Real-time characterisation of driver steering behaviour

In recent years the application of driver steering models has extended from the off-line simulation environment to autonomous vehicles research and the support of driver assistance systems. For these new environments there is a need for the model to be adaptive in real time, so the supporting vehicle systems can react to changes in the driver, their driving style, mood and skill. This paper provides a novel means to meet these needs by combining a simple driver model with a single-track vehicle handling model in a parameter estimating filter – in this case, an unscented Kalman filter. Although the steering model is simple, a motion simulator study shows it is capable of characterising a range of driving styles and may also indicate the level of skill of the driver. The resulting filter is also efficient – comfortably operating faster than real time – and it requires only steer and speed measurements from the vehicle in addition to the reference path. Adaptation of the steer model parameters is demonstrated along with robustness of the filter to errors in initial conditions, using data from five test drivers in vehicle tests carried out on the open road.

Abbreviations: ADAS: advanced driver assistance systems; CG: centre of gravity; CAN: controller area network; EKF: extended Kalman filter; GPS: global positioning system; UKF: unscented Kalman filter     

ROBUST FILTERS WITH SAMPLED-DATA ESTIMATION COVARANCE CONSTRAINT FOR UNCERTAIN CONTINUOUS-TIME SYSTEMS

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The role of residential self-selection in land use-travel research: a review of recent findings

ABSTRACT

Residential self-selection (RSS) is an important concern in the land use-travel research. Although many studies have addressed RSS during the past two decades, empirical results are inconsistent in terms of the existence, magnitude, and direction of self-selection bias. Moreover, recent studies substantiated other plausible associations within the theoretical framework of RSS, such as the endogeneity of travel attitudes. These further complicate the role of RSS in the land use-travel relationship. To improve understanding, this paper summarises recent progress in the RSS research, especially the studies published in the last decade. Specifically, we review three types of influences among the built environment, attitudes, and travel behaviour, and discuss unsolved problems within each type. We also discuss measurement issues of the built environment and attitudes in the RSS research. Because attitudes could be confounders, moderators, and mediators of the link between the built environment and travel behaviour, we recommend panel data with at least three waves of household travel surveys to address the complicated influences of attitudes. Future research needs to be more process-oriented to better understand the nature of RSS and its complex roles in the land use-travel research.     

Transition to a cyclable city: Latent variables affecting bicycle commuting

An understanding of the key factors influencing bicycle commuting is essential for developing effective policies towards a cyclable city. This paper contributes to this line of research by proposing a methodology for including cycling-related indicators in mobility surveys based on the Theory of Planned Behaviour (TPB), and applying an exploratory factor analysis (EFA) to evaluate the structure of latent variables associated with bicycle commuting. The EFA identified six cycling latent variables: Lifestyle, Safety and comfort, Awareness, Direct disadvantages, Subjective norm, and Individual capabilities. These were complemented with a latent variable related to habit: Non-commuting cycling habit. Statistical differences and regression analysis were applied with the cycling latent variables. The study also includes the relationship between objective factors and bicycle commuting, which reveals minor associations. This methodology was applied to the “starter cycling city” of Vitoria-Gasteiz (Spain). The results confirm that in this context – in transition to a cyclable city – safety and comfort issues are not the main barriers for all commuters, although more progress needs to be made to normalise cycling. A set of customised policy initiatives is recommended in the light of the research findings, including marketing campaigns to encourage non-commuting cycling trips, bicycle measures to target social groups as opposed to individuals, bicycle-specific programs such as “Bike-to-work Days”, and cycling courses.     

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水上交通事故人因可靠性,一方面在风险预防阶段会受到风险水平的影响;另一方面,在险情发展及应对过程中会存在与外部影响因素的相互作用.因此,为全面评价水上交通事故人因可靠性,从风险预防和险情应对这两个角度,提出了基于风险系数和置信度的人因可靠性的定量评价方法.首先,利用三角模糊数分别建立了各风险要素和风险系数的评价标准,并应用证据理论对这3个风险要素进行融合,获取了该险情的风险系数.其次,引用人因交互模型全面分析了人因可靠性的影响因素,建立了人因可靠性检查表,并利用置信度建立了各影响因素定量评价模型.最后,选取了一起典型沉船事故为案例定量评价了人因可靠性,结果表明,本文提出的方法可以更为全面地分析人因可靠性.     

Lagrangian modelling of plankton motion: From deceptively simple random walks to Fokker–Planck and back again

The movement of plankton, either by turbulent mixing or their own inherent motility, can be simulated in a Lagrangian framework as a random walk. Validation of random walk simulations is essential. There is a continuum of mathematically valid stochastic integration schemes upon which random walk simulations depend, each of which lead to radically different macro-scale dynamics as expressed in their corresponding Fokker–Planck equations. In addition, diffusivity is not a unique parameter describing a random walk and its corresponding Fokker–Planck equation. Spatially varying translation speed and turn frequency have different effects on population distributions. Validation requires extra information either in the form of the well-mixed condition for physical diffusion, or in detailed information on the sensing ability, internal state modulation and swimming response for plankton motility.     

Validating the results of a route choice simulator

This paper describes the validation of a route choice simulator known as VLADIMIR (Variable Legend Assessment Device for Interactive Measurement of Individual Route choice). VLADIMIR is an interactive computer-based tool designed to study drivers’ route choice behaviour. It has been extensively used to obtain data on route choice in the presence of information sources such as Variable Message Signs or In-Car Navigation devices. The simulator uses a sequence of digitized photographs to portray a real network with junctions, links, landmarks and road signs. Subject drivers are invited to make journeys between specified origins and destinations under a range of travel scenarios, during which the simulator automatically records their route choices. This paper describes validation experiments carried out during the period Summer 1994 to Autumn 1995 and reports on the results obtained. Each experiment involved a comparison of routes selected in real life with those driven under simulated conditions in VLADIMIR. The analysis included investigation of the subjects’ own assessment of the realism of the VLADIMIR routes they had chosen, a comparison of models based on the real life routes with models based on VLADIMIR routes, and a statistical comparison of the two sets of routes. After an extensive series of data collection exercises and analyses, we have concluded that a well designed simulator is able to replicate real life route choices with a very high degree of detail and accuracy. Not only was VLADIMIR able to precisely replicate the route choices of drivers who were familiar with the network but it also appears capable of representing the kind of errors made and route choice strategies adopted by less familiar drivers. Furthermore, evidence is presented to suggest that it can accurately replicate route choice responses to roadside VMS information.     

Stated adaptation surveys and choice process: Some methodological issues

The "Stated Adaptation" survey is an interactive technique which allows us to obtain a clearer picture of the attitudes and behaviours of individuals when confronted with hypothetical situations, in particular inexperienced travel conditions. This method makes use of a simulation game whose purpose is to explore on small samples individuals' choice processes when selecting between the different transport alternatives which are available to them. This paper describes how gaming-simulation is designed, with reference to the issues tackled by two surveys which have recently been carried out in France (reactions to urban road pricing and perception of electric vehicles). It describes the benefits of this experimental approach which allows stated behaviours to be checked to a considerable degree. The limits and potential developments of this survey technique are also discussed.     

基于概率决策的车辆导航系统地图匹配算法

针对城市道路网日益复杂的实际特点,提出基于P ign istic概率方法的地图匹配算法。采用D-S证据理论的多规则数据融合技术,建立了车辆位置信息和方向信息判决规则。引入P ign istic概率理论,有效地利用现有信息扩大各匹配道路之间的信度差异,提高了算法的鲁棒性。对实际行车数据仿真处理结果表明,应用该算法可以较好地解决城市复杂路网地图匹配问题。