Integrity of map-matching algorithms

Map-matching algorithms are used to integrate positioning data with digital road network data so that vehicles can be placed on a road map. However, due to error associated with both positioning and map data, there can be a high degree of uncertainty associated with the map-matched locations. A quality indicator representing the level of confidence (integrity) in map-matched locations is essential for some Intelligent Transport System applications and could provide a warning to the user and provide a means of fast recovery from a failure. The objective of this paper is to determine an empirical method to derive the integrity of a map-matched location for three previously developed algorithms. This is achieved by formulating a metric based on various error sources associated with the positioning data and the map data. The metric ranges from 0 to 100 where 0 indicates a very high level of uncertainty in the map-matched location and 100 indicates a very low level of uncertainty. The integrity method is then tested for the three map-matching algorithms in the cases when the positioning data is from either a stand-alone global positioning system (GPS) or GPS integrated with deduced reckoning (DR) and for map data from three different scales (1:1250, 1:2500, and 1:50 000). The results suggest that the performance of the integrity method depends on the type of map-matching algorithm and the quality of the digital map data. A valid integrity warning is achieved 98.2% of the time in the case of the fuzzy logic map-matching algorithm with positioning data come from integrated GPS/DR and a digital map data with a scale of 1:2500.     

Developing an enhanced weight-based topological map-matching algorithm for intelligent transport systems

Map-matching (MM) algorithms integrate positioning data from a Global Positioning System (or a number of other positioning sensors) with a spatial road map with the aim of identifying the road segment on which a user (or a vehicle) is travelling and the location on that segment. Amongst the family of MM algorithms consisting of geometric, topological, probabilistic and advanced, topological MM (tMM) algorithms are relatively simple, easy and quick, enabling them to be implemented in real-time. Therefore, a tMM algorithm is used in many navigation devices manufactured by industry. However, existing tMM algorithms have a number of limitations which affect their performance relative to advanced MM algorithms. This paper demonstrates that it is possible by addressing these issues to significantly improve the performance of a tMM algorithm. This paper describes the development of an enhanced weight-based tMM algorithm in which the weights are determined from real-world field data using an optimisation technique. Two new weights for turn-restriction at junctions and link connectivity are introduced to improve the performance of matching, especially at junctions. A new procedure is developed for the initial map-matching process. Two consistency checks are introduced to minimise mismatches. The enhanced map-matching algorithm was tested using field data from dense urban areas and suburban areas. The algorithm identified 96.8% and 95.93% of the links correctly for positioning data collected in urban areas of central London and Washington, DC, respectively. In case of suburban area, in the west of London, the algorithm succeeded with 96.71% correct link identification with a horizontal accuracy of 9.81 m (2σ). This is superior to most existing topological MM algorithms and has the potential to support the navigation modules of many Intelligent Transport System (ITS) services.     

An integrated solution for lane level irregular driving detection on highways

Global Navigation Satellite Systems (GNSS) has been widely used in the provision of Intelligent Transportation System (ITS) services. Current meter level system availability can fulfill the road level applications, such as route guide, fleet management and traffic control. However, meter level of system performance is not sufficient for the advanced safety applications. These lane level safety applications requires centimeter/decimeter positioning accuracy, with high integrity, continuity and availability include lane control, collision avoidance and intelligent speed assistance, etc. Detecting lane level irregular driving behavior is the basic requirement for these safety related ITS applications. The two major issues involved in the lane level irregular driving identification are accessing to high accuracy positioning and vehicle dynamic parameters and extraction of erratic driving behaviour from this and other related information. This paper proposes an integrated solution for the lane level irregular driving detection. Access to high accuracy positioning is enabled by GNSS and Inertial Navigation System (INS) integration using filtering with precise vehicle motion models and lane information. The detection of different types of irregular driving behaviour is based on the application of a Fuzzy Inference System (FIS). The evaluation of the designed integrated systems in the field test shows that 0.5 m accuracy positioning source is required for lane level irregular driving detection algorithm and the designed system can detect irregular driving styles.     

A lane-level road network model with global continuity

An increasing number of Intelligent Transportation System (ITS) applications require high accurate vehicle positioning, e.g., positioning at the lane-level. This requirement motives the development of modeling the road network at the lane-level. In this paper we propose a novel lane-level road network model. It can be considered an improvement to existing models in its capability of representing the road and intersection details at the lane-level in a uniform and precise way. As a result, the model can guarantee the global continuity for arbitrary map route, which better approximates the real vehicle trajectory. In addition, the map construction algorithms are also developed. Following the proposed methods, the lane parameters can be extracted efficiently under flexible precision requirement, and intersections with varying appearances can be precisely modeled with limited extra data. Experiments were performed to verify the proposed model in representing the lane-level geometrical and topological details of an urban area of Milan. The results also demonstrate the effectiveness of the map construction methods.     

Characterization and prediction of air traffic delays

This paper presents a new class of models for predicting air traffic delays. The proposed models consider both temporal and spatial (that is, network) delay states as explanatory variables, and use Random Forest algorithms to predict departure delays 2–24 h in the future. In addition to local delay variables that describe the arrival or departure delay states of the most influential airports and links (origin–destination pairs) in the network, new network delay variables that characterize the global delay state of the entire National Airspace System at the time of prediction are proposed. The paper analyzes the performance of the proposed prediction models in both classifying delays as above or below a certain threshold, as well as predicting delay values. The models are trained and validated on operational data from 2007 and 2008, and are evaluated using the 100 most-delayed links in the system. The results show that for a 2-h forecast horizon, the average test error over these 100 links is 19% when classifying delays as above or below 60 min. Similarly, the average over these 100 links of the median test error is found to be 21 min when predicting departure delays for a 2-h forecast horizon. The effects of changes in the classification threshold and forecast horizon on prediction performance are studied.     

Generating lane-based intersection maps from crowdsourcing big trace data

Lane-based road information plays a critical role in transportation systems, a lane-based intersection map is the most important component in a detailed road map of the transportation infrastructure. Researchers have developed various algorithms to detect the spatial layout of intersections based on sensor data such as high-definition images/videos, laser point cloud data, and GPS traces, which can recognize intersections and road segments; however, most approaches do not automatically generate Lane-based Intersection Maps (LIMs). The objective of our study is to generate LIMs automatically from crowdsourced big trace data using a multi-hierarchy feature extraction strategy. The LIM automatic generation method proposed in this paper consists of the initial recognition of road intersections, intersection layout detection, and lane-based intersection map-generation. The initial recognition process identifies intersection and non-intersection areas using spatial clustering algorithms based on the similarity of angle and distance. The intersection layout is composed of exit and entry points, obtained by combining trajectory integration algorithms and turn rules at road intersections. The LIM generation step is finally derived from the intersection layout detection results and lane-based road information, based on geometric matching algorithms. The effectiveness of our proposed LIM generation method is demonstrated using crowdsourced vehicle traces. Additional comparisons and analysis are also conducted to confirm recognition results. Experiments show that the proposed method saves time and facilitates LIM refinement from crowdsourced traces more efficiently than methods based on other types of sensor data.     

Impacts,management and functional planning criterion of forest road network system in Turkey

In this study are proposed impacts, management and functional planning criterion of forest road network system in rural and urban landscapes of Turkey. Road spacing and road density have been inspected concerning forest roads in production, reforestation, national parks and protection forests of rural and urban landscapes of Turkey. The forest road network was the most expensive human activity in the forests both in terms of economics and environmental effects. Public opinion about the environment has increased in recent years. Sustainable land use planning creates a great challenge for rural and urban road network planning. Further improvements of the network are necessary, to provide for people’s needs in the near future. Harmful effects of road network conflict with the principles of sustainability. When making use of the forest ecosystem for various purposes, care must be taken not to spoil the forest structure. To achieve this, forests must be used according to forestry techniques. So, there is a need for a new planning approach, serving the interests of both accessibility and sustainable environment. In rural landscapes, forest road planning standards (slope, width, pavement, drainage etc.) are different in production, forestation, national parks and protection forests. The need for total forest roads in Turkey was 201,810 km, and that 133,693 km portion of which, corresponding to 66.25%, was constructed by the end of 2005. With a view to be capable of conducting modern forestry activities, our country’s forests should be provided with a systematic road network by completing as soon as possible the construction of the remaining portion of such roads.     

The value of transportation accessibility in a least developed country city – The case of Rajshahi City,Bangladesh

Little appears to be known about the capitalization of transportation accessibility in South Asian housing markets, which typically differ from those of industrialized countries. This study starts addressing this gap by providing empirical evidence about the nature and the magnitude of the value of accessibility as reflected by residential rents in Rajshahi City, Bangladesh. Results of our SARAR spatial hedonic model estimated on 526 observations from a random sample collected via in-person interviews indicate that the rent of a multi-unit dwelling decreases by 0.0239% for every 1% increase in network access distance to the nearest major road. Moreover, proximity (within 400 m) to a primary school and to a healthcare facility commands rent premiums of respectively 93.55 BDT ($1.40) and 109.45 BDT ($1.64). Surprisingly, whether access roads are paved or not does not statistically impact rents, probably because of the dominance of walking, rickshaws use, and biking, combined with the rarity of personal cars. Likewise, proximity to bus stops and to train stations is not reflected in rents of multi-family dwellings, likely because buses and trains in Rajshahi City only provide regional and national service. Differences in estimates of our spatial models between maximum likelihood (ML) and generalized spatial two-stage-least-squares illustrate the danger of relying on ML in the presence of heteroskedasticity. These results should be useful for planning transportation infrastructure funding measures in least developed country cities like Rajshahi City.     

Optimizing route choice for lowest fuel consumption – Potential effects of a new driver support tool

Today, driver support tools intended to increase traffic safety, provide the driver with convenient information and guidance, or save time are becoming more common. However, few systems have the primary aim of reducing the environmental effects of driving. The aim of this project was to estimate the potential for reducing fuel consumption and thus the emission of CO₂ through a navigation system where optimization of route choice is based on the lowest total fuel consumption (instead of the traditional shortest time or distance), further the supplementary effect if such navigation support could take into account real-time information about traffic disturbance events from probe vehicles running in the street network. The analysis was based on a large database of real traffic driving patterns connected to the street network in the city of Lund, Sweden. Based on 15 437 cases, the fuel consumption factor for 22 street classes, at peak and off-peak hours, was estimated for three types of cars using two mechanistic emission models. Each segment in the street network was, on a digitized map, attributed an average fuel consumption for peak and off-peak hours based on its street class and traffic flow conditions. To evaluate the potential of a fuel-saving navigation system the routes of 109 real journeys longer than 5 min were extracted from the database. Using Esri’s external program ArcGIS, Arcview and the external module Network Analysis, the most fuel-economic route was extracted and compared with the original route, as well as routes extracted from criterions concerning shortest time and shortest distance. The potential for further benefit when the system employed real-time data concerning the traffic situation through 120 virtual probe vehicles running in the street network was also examined. It was found that for 46% of trips in Lund the drivers spontaneous choice of route was not the most fuel-efficient. These trips could save, on average, 8.2% fuel by using a fuel-optimized navigation system. This corresponds to a 4% fuel reduction for all journeys in Lund. Concerning the potential for real-time information from probe vehicles, it was found that the frequency of disturbed segments in Lund was very low, and thus so was the potential fuel-saving. However, a methodology is presented that structures the steps required in analyzing such a system. It is concluded that real-time traffic information has the potential for fuel-saving in more congested areas if a sufficiently large proportion of the disturbance events can be identified and reported in real-time.     

The impact of urban rail transit on commercial property value: New evidence from Wuhan,China

The interaction between rail transit and the urban property market is a vital foundation for planning transit-based policy such as Value Capture and Transit Oriented Development (TOD). Yet only few studies have reported the impact of transit access on commercial property value. This paper presents empirical evidence from Wuhan, China, to enrich the knowledge in the subject area. Spatial autoregressive models were employed to estimate the commercial value capture, based on 676 observations along Wuhan’s metro rail line through the main business districts. Value appreciation was discovered within the 400 m radius of road network distance from Metro stations. The transit access premiums present as two tiers: 16.7% for the 0–100 m core area and approximately 8.0% within the 100–400 m radius. The result demonstrates the potential benefit of adopting value capture and optimising TOD planning to support sustainable urban rail transit investment. Amid rapid urbanisation in China, the evidence reported here could help better inform cities, across the developing world and beyond, of the benefits of adopting rail transit-based policy.     

Network-oriented household activity pattern problem for system optimization

The recently emerging trend of self-driving vehicles and information sharing technologies, made available by private technology vendors, starts creating a revolutionary paradigm shift in the coming years for traveler mobility applications. By considering a deterministic traveler decision making framework at the household level in congested transportation networks, this paper aims to address the challenges of how to optimally schedule individuals’ daily travel patterns under the complex activity constraints and interactions. We reformulate two special cases of household activity pattern problem (HAPP) through a high-dimensional network construct, and offer a systematic comparison with the classical mathematical programming models proposed by Recker (1995). Furthermore, we consider the tight road capacity constraint as another special case of HAPP to model complex interactions between multiple household activity scheduling decisions, and this attempt offers another household-based framework for linking activity-based model (ABM) and dynamic traffic assignment (DTA) tools. Through embedding temporal and spatial relations among household members, vehicles and mandatory/optional activities in an integrated space-time-state network, we develop two 0–1 integer linear programming models that can seamlessly incorporate constraints for a number of key decisions related to vehicle selection, activity performing and ridesharing patterns under congested networks. The well-structured network models can be directly solved by standard optimization solvers, and further converted to a set of time-dependent state-dependent least cost path-finding problems through Lagrangian relaxation, which permit the use of computationally efficient algorithms on large-scale high-fidelity transportation networks.     

Validating and improving public transport origin–destination estimation algorithm using smart card fare data

Smart card data are increasingly used for transit network planning, passengers’ behaviour analysis and network demand forecasting. Public transport origin–destination (O–D) estimation is a significant product of processing smart card data. In recent years, various O–D estimation methods using the trip-chaining approach have attracted much attention from both researchers and practitioners. However, the validity of these estimation methods has not been extensively investigated. This is mainly because these datasets usually lack data about passengers’ alighting, as passengers are often required to tap their smart cards only when boarding a public transport service. Thus, this paper has two main objectives. First, the paper reports on the implementation and validation of the existing O–D estimation method using the unique smart card dataset of the South-East Queensland public transport network which includes data on both boarding stops and alighting stops. Second, the paper improves the O–D estimation algorithm and empirically examines these improvements, relying on this unique dataset. The evaluation of the last destination assumption of the trip-chaining method shows a significant negative impact on the matching results of the differences between actual boarding/alighting times and the public transport schedules. The proposed changes to the algorithm improve the average distance between the actual and estimated alighting stops, as this distance is reduced from 806 m using the original algorithm to 530 m after applying the suggested improvements.     

The impact of road grade on carbon dioxide (CO2) emission of a passenger vehicle in real-world driving

To accurately estimate real-world vehicle emission at 1 Hz the road grade for each second of data must be quantified. Failure to incorporate road grade can result in over or underestimation of a vehicle’s power output and hence cause inaccuracy in the instantaneous emission estimate. This study proposes a simple LiDAR (Light Detection And Ranging) – GIS (Geographic Information System) road grade estimation methodology, using GIS software to interpolate the elevation for each second of data from a Digital Terrain Map (DTM). On-road carbon dioxide (CO₂) emissions from a passenger car were recorded by Portable Emission Measurement System (PEMS) over 48 test laps through an urban-traffic network. The test lap was divided into 8 sections for micro-scale analysis. The PHEM instantaneous emission model (Hausberger, 2003) was employed to estimate the total CO₂ emission through each lap and section. The addition of the LiDAR-GIS road grade to the PHEM modelling improved the accuracy of the CO₂ emission predictions. The average PHEM estimate (with road grade) of the PEMS measured section total CO₂ emission (n = 288) was 93%, with 90% of the PHEM estimates between 80% and 110% of the PEMS recorded value. The research suggests that instantaneous emission modelling with LiDAR-GIS calculated road grade is a viable method for generating accurate real-world micro-scale CO₂ emission estimates. The sensitivity of the CO₂ emission predictions to road grade was also tested by lessening and exaggerating the gradient profiles, and demonstrates that assuming a flat profile could cause considerable error in real-world CO₂ emission estimation.     

Reconstructing maximum likelihood trajectory of probe vehicles between sparse updates

Data from connected probe vehicles can be critical in estimating road traffic conditions. Unfortunately, current available data is usually sparse due to the low reporting frequency and the low penetration rate of probe vehicles. To help fill the gaps in data, this paper presents an approach for estimating the maximum likelihood trajectory (MLT) of a probe vehicle in between two data updates on arterial roads. A public data feed from transit buses in the city of San Francisco is used as an example data source. Low frequency updates (at every 200 m or 90 s) leaves much to be inferred. We first estimate travel time statistics along the road and queue patterns at intersections from historical probe data. The path is divided into short segments, and an Expectation Maximization (EM) algorithm is proposed for allocating travel time statistics to each segment. Then the trajectory with the maximum likelihood is generated based on segment travel time statistics. The results are compared with high frequency ground truth data in multiple scenarios, which demonstrate the effectiveness of the proposed approach, in estimating both the trajectory while moving and the stop positions and durations at intersections.     

Analysis of road transportation energy consumption demand in China

In this paper, we first analyze the historical trends in road transportation energy consumption and GDP in developed economies to find out the development characteristics of road energy consumption. The two indexes present obvious ‘S’ type patterns. Then, in order to explore the current status and future trend of road energy transportation in China, we employ path analysis to analyze the impact mechanism of the factors related to road transportation energy consumption. Next, we adopt the BMA model to select the core factors related to road transportation energy consumption in China, and on the basis of the model selection as well as univariate (ETS & ARIMA models) and multivariate (multiple regression) models, the road transportation energy consumption is analyzed and forecast. The results showed that the road transportation energy consumption rises by 0.33 percent for every percent increase in GDP and by 1.26 percentage points for every percent increase in urbanization. The road transportation energy consumption in China is expected to reach around 226181.1 ktoe by the end of 2015, and about 347,363 ktoe by 2020.     

Map-matching poor-quality GPS data in urban environments: the pgMapMatch package

Global Positioning System (GPS) data have become ubiquitous in many areas of transportation planning and research. The usefulness of GPS data often depends on the points being matched to the true sequence of edges on the underlying street network – a process known as ‘map matching.’ This paper presents a new map-matching algorithm that is designed for use with poor-quality GPS traces in urban environments, where drivers may circle for parking and GPS quality may be affected by underground parking and tall buildings. The paper is accompanied by open-source Python code that is designed to work with a PostGIS spatial database. In a test dataset that includes many poor-quality traces, our new algorithm accurately matches about one-third more traces than a widely available alternative. Our algorithm also provides a ‘match score’ that evaluates the likelihood that the match for an individual trace is correct, reducing the need for manual inspection.     

Fit-for-duty test for estimation of drivers’ sleepiness level: Eye movements improve the sleep/wake predictor

Driver sleepiness contributes to a considerable proportion of road accidents, and a fit-for-duty test able to measure a driver’s sleepiness level might improve traffic safety. The aim of this study was to develop a fit-for-duty test based on eye movement measurements and on the sleep/wake predictor model (SWP, which predicts the sleepiness level) and evaluate the ability to predict severe sleepiness during real road driving. Twenty-four drivers participated in an experimental study which took place partly in the laboratory, where the fit-for-duty data were acquired, and partly on the road, where the drivers sleepiness was assessed. A series of four measurements were conducted over a 24-h period during different stages of sleepiness. Two separate analyses were performed; a variance analysis and a feature selection followed by classification analysis. In the first analysis it was found that the SWP and several eye movement features involving anti-saccades, pro-saccades, smooth pursuit, pupillometry and fixation stability varied significantly with different stages of sleep deprivation. In the second analysis, a feature set was determined based on floating forward selection. The correlation coefficient between a linear combination of the acquired features and subjective sleepiness (Karolinska sleepiness scale, KSS) was found to be R = 0.73 and the correct classification rate of drivers who reached high levels of sleepiness (KSS ⩾ 8) in the subsequent driving session was 82.4% (sensitivity = 80.0%, specificity = 84.2% and AUC = 0.86). Future improvements of a fit-for-duty test should focus on how to account for individual differences and situational/contextual factors in the test, and whether it is possible to maintain high sensitive/specificity with a shorter test that can be used in a real-life environment, e.g. on professional drivers.     

The limits of partial life cycle assessment studies in road construction practices: A case study on the use of hydrated lime in Hot Mix Asphalt

Extensive published literature shows that hydrated lime improves Hot Mix Asphalt (HMA) durability. Its impact on the environmental impact of HMA has not been investigated. This paper presents a comparative Life Cycle Assessment (LCA) for the use of HMA without hydrated lime (classical HMA) and with hydrated lime (modified HMA) for the lifetime of a highway. System boundaries cover the life cycle from cradle-to-grave, meaning extraction of raw materials to end of life of the road. The main assumptions were: 1. Lifetime of the road 50 years; 2. Classical HMA with a life span of 10 years, maintenance operations every 10 years; 3. Modified HMA with an increase in the life span by 25%, maintenance operations every 12.5 years. For the lifetime of the road, modified HMA has the lowest environmental footprint compared to classical HMA with the following benefits: 43% less primary total energy consumption resulting in 23% lower emissions of greenhouse gases. Partial LCAs focusing only on the construction and/or maintenance phase should be used with caution since they could lead to wrong decisions if the durability and the maintenance scenarios differ. Sustainable construction technologies should not only consider environmental impact as quantified by LCA, but also economic and social impacts as well. Avoiding maintenance steps means less road works, fewer traffic jams and hence less CO₂ emissions.     

Integrated approach to determine highway flooding and critical points of drainage

Among the natural hazards that threaten transportation infrastructure, flooding represents a major hazard to highways as it challenges their design, operation, efficiency and safety. In extreme cases, it may lead to massive obstruction of traffic and direct damages to the road structures themselves and indirect damages to the economic activity and development of the region. To enable the prevention of such consequences, and the proposition of adaptive measures for existing infrastructure, this paper presents an integrated framework to identify the most vulnerable points to flooding along a highway. This is done through the combination of remote sensing information (e.g. LiDAR based Digital Elevation Model, satellite imagery), a high-quality dataset, and a quasi-2D hydrodynamic model. The forcing condition is defined using a hyetograph associated to a storm with duration of 1 day and return period of 100 years. The selected highway is located in the Mexican state of Tabasco, where extreme precipitation events and floods are frequent. Results demonstrate the ability of the methodology to identify critical water levels along the road (h > 1.50 m) at those locations where flooding has been experienced, as well as points of inspection for the highway drainage. These locations were visited in the field and maintenance problems were detected that do increase its level of exposure. We show that this framework is useful for the generation of a flood management strategy to the analyzed highway, which includes an optimum location of adaptive measures to an anticipated more intense future climate.     

Estimating the CO2 intensity of intermodal freight transportation

This paper looks at the environmental effects of shifting from road to rail freight transportation. Little data is available to shippers to calculate the potential CO₂ savings of an intermodal shift. In this paper we analyze a data set of more than 400,000 intermodal shipments to calculate the CO₂ intensity of intermodal transportation as a distinct mode. Our results indicate an average intensity of 67 g of CO₂ per ton-mile, but can vary between 29 and 220 g of CO₂ per ton-mile depending on the specific origin–destination lane. We apply the market area concept to explain the variance between individual lane intensities and demonstrate the complexity in predicting the potential carbon savings in a switch from truckload to intermodal.