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.     

Chaotic movement of vortices in superconductors of high-Tc superconducting maglev system at a high speed

Vortex motion in superconductors of higb-Tc superconducting maglev system is studied by a computational simulation.The vortex system is treated in a similar fashion,as a system where defects arc arrang...     

Automation of paratransit reservation,routing, and scheduling

Santa Clara County, California experienced a sharp growth in demand‐responsive paratransit ridership for individuals with disabilities, as a result of the passage of the 1990 Americans With Disabilities Act (ADA). This paper describes an automated paratransit system for the ADA‐type paratransit operation implemented in Santa Clara County. It automated paratransit reservation, scheduling, and routing functions. The key components of this system were a digital geographic database (DGD) and an automated trip scheduling system (ATSS). Empirical evidence after one year of operation indicates numerous benefits of this automation. There were significant reductions in the paratransit operating costs and an increase in the percent shared rides. The savings in operating costs far exceeded the annualized capital cost of automation. A user survey indicates that these improvements were achieved without degradation to service quality such as vehicle on‐time performance, invehicle travel times, vehicle response to open return, and ride comfort.     

Evaluating locational accessibility to the US air transportation system

Although there are hundreds of airports that support commercial air passenger traffic in the United States (US), not all areas are equivalently served by the commercial air transportation system. Locations in the US differ with respect to their level of access to the commercial air network and their overall accessibility within the system. Given the complexity of the domestic commercial air passenger network and supporting infrastructure, past research has only been able to provide a limited assessment of locational accessibility within the United States. To address these complexities, this paper proposes a new metric that incorporates measures of access to air transport as well as accessibility within air transportation networks. Using a comprehensive dataset on scheduled airline service, the developed approach is then applied to the US domestic commercial passenger air transportation network to explore geographic differentials in accessibility. Results suggest marked differences between core-based statistical areas throughout the US.     

Trip distribution for limited destinations: a case study for grocery shopping trips in the Netherlands

In this paper, we introduce a new trip distribution model for destinations that are not homogeneously distributed. The model is a gravity model in which the spatial configuration of destinations is incorporated in the modeling process. The performance was tested on a survey with reported grocery shopping trips in the Dutch city of Almelo. The results show that the new model outperforms the traditional gravity model. It is also superior to the intervening opportunities model, because the distribution can be described as a function of travel costs, without increasing the computational time. In this study, the distribution was described by a simple function of Euclidean distance, which provides a good fit to the survey data. The slope of the distribution is quite steep. This shows that most trips are made to nearby supermarkets. However, a significant fraction of trips, mainly made by car, still goes to supermarkets further away. We argue that modeling of these trips by the new method will improve traffic flow predictions.     

Biologically induced differences in erodibility and aggregation of subtidal and intertidal sediments: a possible cause for seasonal changes in sediment deposition

This study was carried out to describe the difference in erodibility and aggregation in a tidal basin including both subtidal and intertidal study sites and to use these results to explain the shifting erosion/deposition cycles at the sites. Erosion thresholds, erosion rates and settling velocities of the eroded material were measured at a mudflat transect and at sediment cores taken from a nearby tidal channel during surveys made in May 2000 and March 2002. Surface samples were analysed for grain-size, chl. a content, faecal pellet content, dry bulk density and organic content. Additionally, surface samples were taken at eight occasions in the period January 2002 to May 2003 from shallow tidal channels in the area. These samples were analysed for mud content and showed that major shifts in sediment distribution occurred in the period. The erodibility of the mudflat was generally high due to pelletization by the mudsnail Hydrobia ulvae but close to the salt marsh much lower erodibility was found, probably due to stabilisation by microphytobenthos. In contrast, the erodibility of the channel bed seemed to be very little influenced by biological activity and the relatively low erodibility found here was caused by physical characteristics of the sediment. The sediment eroded from the mudflat was generally strongly pelletized and showed high settling velocities whereas less aggregation and lower settling velocities were found for the channel bed sediments. Temporal variations of the mudflat stability and hydrodynamics resulted in temporal variations of deposition and erosion and the changing stability at the mudflat is likely to be one of the main reasons for a general transport of fine-grained sediment from the mudflat to the channel in the cold seasons and vice versa during the rest of the year.     

Conditional modelling of tanker market risk using route specific freight rates

This paper provides statistical evidence in support of the view, widely held in the tanker industry, that there are systematic differences in the degree of risk involved in investing in tankers of different sizes, and in operating tankers in spot and time charter markets. The industry view, broadly supported by the results of this paper, is that larger vessels are 'risker' assets than smaller vessels, and operating vessels in the time-charter market is less risky than employing them on a spot basis. The results are obtained by using a method derived from the financial economics literature, which models both the conditional mean and variance of a variable, known as GARCH modelling. Only one other paper has applied this method to the tanker market, and these results provide confirmatory support of those findings.     

Study of in-vehicle route guidance systems for improvement of right-side drivers in the Japanese traffic system

A country can adopt one of two standards for traffic flow — cars may travel on the left or right side of the road. When drivers who are accustomed to driving on the right side of the road drive on the left side, and vice versa, the mental workload is likely increased due to the driver’s unfamiliarity with a new language, the position of the driver’s seat, different driving directions, and other factors that differ from those of their home country. One method of doing this is to make sure that the in-vehicle route guidance information (RGI) is not overly complicated — thereby assisting drivers in improving their safety. Consequently, the aim of this study was to facilitate mobility and improve safety for natural right-side drivers driving temporarily in left-side traffic. In this study, driver behavior and workload — given various types of RGI — were evaluated in a driving simulator with a variety of prescribable test conditions. This research was composed of two experiments. In the first, various types of in-vehicle route guidance systems were tested and evaluated in terms of their characteristics and associated driver behaviors (while driving). In the second experiment, systemic factors and effectiveness were evaluated by two combined systems, arrow and map-type information, based on the results of the first experiment. In light of both experiments, the various types of route guidance systems were discussed in terms of their results. A navigation system was proposed to alleviate some of the secondary tasks such as route selection.     

Identification of potential sites for deep-ocean waste isolation with a geographic site-selection model

Identification of optimal sites for the isolation of waste on the abyssal seafloor was performed with two approaches: by the traditional method of map overlays of relevant attributes, and by a specially developed, automated Site-Selection Model (SSM). Five initial, Surrogate Sites, identified with the map-overlay approach, were then compared with the more rigorously produced scores from the SSM. The SSM, a process for optimization of site locations, accepts subjective, expert-based judgments and transforms them into a quantitative, reproducible, and documented product. The SSM is adaptable to any siting scenario. Forty-one factors relevant to the isolation scenario, including 21 weightable factors having a total of 123 scorable categories, have been entered into the SSM. Factors are grouped under project definition, unique environments, anthropogenic, geologic, biologic, weather, oceanographic and distance criteria. The factor scores are linked to a georeferenced database array of all factors, corresponding to 1°×1° latitude–longitude squares. The SSM includes a total of 2241 one-degree squares within 1000 n.m. of the U.S. coasts, including the western North Atlantic, the Gulf of Mexico, and the eastern North Pacific. Under a carefully weighted and scored scenario of isolation, the most favorable sites identified with the SSM are on the Hatteras and Nares Abyssal Plains in the Atlantic. High-scoring sites are also located in the Pacific abyssal hills province between the Murray and Molokai Fracture Zones. Acceptable 1° squares in the Gulf of Mexico are few and of lower quality, with the optimum location on the northern Sigsbee Abyssal Plain. Two of the five Surrogate Site locations, on the Hatteras and Sigsbee Abyssal Plains, correspond to the best SSM sites in each ocean area. Two Pacific and a second Atlantic Surrogate Site are located in low-scoring regions or excluded by the SSM. Site-selection results from the SSM, although robust, are an initial attempt to quantify the site-selection process. The SSM database exposes a significant lack of high-quality information for many areally mappable attributes on the abyssal seafloor, particularly bottom-current speed and measures of biologic productivity and flux. Terminologies and classifications of some measures, such as sediment types, suffer from parochialism and vary by ocean. Considerable research is needed even for a broad understanding of the environmental measures required to make sound societal decisions about use of the abyssal seafloor for disposal or other purposes.