradually become a hot spot, improving the overall operational efficiency of the control area more comprehensively and systematically. We usually encounter the difficulties of many constraints, high complexity, and low efficiency when using the modeling method to solve the RGWCC problem. AM-RGWCC is developed in this study to overcome these challenges. The overall coordinated effect is assured by realizing the comprehensive optimization of phase sequence, offset, and common signal cycle. A step-by-step design of AM-RGWCC is established to reduce the complexity by analyzing the comprehensive influence of offset difference and bias distance on the green wave bandwidth. Finally, the case study shows that for a three-by-three road network, an ideal scheme can be obtained by AM-RGWCC to maximize the green wave bandwidth in one second. The green wave bandwidth of each intersection accounts for more than 84%. The results illustrate that the coordinated effect and solving efficiency are significantly improved. The proposed algebraic method will have certain advantages in the RGWCC design of a large-scale road network.
摘要提出了一种高效运行的区域绿波协调控制(AM-RGWCC)代数方法。区域绿波协调控制(RGWCC)的研究逐渐成为一个热点,更全面、系统地提高管制区的整体运行效率。在使用建模方法求解RGWCC问题时,通常会遇到约束多、复杂性高、效率低等困难。为了克服这些挑战,本研究开发了AM-RGWCC。通过实现相序、偏置和共信号周期的综合优化,保证了整体协调效果。通过分析偏置差和偏置距离对绿波带宽的综合影响,建立了AM-RGWCC分步设计方案,降低了设计复杂度。最后,实例研究表明,对于一个3 × 3的路网,采用AM-RGWCC可以得到一个理想的方案,使绿波带宽在1秒内最大化。各交叉口的绿波带宽占84%以上。结果表明,协同效应和求解效率得到了显著提高。所提出的代数方法在大型路网的RGWCC设计中具有一定的优势。
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引用次数: 0
期刊
Journal of Intelligent Transportation Systems
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