基于NGSIM数据的车道级车辆换道策略研究

随着无人车技术的逐渐成熟,传统路径规划已经不能满足要求,迫切需要利用高精度地图定位技术完成车道级路径规划。已有的车道级路径规划从车道变换风险、不安全因素和实际执行情况等方面展开,未对换道策略合理性进行研究。本文以NGSIM数据为基础,研究换道次数与车道级行程时间关系,提出以路段级行程时间作为换道策略评判标准,并进一步分析车辆时空轨迹图,给出了最优换道策略。     

多车道高速公路强制换道模型研究

基于间隙插入理论和概率理论,并考虑相对运动的影响,论文研究了多车道高速公路换道行为。论文提出了考虑相对运动的强制换道模型,并进行了案例分析。模型将为工程设计提供重要的量化依据和基础数据。     

基于METANET模型的车道级可变限速控制研究

可变限速控制是一种应用广泛的主动管理方式，能够提高车辆的通行效率和安全性。现有研究集中在对多车道路段不区分车道进行限速控制。事实上，不同车道的交通状态有所不同，且换道行为本身也会对交通流造成影响，进而影响限速控制的效果。本文基于METANET模型，提出一个新的高速公路多车道交通流模型。以总行程时间最小和总周转量最大作为目标函数，建立了车道级可变限速控制模型。利用MATLAB数值仿真的方法，基于真实交通数据对所提出的模型进行了评价。研究结果显示，相较于整体可变限速控制，车道级可变限速控制使车辆总行程时间减少了5.9%，总周转量提高了6.8%，证明本文提出的模型能够更进一步提升高速公路通行能力、缓解交通拥堵。     

基于随机效用理论和安全距离的换道行为研究

换道对交通流的运行有重要影响，为探究车路协同环境下的换道行为，本文将换道决策过程分为车道决策和安全决策两个阶段，基于车路协同技术特点，提出了车路协同环境下综合考虑驾驶人车道选择特性和换道安全性的分层换道模型。模型的第一层为基于随机效用理论的车道决策Logit模型，第二层为基于最小安全距离的安全决策模型。然后，从路段视频中提取车辆实际行驶数据对模型进行参数标定和检验，利用元胞自动机对车路协同环境下的一般换道决策Logit模型和所建模型进行仿真。结果表明，较一般Logit模型，本文所建模型更能优化车辆自主性换道行为，提高路段通行效率和交通流稳定性。     

高速公路连续长下坡路段行车安全分析

连续长下坡路段是高速公路交通事故的多发路段,而载重汽车又占了肇事车辆的绝大多数.从车辆的运行特征、制动性能、超载行驶等方面分析了目前长下坡路段载重车辆事故多发的原因,并采用刹车毂的实测温度来评价车辆的制动性能,以此作为沿线避险车道、加水站等交通安全设施的设计依据.     

紧急避险车道的现况与发展

紧急避险车道是一种道路安全设施。修建紧急避险车道的目的:将失控车辆造成的事故损失降低;保障道路交通顺畅和道路周边安全,避免恶性事故发生。     

农村公路路面设计对车道系数的选用

通过对路表弯沉盆的调查研究,分析了相邻车辆荷载对车道系数的影响,并提出了公路路面结构设计时对车道系数的选用方法,希望能对公路路面早期病害的预防有所帮助。     

浅谈避险车道设计

针对大重型车辆在下坡道路处存在的潜在危险性,通过查阅有关资料,总结了有关避险车道的设置、设计及注意事项,并展望了避险车道的应用前景。     

终南山公路隧道交通事故特征及预防措施研究

为了查明特长隧道交通事故的总体分布规律、发展动向及各影响因素的相互关系,从而有针对性地预防交通事故,文章以秦岭终南山公路隧道为研究对象,采用统计分析、对比分析和图表分析的方法,研究了特长隧道交通事故时空分布特征、形态分布特征、车辆类型分布特征以及事故成因分布特征,并提出了视觉诱导技术、路面处理技术、光线过渡技术、路侧宽度变化引导技术等预防措施。结果表明:秦岭终南山隧道2007—2016年事故统计中,第一季度和第三季度的交通事故数分别为最高和最低;2014年发生的交通事故最多,而2012年发生的交通事故最少;隧道出入口附近是交通事故易发、多发路段;擦伤道沿和追尾事故类型发生最多;疲劳驾驶和操作失误是引发交通事故的主要原因;事故车辆多为小客车和货车;采取以上技术预防措施,可有效降低交通事故率。     

多车道排水沥青路面排水能力影响因素研究

高速公路改扩建为八车道后,路面宽度增幅较大,在南方夏季多雨地区,局部路段路面排水不畅,从而可能引发交通事故.文章针对此问题在采用排水沥青路面的基础上,通过ABAQUS有限元软件建立模型,研究多车道单、双层不同排水沥青路面结构在长期降雨条件下与排水能力的关系,为多车道排水沥青路面设计提供借鉴参考.结果表明:路面厚度的增加...     

A kinematic wave theory of lane-changing traffic flow

Frequent lane-changes in highway merging, diverging, and weaving areas could disrupt traffic flow and, even worse, lead to accidents. In this paper, we propose a simple model for studying bottleneck effects of lane-changing traffic and aggregate traffic dynamics of a roadway with lane-changing areas. Based on the observation that, when changing its lane, a vehicle affects traffic on both its current and target lanes, we propose to capture such lateral interactions by introducing a new lane-changing intensity variable. With a modified fundamental diagram, we are able to study the impacts of lane-changing traffic on overall traffic flow. In addition, the corresponding traffic dynamics can be described with a simple kinematic wave model. For a location-dependent lane-changing intensity variable, we discuss kinematic wave solutions of the Riemann problem of the new model and introduce a supply–demand method for its numerical solutions. With both theoretical and empirical analysis, we demonstrate that lane-changes could have significant bottleneck effects on overall traffic flow. In the future, we will be interested in studying lane-changing intensities for different road geometries, locations, on-ramp/off-ramp flows, as well as traffic conditions. The new modeling framework could be helpful for developing ramp-metering and other lane management strategies to mitigate the bottleneck effects of lane-changes.     

A dynamic lane-changing trajectory planning model for automated vehicles

This paper focuses on the lane-changing trajectory planning (LTP) process in the automatic driving technologies. Existing studies on the LTP algorithms are primarily the static planning method in which the states of the surrounding vehicles of a lane-changing vehicle are assumed to keep unchanged in the whole lane-changing process. However, in real-world traffic, the velocities of the surrounding vehicles change dynamically, and the lane-changing vehicle needs to adjust its velocity and positions correspondingly in real-time to maintain safety. To address such limitations, the dynamic lane-changing trajectory planning (DLTP) model is proposed in the limited literature. This paper proposes a novel DLTP model consisting of the lane-changing starting-point determination module, trajectory decision module and trajectory generation module. The model adopts a time-independent polynomial trajectory curve to avoid the unrealistic assumptions on lane-changing velocities and accelerations in the existing DLTP model. Moreover, a rollover-avoidance algorithm and a collision-avoidance algorithm containing a reaction time are presented to guarantee the lane-changing safety of automated vehicles, even in an emergent braking situation. The field lane-changing data from NGSIM data are used to construct a real traffic environment for lane-changing vehicles and verify the effectiveness of the proposed model, and CarSim is applied to investigate the traceability of the planned lane-changing trajectories using the proposed model. The results indicate that an automated vehicle can complete the lane-changing process smoothly, efficiently and safely following the trajectory planned by the proposed model, and the planned velocity and trajectory can be well-tracked by automated vehicles.     

慢行交通系统实践与设施规划研究

我国正处于机动化发展的快速时期,机动车保有量保持逐年递增趋势,交通拥堵、交通事故及严重违反交通安全的行为不断上升,慢行交通系统的研究正在逐渐受到公众的关注。文章对慢行交通系统组成及各自特点进行阐述,研究了慢行交通设施的规划设置方法,并提出了具体设计方案,为实现城市低碳交通及城市交通可持续发展提供新思路。     

A multi-commodity Lighthill–Whitham–Richards model of lane-changing traffic flow

Systematic lane changes can seriously deteriorate traffic safety and efficiency inside lane-drop, merge, and other bottleneck areas. In our previous studies (Jin, 2010a, Jin, 2010b), a phenomenological model of lane-changing traffic flow was proposed, calibrated, and analyzed based on a new concept of lane-changing intensity. In this study, we further consider weaving and non-weaving vehicles as two commodities and develop a multi-commodity, behavioral Lighthill–Whitham–Richards (LWR) model of lane-changing traffic flow. Based on a macroscopic model of lane-changing behaviors, we derive a fundamental diagram with parameters determined by car-following and lane-changing characteristics as well as road geometry and traffic composition. We further calibrate and validate fundamental diagrams corresponding to a triangular car-following fundamental diagram with NGSIM data. We introduce an entropy condition for the multi-commodity LWR model and solve the Riemann problem inside a homogeneous lane-changing area. From the Riemann solutions, we derive a flux function in terms of traffic demand and supply. Then we apply the model to study lane-changing traffic dynamics inside a lane-drop area and show that the smoothing effect of HOV lanes is consistent with observations in existing studies. The new theory of lane-changing traffic flow can be readily incorporated into Cell Transmission Model, and this study could lead to better strategies for mitigating bottleneck effects of lane-changing traffic flow.     

Modeling lane-changing behavior in a connected environment: A game theory approach

Vehicle-to-Vehicle communications provide the opportunity to create an internet of cars through the recent advances in communication technologies, processing power, and sensing technologies. A connected vehicle receives real-time information from surrounding vehicles; such information can improve drivers’ awareness about their surrounding traffic condition and lead to safer and more efficient driving maneuvers. Lane-changing behavior, as one of the most challenging driving maneuvers to understand and to predict, and a major source of congestion and collisions, can benefit from this additional information. This paper presents a lane-changing model based on a game-theoretical approach that endogenously accounts for the flow of information in a connected vehicular environment. A calibration approach based on the method of simulated moments is presented and a simplified version of the proposed framework is calibrated against NGSIM data. The prediction capability of the simplified model is validated. It is concluded the presented framework is capable of predicting lane-changing behavior with limitations that still need to be addressed. Finally, a simulation framework based on the fictitious play is proposed. The simulation results revealed that the presented lane-changing model provides a greater level of realism than a basic gap-acceptance model.     

基于关联规则的重大道路交通事故影响因素分析

相比于一般交通事故,重大道路交通事故的特征及其影响机理会有所差异,本文旨在研究重大道路交通事故的分布特征及其主要影响因素。收集2014至2018年的重大道路交通事故数据,从驾驶员行为、车辆状况、道路线形和时空分布方面对重大道路交通事故的基本特征进行分析,采用关联规则技术深入挖掘重大道路交通事故多因素的影响机理。从人、车、道路和环境四个方面,重点讨论了重大道路交通事故中的两因素和三因素交互作用的影响机理,并据此提出了针对性的事故预防措施。     

A microscopic analysis of speed deviation impacts on lane-changing behavior

Driving behavior models that capture drivers’ tactical maneuvering decisions in different traffic conditions are essential to microscopic traffic simulation systems. This paper focuses on a parameter that has a great impact on road users’ aggressive overtaking maneuvers and directly affects lane-changing models (an integral part of microscopic traffic simulation models), namely, speed deviation. The objective of this research is to investigate the impacts of speed deviation in terms of performance measures (delay time, network mean speed, and travel time duration) and the number of lane-change maneuvers using the Aimsun traffic simulator. Following calibration of the model for a section of urban highway in Tehran, this paper explores the sensitivity of lane-changing maneuvers during different speed deviations by conducting two types of test. Simulation results show that, by decreasing speed deviation, the number of lane changes reduces remarkably and so network safety increases, thus reducing travel time due to an increase in network mean speed.     

Assessing the impacts of driving environment on driving behavior patterns

Transportation - Considering the role of behavioral and environmental factors on road accidents and traffic intensities, the characterization of vehicle use and driver behavior opens new...     

Safety aspects of freeway weaving sections

One source of vehicle conflict is the freeway weaving section, where a merge and diverge in close proximity require vehicles either entering or exiting the freeway to execute one or more lane changes. Using accident data for a portion of Southern California, we examined accidents that occurred on three types of weaving sections defined in traffic engineering: Type A, where every merging or diverging vehicle must execute one lane change, Type B, where either merging or diverging can be done without changing lanes, and Type C, where one maneuver requires at least two lane changes. We found no difference among these three types in terms of overall accident rates for 55 weaving sections over one year (1998). However, there were significant differences in terms of the types of accidents that occur within these types in terms of severity, and location of the primary collision, the factors causing the accident, and the time period in which the accident is most likely to occur. These differences in aspects of safety lead to implications for traffic engineering improvements.     

Analysis of a cooperative variable speed limit system using microscopic traffic simulation

Variable speed limit systems where variable message signs are used to show speed limits adjusted to the prevailing road or traffic conditions are installed on motorways in many countries. The objectives of variable speed limit system installations are often to decrease the number of accidents and to increase traffic efficiency. Currently, there is an interest in exploring the potential of cooperative intelligent transport systems including communication between vehicles and/or vehicles and the infrastructure. In this paper, we study the potential benefits of introducing infrastructure to vehicle communication, autonomous vehicle control and individualized speed limits in variable speed limit systems. We do this by proposing a cooperative variable speed limit system as an extension of an existing variable speed limit system. In the proposed system, communication between the infrastructure and the vehicles is used to transmit variable speed limits to upstream vehicles before the variable message signs become visible to the drivers. The system is evaluated by the means of microscopic traffic simulation. Traffic efficiency and environmental effects are considered in the analysis. The results of the study show benefits of the infrastructure to vehicle communication, autonomous vehicle control and individualized speed limits for variable speed limit systems in the form of lower acceleration rates and thereby harmonized traffic flow and reduced exhaust emissions.