Towards comfort-optimal trajectory planning and control

ABSTRACT

This paper describes a method to analyse and evaluate different trajectory planning methods and controller types for usage in automated vehicles. Its application is shown by using a novel trajectory planning approach considering comfort aspects (based on Rapidly Exploring Random Tree (RRT)), two different controllers to follow the planned path (cascade controller and flatness based controller) and a simulation method to obtain resulting lateral vehicle accelerations. The method is used to plan and drive a trajectory through a roundabout. It can be seen that the lateral accelerations of the controller-driven vehicle are in the range of the values used for planning. However, the results of both controllers show differences in lateral deviation and in smoothness of lateral accelerations. The simulation results are then compared to real-world test drives in the same roundabout. The measured lateral accelerations are in the same range as well but show a smoother progression than the two controller models.     

区级海绵城市建设规划中指标管控方法探讨

针对区级海绵城市建设规划中管控单元划分和指标分解等关键环节,提出最小管控单元和管控指标源头-系统两级分解体系.上海市虹口区的案例表明,最小管控单元可有效衔接源头地块、控规单元和排水系统,管控指标源头-系统两级分解体系可有效体现系统性工程在海绵指标中的贡献,合理减轻源头项目的达标压力.     

区域综合交通规划环境影响评价指标体系研究

近年来,区域综合交通规划取得蓬勃发展,但相应的规划环评还处于实践探索阶段,环评指标在累积性评价、运输结构优化、“三线一单”新要求等方面尚存短板。在充分研究公路、铁路、航空、港口、航道等单项交通规划环评和现有综合交通规划环评案例指标的基础上,根据区域综合交通规划及其环境影响的特征,按照科学性和系统性、综合性和宏观性、政策性和导向性、操作性和适用性的原则,提出了区域综合交通规划环评指标体系。分为生态功能、环境质量、资源能源等3大类,生态系统结构、生态敏感区、生物多样性、水环境、大气环境、环境风险、土地资源、水资源、岸线资源、能源等10方面共19个指标,逐项反馈于规划的总体规模、空间布局和运输结构。     

公交专用道设置标准研究——以南昌市为例

对公交专用道设置的重要影响因素进行交通工程学分析,确定各因素基本阈值。以设置规模为约束条件.建立南昌市交通模型,对各影响因素进行组合分析,以此确定各类组合条件阈值.形成南昌市公交专用道设置标准。     

城市重大枢纽工程施工期交通组织方案研究

施工期间交通组织方案的研究和制定对城市综合枢纽的建设而言意义重大。以南京市浦口区浦泗综合枢纽工程施工期交通组织方案研究为例,阐述了城市枢纽工程施工期交通组织规划的方法和措施。利用工程实践证明,合理规划交通组织方案对降低工程施工成本、减小城市交通的影响、保证工程建设和城市交通安全的效果。     

Can Coastal Management Programs Protect and Promote Water-Dependent Uses?

Anecdotal evidence indicates that commercial and recreational water-dependent uses have been under development pressure in recent years, and in some cases have been converted to other uses. The conversion of water-dependent uses, which range from commercial shipyards to recreational marinas, may have many public costs, including the loss of access to public trust waters, the loss of jobs and associated economic activity, and the loss of traditional working waterfronts. This two-part study investigated the role of five coastal management programs in the northeastern United States in managing, monitoring, and protecting water-dependent uses. First, coastal managers in Massachusetts, Rhode Island, Connecticut, New York and New Jersey were interviewed to assess the conversion problem. Second, in collaboration with New York City-based Regional Plan Association, follow-up interviews were conducted with coastal managers and local planners in Connecticut, New York, and New Jersey to gain greater insight into the role of coastal management programs and local governments in managing and promoting water-dependent uses. This article presents select findings from this study and discusses recommendations for improving the capacity of coastal management programs and local governments to manage water-dependent uses for the benefit of the public.     

洛阳铁路枢纽调整规划研究

通过研究洛阳铁路枢纽存在的问题、能力利用现状以及枢纽的运输需求,得出洛阳枢纽能力紧张、不能满足日益增长的客货运量运输需求的结论。结合枢纽自身特点,提出成环发展的规划方案,通过对运输能力计算表明,所提出的规划方案能缓解当前运输能力紧张的局面。     

制造业中小企业信息系统的规划与设计

分析了东风汽车悬架弹簧有限公司的信息化建设现状,根据企业的发展现状、战略目标、核心业务、信息化技术应用现状等情况,给出了符合企业发展需求的信息技术支撑方案,并阐述了这一方案在同类型制造业中小型企业中的普遍意义。     

韩国集装箱码头的特点

介绍韩国集装箱港口的现状、发展规划,以及在功能定位、建设标准、总体布置和设备配置等方面的一些特点。     

一条专用车道双向运营BRT/轻轨的可行性

为有效满足BRT或轻轨系统的运行需求,提出在带有固定左转车道的繁忙通勤走廊中央设置一条BRT或轻轨专用车道用于双向运营的概念。由此产生了车辆相交问题,其相交空间设置于由左转车道产生的未利用或未被充分利用的道路中央隔离带。提供了公交车站和相交空间的概念设计可选方案和几何布局示意图,并考虑运行速度、发车间隔、相邻相交空间的距离及相交空间数量等条件,分析系统性能。为确保具有实用性,研究了系统在现有交通走廊上的可实施性。由于该系统具有利于TOD发展的潜力,也可作为未来发展两条专用车道系统的中间步骤。