Lane-following method for high speed autonomous vehicles

This paper presents a steering control method for lane-following in a vehicle using an image sensor. With each image frame acquired from the sensor, the steering control method determines target position and direction, and constructs a travel path from the current position to the target position either as an Arc-path or S-path. The steering angle is calculated from the travel path thus generated, and the vehicle follows the travel path via motor-control. The method was tested using a vehicle dubbed as KAV (Korea Autonomous Vehicle) along an expressway (Seoul Inner Beltway) trajectory with a variety of radii (50 m ∼ 300 m) while traveling at a speed of 60 km/h to 80 km/h. Compared with an experienced human driver, the method showed little much difference in performance in terms of lane-center deviation. The proposed method is currently employed for high speed autonomous driving as well as for stop and go traffic.     

Modeling children’s school travel mode and parental escort decisions

Understanding of the activity-travel patterns of children is becoming increasingly important to various policy makers. Further, there is also a growing recognition that intra-household interactions need to be explicitly accommodated in travel models for realistic forecasts and policy evaluation. In the light of these issues, this paper contributes towards an overall understanding of the school-travel behavior of children and the related interdependencies among the travel patterns of parents and children. An econometric model is formulated to simultaneously determine the choice of mode and the escorting person for children’s travel to and from school. The 2000 San Francisco Bay Area Travel Survey (BATS) data are used in the model estimation process. Empirical results indicate that the characteristics of child like age, gender, and ethnicity, and employment and work flexibility characteristics of the parents have strong impacts on the mode choice decisions. In addition, the impacts of some of these attributes on the choice of mode to school are different from the corresponding impacts on the choice of mode from school. The distance between home and school is found to strongly and negatively impact the choice of walking to and from school, with the impact being stronger for walking to school. Several land-use and built-environment variables were explored, but were found not to be statistically significant predictors.

Exploring spatial variety in patterns of activity-travel behaviour: initial results from the Toronto Travel-Activity Panel Survey (TTAPS)

Studies of urban travel behaviour typically focus on weekday activities and commuting. This is surprising given the rising contribution of discretionary activities to daily travel that has occurred during the last few decades. Moreover, current understanding of the relationship between travel behaviour and land use remains incomplete, with little research carried out to explore spatial properties of activity-travel behaviour during the off-peak and weekend time periods. Weekend behaviours, for example, influenced by the availability of time and the spatiotemporal distribution of “weekend” destinations, likely produce spatially and temporally distinct activity-travel patterns. Using data from the first wave of the Toronto Travel-Activity Panel Survey (TTAPS), this paper examines an area of research that has received little attention; namely, the presence of spatial variety in activity-travel behaviour. The paper begins by looking at the extent to which individuals engage in spatially repetitive location choices during the course of a single week. Area-based measures of geographical extent and activity dispersion are then used to expose differences in weekday-to-weekend and day-to-day activity-travel patterns. Examination of unclassified activities carried out over a 1 week period reveals a level of spatial repetition that does not materialise across activities classified by type, travel mode, and planning strategy. Despite the inherent spatial flexibility offered by the personal automobile, spatial repetition is also found to be surprisingly similar across travel modes. The results also indicate weekday-to-weekend, and day-to-day fluctuations in spatial properties of individual activity-travel behaviour. These findings challenge the utility of the short-run survey as an instrument for capturing archetypal patterns of spatial behaviour. In addition, the presence of a weekday-to-weekend differential in spatial behaviour suggests that policies targeting weekday travel reduction could have little impact on travel associated with weekend activities.

A chance-constrained based stochastic dynamic traffic assignment model: Analysis, formulation and solution algorithms

This paper is concerned with the system optimum-dynamic traffic assignment (SO-DTA) problem when the time-dependent demands are random variables with known probability distributions. The model is a stochastic extension of a deterministic linear programming formulation for SO-DTA introduced by Ziliaskopoulos (Ziliaskopoulos, A.K., 2000. A linear programming model for the single destination system optimum dynamic traffic assignment problem, Transportation Science, 34, 1–12). The proposed formulation is chance-constrained based and we demonstrate that it provides a robust SO solution with a user specified level of reliability. The model provides numerous insights and can be a useful tool in producing robust control and management strategies that account for uncertainty in applications where SO-DTA is relevant (e.g. evacuation modeling, computing alternate routes around freeway incidents and establishing lower bounds on network performance).     

底部薄板附近的水流及泥沙运动特性

通过水槽实验探讨了在饱和来沙条件下底部薄板附近的水流、泥沙运动特性,包括不同薄板高度、与水流不同夹角的安装方向等情况下,单个底部薄板附近的水流结构、泥沙运动规律、底部薄板的导沙特性及其附近的冲淤现象,以及底部薄板群体的导沙特性。试验结果表明,实验使用的薄板的长度对实验结果影响很大,过短的薄板实验根本观察不到薄板前冲刷沟内的沙波运动,而该沙波运动严重影响薄板的导沙效应。底部薄板附近的水流结构具有强烈的三维特性,流场复杂,对于一定的薄板,水流夹角、沙波的运动是影响薄板的导流导沙促淤的主要因素。     

Trading strategies in the market for tankers

This paper introduces a new approach in timing the sale and purchase of ships in the tanker market and examines the performance of this trading strategy over the period January 1976 to September 2004. Based on the long-run cointegration relationship between earnings and price, we establish a trading model which can be used as an indicator of investment or divestment timing decisions. We also perform statistical tests using the bootstrap approach in order to discount the possibility of data snooping biases and test the robustness of our trading models. Our results indicate that trading strategies based on earning-price ratios significantly out-perform buy and hold strategies in the tanker market.     

Computer-Simulation of the Dynamical Curving Behaviour of a Railway-Bogie

This paper describes the modelling of a two axle railway-bogie with variable design configurations and its application in the investigation of the behaviour in transitional and circular curves. Several results indicate possibilities to improve the curving properties and recommend the usage of forced-steering bogies, which show better performance in narrow curves without unbearable sacrifices to high-speed-behaviour on straight track.     

Privatisation and the quality of rail services

Using the concept of generalised costs to reflect quality in rail services, we consider the level of provision and quality of these services in the various forms they may take in a privatised environment within a model where we assume linear and separable demand and cost functions for analytical simplicity. Using the Pareto-efficient output and quality outcomes under a fully integrated system for reference (as well as those for a fully integrated profit-maximising monopolist) we show that if either bilateral monopoly or complementary monopoly emerge as a market structure the output of train services and their quality will generally fall. In the case of the emergence of both bilateral monopoly and complementary monopoly our analysis again suggests poor welfare outcomes. The implication that can be drawn from our analysis is that a regulator of a privatised rail system faces some severe problems if she is to attain the appropriate welfare targets.