Prohibited–permitted right-turn phasing strategy based on capacity analysis of right-turn movements

In traffic-crowded metropolitan areas, such as Shanghai and Beijing in China, right-turn vehicles that operate with a permitted phase at signalized intersections are normally permitted to filter through large numbers of pedestrians and bicycles. To alleviate such conflicts and improve safety, traffic engineers in Shanghai introduced a prohibited–permitted right-turn operation, adding a subphase to the permitted phase in which right-turns are prohibited. Unfortunately, the prohibited subphase would reduce the capacity of right-turn movements when it prohibits right turns even if there are few pedestrians and bicycles crossing the street. This paper aims at quantifying the impact of both non-vehicular flows and the prohibited subphase on the right-turn capacity, and then proposes a strategy to determine appropriate prohibited–permitted right-turn operation that minimizes the capacity reduction caused by the prohibited subphase. To achieve this goal, we improved the pedestrian and bicycle adjustment factor described in the Highway Capacity Manual by taking into account: (1) the variety in space competition between pedestrians and bicycles, and (2) the effect of two conflict zones in each phase on right-turn operation. In addition, we revised the capacity estimation model in the Highway Capacity Manual, and developed a model based on bicycle/pedestrian volume fluctuation to describe the capacity reduction due to both non-vehicular flows and the prohibited subphase. Furthermore, we proposed a timing strategy for the onset and duration of appropriate prohibited subphase. When bicycle and pedestrian volumes are low, the actuated strategy turns to the permitted phase. When these volumes are moderate, the strategy turns to the prohibited–permitted operation. With the volumes increasing, the prohibited subphase onset advances and duration increases. In these two scenarios, the new strategy has higher right-turn capacity than the current pretimed prohibited–permitted operation. Unfortunately, when bicycle and pedestrian volumes are high, the strategy yields similar right-turn capacity. However, the new prohibited subphase has less potential vehicle–bicycle and vehicle–pedestrian conflicts.     

基于分段学习模型的自动驾驶行为决策算法研究

在具有车道线的特定自动驾驶场景中,针对目前端到端的行为决策算法直接输入原始图像进行决策导致的网络模型迁移性差、预测精度欠佳、泛化能力不足等问题,提出一种基于分段学习模型的车辆自动驾驶行为决策算法。首先,基于GoogLeNet建立一种端到端的车道线检测网络模型,并引入车道中心线作为决策的重要线索提高算法的迁移能力,同时利用YOLOv3目标检测模型对本车道内前方最近障碍物进行位置检测;而后,经几何测量模型将两者检测结果转换成环境状态信息向量为决策做支撑;最后,构建基于长短期记忆(LSTM)网络的驾驶行为决策模型,根据编码的历史状态信息刻画出动态环境中车辆的运动模式,并结合当前时刻的状态推理得到驾驶行为参量。使用建立的真实驾驶场景数据集对模型分别进行训练、验证与测试,离线测试结果显示车道线检测模型的检测位置误差小于1.3%,车道内前方障碍物检测模型的检测精度达98%以上,驾驶行为决策网络模型表征预测优度的决定系数 大于0.7。为进一步验证算法的有效性,搭建了Simulink/PreScan联合仿真平台,多种工况下的仿真验证试验中多个评价指标均达到工程精度要求,实车测试的试验结果也表明该算法可实现复杂驾驶场景下平稳、准确无偏航的预测效果并满足实时性要求,且与传统端到端模式的算法相比,具有更好的迁移性和泛化能力。     

基于预期偏移距离的人机权值分配策略研究

针对智能车辆横向运动控制中驾驶员和辅助系统的控制权限冲突问题,本文中提出一种人机权值分配策略。采用车辆在预瞄点处的预期偏移距离(PDLC)衡量车道偏离危险度,预期偏移距离通过对预瞄偏差修正获取。权值分配函数设计时以PDLC为自变量,以保证驾驶员的权值为优先控制目标,以一定的横向运动控制精度为先决条件。在CarSim/Simulink联合仿真平台和CarSim/Labview RT硬件在环实验台上对提出的控制策略进行了实验验证和数据分析。结果表明,采用权值分配策略协调驾驶员和辅助系统的控制,可在有效跟踪理想道路中心线的前提下保证驾驶员的控制权值,降低其工作负荷以及纠正驾驶员的误操作行为。     

考虑车道荷载差异的多车道桥梁横向折减系数

为考虑车道荷载差异对多车道桥梁横向折减系数的影响，提出横向折减系数的多系数表达模式，并改进基于独立重复试验的相遇车道荷载方法以进行系数校核。首先，引入反映车道荷载差异性的车道修正系数和体现多车道荷载相遇概率的车道组合系数，形成横向折减系数的多系数表达模式。其次，改进目前常用的基于独立重复试验的相遇车道荷载方法，将车道交通流量及荷载分布的差异性涵盖进来。随后，参数化研究横向折减系数的关键影响参量，包括货车通过控制断面的平均时间、荷载重现期、车道交通量和车道荷载分布等。最后，基于某高速公路实测动态称重数据，给出采用该方法校核横向折减系数的详细过程，并与传统方法及JTG D60-2015规范方法所得结果进行对比。研究表明：所提出的改进相遇车道荷载方法，摈弃了传统方法中车重正态分布、车道荷载同分布、最大观测车重与均值3.5倍偏差关系等备受质疑的假设，是更一般性的解答。参数化分析表明：货车通过控制断面的平均时间和荷载重现期对结果影响很小，货车荷载模型及其在车道间差异性则影响很显著，说明对车道荷载分布规律进行准确建模的重要性。实测车道货车荷载数据统计发现：货车的交通量和荷载分布在车道之间具有明显的差异，传统方法和规范方法给出的横向折减系数均高估了实际情况，最大达19%，可能造成设计与管养资源的浪费；而基于该方法校核的横向折减系数，更能深入揭示各车道荷载的贡献规律，准确反映不同车道组合作用下的荷载横向折减规律，具有显著的工程应用价值。     

Development and evaluation of bus lanes with intermittent and dynamic priority in connected vehicle environment

Exclusive bus lanes provide a very high level of priority for transit operations, especially for Bus Rapid Transit and Express service, but these lanes could be underutilized and be a source of extra capacity if they could be shared in an intelligent way. This article explores the benefits of providing intermittent priority, called bus lane with intermittent and dynamic priority, of these exclusive bus lanes. Intermittent and dynamic priority can be implemented by allowing vehicles to use the lane when Bus Rapid Transit or Express bus is not present. Drivers can be alerted when a bus is in the lane using either infrastructure-based signs, or in the future using infrastructure-to-vehicle, or connected vehicle communications. Some critical operating parameters for implementing bus lane with intermittent and dynamic priority system including clear distance, degree of saturation (volume-to-capacity ratio), connected vehicle penetration, and bus departure/headway frequency have been investigated in this paper.     

Modelling and model predictive control for a bicycle-rider system

This study proposes a bicycle-rider control model based on model predictive control (MPC). First, a bicycle-rider model with leaning motion of the rider’s upper body is developed. The initial simulation data of the bicycle rider are then used to identify the linear model of the system in state-space form for MPC design. Control characteristics of the proposed controller are assessed by simulating the roll-angle tracking control. In this riding task, the MPC uses steering and leaning torques as the control inputs to control the bicycle along a reference roll angle. The simulation results in different cases have demonstrated the applicability and performance of the MPC for bicycle-rider modelling.     

Performance evaluation of the inside intersection median-turn lane markings on the mobility and safety performance of signalized intersections in the Philippines and Japan

Signalized intersections are one of the key elements that play a vital role at road networks. The efficiency and safety levels of intersections can affect the operational performance of the whole system. In general, turning traffic, especially median-turning, has always been considered as the most problematic movement in the operation of intersections. This becomes more critical with high turning demand where exclusive turning lanes (single or double) can be assigned to provide larger capacities for these movements and to reduce conflicts with through traffic. However, improper treatment of median-turn lanes could create cross-maneuvering behavior which may limit the expected increase in capacity and create safety issues. Median-turning lane markings are commonly provided at intersections in Japan to guide drivers while turning which is expected to reduce the conflicts among turning traffic. Meanwhile, in the Philippines, exclusive median-turn lanes are installed at intersections without proper treatment which may contribute to the low mobility and safety levels. Therefore, this study evaluated the impact of inside intersection lane markings on the operation of median-turn lanes in terms of mobility and safety. The vehicle maneuver, speed and interactions between the turning traffic were utilized as essential components for the assessment. The empirical analysis shows that conflicting trajectories were present on double turn lanes without median-turn lane markings in the Philippines, which resulted to serious conflicts among the turning vehicles and negatively influenced the turning speed and saturation flow rate of the turn lanes. On the other hand, the turn lane markings in Japan, provided a positive impact to mobility and safety of the turning lanes. Moreover, it was also found that the geometric characteristics and traffic signal phasing scheme highly affects the capacity and safety condition of signalized intersections.     

基于工程分解的船体生产物流管理研究

船舶建造的物流特点表现为:物流量大、周期长且具有动态性。零件生产能力不足、理料效率低下和配送困难是国内造船企业在实施精益造船、建立现代造船模式的过程中普遍遇到的船体结构建造问题。通过对某船厂的生产布局进行分析,运用工程分解的理论对船体生产物流管理模式进行深入探讨,并提出新的结构流向设计原则,以期提高管理的精细化与数字化,最终形成规范的物流管理体系。     

城市隧道出口公交车换道行为对交通流的影响

为了研究城市隧道出口处公交车的换道行为对交通流的影响,以城市隧道出口公交车的换道特性为研究对象,阐述并分析了公交车在城市隧道出口换道过程中的3种影响状态.然后采用摄像法采集相关数据并分析,借助SPSS软件构建了关于公交换道频率、公交换道持续时间、最大公交换道长度及其存在时间、隧道交通流量与车头时距关系的多元线性模型,并进行了相关性检验,得出了公交车换道对城市隧道出口交通流影响的主要因素.     

基于路权分配的自行车道改造规划设计探讨——以温州市区为例

随着机动车交通负面影响的逐步扩大以及绿色出行理念的日渐兴起,市民出行方式开始向步行和自行车交通回归,亟须研究如何合理分配路权以指导自行车道改造。首先指出温州市现阶段自行车道存在空间规模不足、占用现象严重、管理理念尚未转变等突出问题。提出自行车道改造规划设计应遵循的原则以及对横断面空间的要求。最后,基于路权分配阐述自行车道与机动车道、人行道、公共汽车站以及路内停车的关系及处理方式,通过对道路空间进行再分配指导自行车道改造实践。