Desired yaw rate and steering control method during cornering for a six-wheeled vehicle

This paper proposes a steering control method based on optimal control theory to improve the maneuverability of a six-wheeled vehicle during cornering. The six-wheeled vehicle is believed to have better performance than a four-wheeled vehicle in terms of its capability for crossing obstacles, off-road maneuvering and fail-safe handling when one or two of the tires are punctured. Although many methods to improve the four-wheeled vehicle’s lateral stability have been studied and developed, there have only been a few studies on the six-wheeled vehicle’s lateral stability. Some studies of the six-wheeled vehicle have been reported recently, but they are related to the desired yaw rate of a four-wheeled vehicle to control the six-wheeled vehicle’s maneuvering during corning. In this paper, the sideslip angle and yaw rate are controlled to improve the maneuverability during cornering by independent control of the steering angles of the six wheels. The desired yaw rate that is suitable for a six-wheeled vehicle is proposed as a control target. In addition, a scaled-down vehicle with six drive motors and six steering motors that can be controlled independently is designed. The performance of the proposed control methods is verified using a full model vehicle simulation and scaled-down vehicle experiment.     

Public perceptions of the use of dynamic message signs

Intelligent transportation systems have been promoted as a means to improve both the efficiency and safety of the road network. The effectiveness of advanced technologies in improving road safety has been an area of research which has thus far yielded mixed results. In order to ensure that advanced technologies deliver on their intended outcomes, more research has to be devoted to understanding road users' perceptions and reactions to these systems. This study examines drivers' perceptions of the use of dynamic message signs and their self‐reported reactions to the messages displayed. In general, drivers support the use of highway electronic boards for traffic incident reports and weather information which have an impact on traffic delays and level of service. They also think that it is a good idea to display road safety messages and to remind drivers to drive safely and be courteous on the roads. Moreover, most drivers reported that they do read and think about the messages displayed and react positively to some of the road safety messages.     

Deconstructing development density: Quality, quantity and price effects on household non-work travel

Smart growth and transit-oriented development proponents advocate increasing the density of new land development and infill redevelopment. This is partly in order to reduce auto use, by reducing distances between trip origins and destinations, creating a more enjoyable walking environment, slowing down road travel, and increasing the market for transit. But research investigating how development density influences household travel has typically been inadequate to account for this complex set of hypotheses: it has used theoretically unjustified measures, has not accounted for spatial scale very well, and has not investigated potentially important combinations of measures. Using data from a survey of metropolitan households in California, measures of development density corresponding to the main hypotheses about how density affects travel—activity density affecting distance traveled, network load density affecting the speed of auto travel, and built form density affecting the quality of walking—are tested as independent variables in models of auto trip speed and individual non-work travel. Residential network load density is highly negatively correlated with the speed of driving, and is also highly correlated with non-work travel, both singly and in combination with other measures. Activity density and built form density are not as significantly related, on their own. These results suggest that denser development will not influence travel very much unless road level-of-service standards and parking requirements are reduced or eliminated.     

A methodological approach for developing and assessing business models for flexible transport systems

Flexible transport services include a wide range of demand responsive transport systems that provide non-conventional passenger and freight transportation services. Several alternative business models varying according to the local market conditions, the socio-economic, legal, and institutional framework may be developed for the provision of Flexible Transport Systems (FTS). The objective of this paper is twofold: first to present an integrated methodological framework for developing and assessing alternative FTS business models and second to demonstrate its applicability to a case study regarding the prioritization of alternative FTS business models for the provision of flexible passenger transport services in Helsinki.

Immigration, residential location, car ownership, and commuting behavior: a multivariate latent class analysis from California

Using latent class cluster analysis, this paper investigates the spatial, social, demographic, and economic determinants of immigrants’ joint distribution among travel time, mode choice, and departure time for work using the 2000 Census long form data. Through a latent tree structure analysis, age, residential location, immigration stage, gender, personal income, and race are found to be the primary determinants in the workplace commute decision-making process. By defining several relatively homogeneous population segments, the likelihood of falling into each segment is found to differ across age groups and geography, with different indicators affecting each group differentially. This analysis complements past studies that used regression models to investigate socio-demographic indicators and their impact on travel behavior in two distinct ways: (a) analysis is done by considering travel time, mode choice, and departure time for work simultaneously, and (b) heterogeneity in behavior is accounted for using methods that identify different groups of behavior and then their determinants. Conclusively the method here is richer than many other methods used to study the ethnically diverse population of California and shows the addition of geographic location and latent segment identification to greatly improve our understanding of specific behaviors. It also provides evidence that immigrants are as diverse as the non-immigrant population and transportation policies need to be defined accordingly.

Disturbance Observer-Based Sideslip Angle Control for Improving Cornering Characteristics of In-Wheel Motor Electric Vehicles

In this paper, a robust sideslip angle controller based on the direct yaw moment control (DYC) is proposed for in-wheel motor electric vehicles. Many studies have demonstrated that the DYC is one of the effective methods to improve vehicle maneuverability and stability. Previous approaches to achieve the DYC used differential braking and active steering system. Not only that, the conventional control systems were commonly dependent on the feedback of the yaw rate. In contrast to the traditional control schemes, however, this paper proposes a novel approach based on sideslip angle feedback without controlling the yaw rate. This is mainly because if the vehicle sideslip angle is controlled properly, the intended sideslip angle helps the vehicle to pass through the corner even at high speed. On the other hand, the vehicle may become unstable because of the too large sideslip caused by unexpected yaw disturbances and model uncertainties of time-varying parameters. From this aspect, disturbance observer (DOB) is employed to assure robust performance of the controller. The proposed controller was realized in CarSim model described actual electric vehicle and verified through computer simulations.     

Estimating travel time functions for urban roads: options and issues

Travel time functions specify the relationship between the travel time on a road and the volume of traffic on the road. Until recently, the parameters of travel time functions were rarely estimated in practice; however, a compelling case can be made for the empirical examination of these functions. This paper reviews, and qualitatively evaluates, a range of options for developing a set of travel time functions. A hierarchy of travel time functions is defined based on four levels of network detail: area, corridor, route and link. This hierarchy is illustrated by considering the development of travel time functions for Adelaide. Alternative sources of data for estimating travel time functions are identified.

In general, the costs and benefits increase as the travel time functions are estimated at finer levels of network detail. The costs of developing travel time functions include data acquisition costs and analysis costs. The benefits include the potential for reducing prediction errors, the degree of application flexibility and the policy sensitivity of the travel time functions.     

Alternative fuels for transportation

The alternatives to the oil based fuels for transportation are considered and analysed. These are the synthetic fuels, made from coal, the liquid petroleum gases of propane and butane, compressed natural gas and methanol. The problems associated with the use of electric vehicles are discussed; the main problem being that of range.

The possible use of hydrogen as a fuel is analysed in some detail. Since its supply can be tied directly to nuclear energy sources, rather than hydrocarbon feed stocks, it could be an alternative in the long term. The main problems of the storage of hydrogen on the vehicle and of its propensity to “back‐fire” into the engine intake are discussed. The first can be ameliorated and the second eliminated by dual fuelling; with petrol. It is advocated that the on‐board storage of hydrogen be by the use of hydrides for private cars. However, it is expected that it may be as liquid hydrogen for some forms of transport and will certainly be in this form for aircraft.     

Dynamics of LRT growth: Karlsruhe since 1975

The public transport system of Karlsruhe, in particular its innovative services on jointly used heavy rail lines, has received substantial attention throughout the past 20 years. The discussion of the system and of its development has been rather limited in the past, mostly highlighting technical aspects. This paper provides an overview of the development, including the urban development, of the region and of the funding system. The ridership and financial development of the operator is documented in detail. Three case studies focus on the integration of the system development in the general political process of the region and demonstrate the limitations of the operator under its current ownership structures.