基于混合A*和可变半径RS曲线的自动泊车路径优化方法

路径规划是自动泊车系统的重要组成部分,是确保泊车运动安全、缩短行车距离、提高乘坐舒适性的关键。而当前自动泊车规划系统往往面临行驶空间狭小、障碍物多、路径搜索难度大等技术挑战,同时搜索曲线半径固定容易导致路径接点处曲率不连续,增大了路径跟随控制难度和轮胎磨损程度,这些都提升了泊车路径规划的研究难度。针对以上问题,设计可变半径的Reeds-Shepp曲线,提出基于混合A^*和该曲线的自动泊车路径规划方法,通过调整曲线半径,提升其在复杂场景下路径的搜索能力和灵活性。随后,设计基于分段贝塞尔曲线和梯度下降的路径优化方法,利用其多阶导数连续的优势优化已搜索的路径曲率,并采用梯度下降来保证路径曲率大小和对障碍的规避,解决直线与圆弧相接等位置曲率变化不连续的难题。结合路径搜索与路径优化的泊车规划方法能够切实满足复杂场景下的泊车需要。最后,基于团队自主研发的PanoSim虚拟系统与MATLAB搭建联合仿真环境,针对多种自动泊车工况测试验证提出的方法。研究结果表明：调整Reeds-Shepp曲线的搜索半径进行全局路径搜索,可获得更短和更易跟随的路径,具有良好的灵活性;基于贝塞尔曲线和梯度下降法的路径优化可有效消除曲率突变点、约束路径曲率并保证对障碍的无碰撞要求。     

基于智能体模拟的浮动式停车价格实施效果研究

在城市机动车保有量快速增长的背景下，制定合理的停车价格对缓解停车难问题具有重要的作用. 基于多智能体的建模方法，结合典型城市商业区停车调查数据搭建仿真环境，通过编程实现停车过程中的行为决策规则，建立浮动式停车价格下的路内停车模拟平台，并对浮动式停车价格的实施效果进行研究. 模拟结果表明，浮动式停车价格策略的实施不仅使路内停车资源的利用更为均衡，区域内车位紧张状况有所缓解，停车寻泊时间有所减少，还提高了周边道路上车辆运行速度. 本研究可以为提高停车效率、缓解区域道路交通拥堵提供一定决策建议.     

Dynamic demand estimation and microscopic traffic simulation of a university campus transportation network

Abstract

This article documents the authors' experience with the modeling, simulation, and analysis of a university transportation system, using the TRansportation ANalysis and SIMulation System (TRANSIMS). The processes of data preparation and network coding are described, followed by the algorithm developed to estimate the dynamic 24-hour demand, which includes a procedure for estimating the ‘desirability’ of the different parking lots from readily available data. The dynamic demand estimation algorithm is validated by comparing estimated and observed parking lot occupancies, where it is shown that the algorithm is capable of replicating observed results. Finally, an example is included to demonstrate how the developed model can be used in campus transportation planning. Besides serving as a first case study for using TRANSIMS to model a university campus, the study's contributions include the development of a procedure for parking lot desirability ranking and a practical procedure for estimating dynamic demand on university campuses.     

A study on smart parking guidance algorithm

Parking problem becomes one of major issues in the city transportation management since the spatial resource of a city is limited and the parking cost is expensive. Lots of cars on the road should spend unnecessary time and consume energy during searching for parking due to limited parking space. To cope with these limitations and give more intelligent solutions to drivers in the selection of parking facility, this study proposes a smart parking guidance algorithm. The proposed algorithm supports drivers to find the most appropriate parking facility considering real-time status of parking facilities in a city. To suggest the most suitable parking facility, several factors such as driving distance to the guided parking facility, walking distance from the guided parking facility to destination, expected parking cost, and traffic congestion due to parking guidance, are considered in the proposed algorithm. To evaluate the effectiveness of the proposed algorithm, simulation tests have been carried out. The proposed algorithm helps to maximize the utilization of space resources of a city, and reduce unnecessary energy consumption and CO₂ emission of wandering cars since it is designed to control the utilization of parking facility efficiently and reduce traffic congestion due to parking space search.     

城市高架桥下停车场设置及交通影响分析

随着机动车数量的快速增长,城市"停车难"的问题日益加剧。结合实际案例对城市高架桥下空间的合理利用进行分析研究,提出了桥下停车场实施建设的条件、交通影响分析方法与交通组织方案。     

A list of accident scenarios for three legs skewed intersections

The term ‘scenario’ is used in the safety field to designate a prototype or a model of an accident process characterised by chains of facts, actions, causal relations and consequences in terms of damage to people and property. The prototypical scenarios, properly realized, provide a basis on which to consider the action to be taken, but also a concrete backup for accident information for use in information campaigns or training. The objective of this study is to define the prototypical accident scenarios for a particular configuration of road intersection: the skewed intersection. Limited sight distance at skewed intersections leads to safety issues. A non-skewed intersection provides the best operating conditions as drivers can easily sense the direction in which they are travelling, estimate the speeds of the opposing traffic and smoothly complete a maneuver in shorter time. In skewed intersections, instead, the ability of drivers to recognize any conflicting vehicles diminishes in comparison to right-angle intersections. The logical-deductive approach used in this paper for the determination of accident scenarios is based on an analysis of a large database of incidents, which occurred on several roads in eastern Sicily on 35 skewed intersections at three-legs. The skew angle of the minor leg of all the intersections studied is between 15° and 20°. This research allowed to develop accident scenarios related to particular configurations of intersections, compatible with the Italian rules. Prototypical scenarios are constructed using samples of accidents occurring on a particular type of study area, especially when they are based on files from in-depth investigations. The method used is an inductive approach, based on an examination of each case, grouping together similar cases and building a prototypical scenario using this case grouping. From the in-depth analysis of database accidents 9 prototypical accident scenarios have been identified for the skewed intersections.     

基于 M/G/1模型的停车场出口排队延误

通过对大型停车场高峰时段出口车辆行驶特性的调查研究,选取了车辆排队的出口车头时距以及出口服务时间两个指标。基于两个指标实测特性和 M/G/1排队模型的分析,计算了停车场出口理论平均排队时间。通过实测车辆平均排队时间,对理论模型计算的平均排队时间进行了修正。实例分析表明：排队时间修正模型能够准确地估计排队时间。提出了基于驾驶员容忍度的排队延误分级标准。     

基于城市规划管理角度的停车问题对策研究

首先分析目前对于停车问题的常规解决思路及措施,然后分析其缺陷,最后从城市规划管理角度提出相应的保障措施及对策。主要包括控制性详细规划的编制与实施、建筑物配建标准制定及实施、土地复合开发等管理规定。研究对于指导城市新区建设、改善停车现状有重要的指导意义。     

基于实测动应力分析的车轴台架试验谱编制

通过长距离线路动应力测试,编制适用于车轴磁粉探伤周期优化研究的台架试验谱.首先,分析测试结果中车辆载重、线路工况、运行交路对车轴动应力的影响,并考虑车轮失圆的影响,确定不同影响因素的灵敏度;然后,进行应力谱极值推断,得到车轴外推应力谱;最后,得到台架试验谱,并开展台架疲劳试验.结果 表明:车轴最大应力截面上的最高频次应...     

基于演化博弈的违章停车动态罚金策略效用仿真评价

为研究改进后的动态罚金策略对违章停车现象的抑制作用及策略最优解，本文以驾驶员和执法者两类群体作为博弈主体，在改进的复制动态方程基础上，以社会总成本最小为目标建立动态罚金最优控制模型。讨论了该模型的均衡点及其稳定性，并通过庞特里亚金极小值原理求解该模型的最优解。并对改进前、后动态罚金策略的违章抑制作用和策略成本进行数据仿真检验，仿真结果显示：改进后的动态罚金模型能够找到违章停车问题的合理演化方向，在不断降低违章概率的同时还能减少执法力度；在临界状态下，即动态罚金系数趋于稳定值、执法者保持短时间的持续执法状态，改进的动态罚金策略通过改变常用的罚款方式，即降低罚款金额实现对违章停车问题的治理(在治理违章停车的效率上，临界状态与敏感度最高状态相比，即连续执法与动态执法相比治理速度提高了1倍)；改进后的动态罚金策略较改进前的违章抑制性更强、策略成本更低、执法效力更持久、所需执法力度更低，且短时间内不会出现违章停车周期复现的情景。