Investigations of interactions between bus rapid transit and general traffic flows

Bus rapid transit (BRT) is a popular strategy to increase transit attraction because of its high‐capacity, comfortable service, and fast travel speed with the exclusive right‐of‐way. Various engineering designs of right‐of‐way and the violation enforcement influence interactions between BRT and general traffic flows. An empirical assessment framework is proposed to investigate traffic congestion and lane‐changing patterns at one typical bottleneck along a BRT corridor. The BRT bottleneck consists of bus lane, BRT station, video enforcement zone, and transit signal priority intersection. We analyze oblique cumulative vehicle counts and oblique cumulative lane‐changing maneuvers extracted from videos. The cumulative vehicle counts method widely applied in revealing queueing dynamics at freeway bottlenecks is extended to an urban BRT corridor. In the study site, we assume four lane‐changing patterns, three of which are verified by the empirical measurements. Investigations of interactions between buses and general traffic show that abnormal behaviors (such as lane violations and slow moving of the general traffic) induce 16% reduction in the saturation rate of general traffic and 17% increase in bus travel time. Further observations show that the BRT station and its induced increasing lane‐changing maneuvers increase the downstream queue discharge flows of general traffic. The empirical results also contribute to more efficient strategies of BRT planning and operations, such as alternative enforcement methods, various lane separation types, and optimized traffic operations. Copyright © 2014 John Wiley & Sons, Ltd.     

大城市公交专用道网络优化技术研究

针对目前我国各城市公交专用道布置分散、覆盖面积小和未成系统的现状,对公交专用道系统化、网络化、规模化的整体优化方法进行了研究,建立了公交专用道的网络优化模型,提出了公交专用道优化方案的客流预测及评价方法。     

面向前车的驾驶行为感知与意图识别算法研究

感知周围车辆的驾驶行为并识别其意图将成为新一代高级驾驶辅助系统的重要组成部分。针对现有方法只考虑单一驾驶行为且可扩展性和可伸缩性差,提出一种基于稀疏表示理论的驾驶行为感知字典模型(Driving Behavior Perception Dictionary Model, DBPDM)。将车辆行驶状态视为时间序列,设计基于自回归积分移动平均(Autoregressive Integrated Moving Average,ARIMA)结合在线梯度下降(Online Gradient Descent, OGD)优化器的在线预测模型,提出基于驾驶行为预测的意图识别构架(Intention Recognition Framework, IRF)。首先,采用图Lasso方法估计典型驾驶行为的稀疏逆协方差矩阵构建驾驶行为字典库,并采用Logdet散度方法计算各逆协方差矩阵的差异获得行为感知字典模型。然后,基于在线预测模型对目标车辆的行驶轨迹和运动状态进行预测,结合主车车辆的行驶状态作为稀疏表示的观测信号,以获取预测时域内的目标车辆意图。最后,采用NGSIM (Next Generation SIMulation)真实驾驶数据对模型进行开发和测试。研究结果表明:所提出的行为感知模型能对6种典型驾驶行为构建行为字典,在分类准确率上与现有方法相比有明显提升,对换道和转向行为样本的平均识别准确率分别达到99.1%和92.9%;该模型能够在相对早期阶段准确地识别出车辆行为;在线预测算法能较好预测出目标车辆的行驶轨迹和运动状态,从而间接地反映出其在预测时域内的驾驶意图;IRF可在换道和转向行为开始前的1.5 s较为准确地识别出目标车辆的意图,平均识别准确率超过80%。     

基于边缘分布及特征聚类的车道标记线检测

提出一种基于边缘分布和特征聚类的车道标记线检测方法。首先采用可变窗口计算车道标记线局部灰度阈值,结合图像梯度提取出有效边缘。然后按照不同工况下车道标记线的边缘分布特性,提取特征点。最后对特征点进行聚类处理,将离散的特征点归类为不同的直线段。测试结果表明,该方法可取得较高的车道线识别率,有效排除误识别,准确表示车道线方向信息。     

混合交通下智能网联车借道公交专用车道控制

为研究含人工车的混合交通流下部分智能网联车借道城市公交专用车道的控制问题，以 两个信号交叉口间公交专用车道为研究对象，提出以不妨碍公交车优先通行、满足换道动机和换 道安全条件的智能网联车借道公交车道控制策略。基于公交车道控制预测模块设计智能网联车 进入和离开公交专用道规则，采用改进最小化由换道引起的所有制动模型计算的收益作为智能 网联车换道时激励准则。期望跟随车类型若为人工车时，目标车辆礼让系数取1；妨碍公交优先 必须离开公交道时，满足安全规则即可。通过具体仿真实验予以验证，结果表明：本方法在高交 通需求下，与不允许借道控制方法、基于清空距离公交专用车道控制方法对比，人均延误分别减 少60%和40%，车均延误分别减少65%和32%，渗透率在30%~40%范围内控制效果显著。     

轨迹数据驱动的车辆换道意图识别研究

为实现准确识别车辆换道意图，提高车辆行驶安全性，综合考虑车辆换道过程的时空特性及不同特征对车辆的影响程度，提出一种基于卷积神经网络(CNN)与门控循环神经网络(GRU)组合并融合注意力机制的换道意图识别模型。首先，筛选和平滑处理车辆轨迹数据，将车辆轨迹数据分为向左换道、向右换道及直线行驶3类，构建换道意图样本集。其次，构建融合注意力机制的 CNN_GRU模型，识别换道意图样本集，考虑到行驶过程中车辆之间的交互性，将被预测车辆和周围车辆的位置和速度信息作为模型的输入，经过CNN层特征提取的特征作为GRU层的输入，经过注意力机制层对不同的特征增加不同的权重系数，利用 Softmax 层识别换道意图。最后，选用 NGSIM 中 US-101 数据集的轨迹数据验证融合注意力机制的 CNN_GRU模型性能， 同时，与LSTM、GRU、CNN_GRU及CNN_LSTM_Att等模型进行对比分析。验证结果表明，所提模型车辆换道意图识别整体准确率达到97.37%，迭代时间为6.66 s，相比于其他模型准确率最多提高9.89%，最少提高2.1%。分析不同预判时间下的意图识别，模型可在车辆换道前2 s 内均能识别换道意图，准确率在89%以上，表现出良好的识别性能。     

Shared autonomous electric vehicle service performance: Assessing the impact of charging infrastructure

Shared autonomous vehicles (SAVs) are the next major evolution in urban mobility. This technology has attracted much interest of car manufacturers aiming at playing a role as transportation network companies (TNCs) and carsharing agencies in order to gain benefits per kilometer and per ride. It is predicted that the majority of future SAVs would most probably be electric. It is therefore important to understand how limited vehicle range and the configuration of charging infrastructure will affect the performance of shared autonomous electric vehicle (SAEV) services. In this study, we aim to explore the impacts of charging station placement, charging types (including normal and rapid charging, and battery swapping), and vehicle battery capacities on service efficiency. We perform an agent-based simulation of SAEVs across the Rouen Normandie metropolitan area in France. The simulation process features impact assessment by considering dynamic demand responsive to the network and traffic.Research results suggest that the performance of SAEVs is strongly correlated with the charging infrastructure. Importantly, faster charging infrastructure and placement of charging locations according to minimized distances between demand hubs and charging stations result in a higher performance. Further analysis indicates the importance of dispersing charging stations across the service area and its impacts on service effectiveness. The results also underline that SAEV battery capacity has to be selected carefully such that to avoid the overlaps between demand and charging peak times. Finally, the simulation results show that the performance indicators of SAEV service are significantly improved by providing battery swapping infrastructure.     

Smart charging management for shared autonomous electric vehicle fleets: A Puget Sound case study

Increasingly, experts are forecasting the future of transportation to be shared, autonomous and electric. As shared autonomous electric vehicle (SAEV) fleets roll out to the market, the electricity consumed by the fleet will have significant impacts on energy demand and, in turn, drive variation in energy cost and reliability, especially if the charging is unmanaged. This research proposes a smart charging (SC) framework to identify benefits of active SAEV charging management that strategically shifts electricity demand away from high-priced peak hours or towards renewable generation periods. Time of use (TOU), real time pricing (RTP), and solar generation electricity scenarios are tested using an agent-based simulation to study (1) the impact of battery capacity and charging infrastructure type on SAEV fleet performance and operational costs under SC management; (2) the cost reduction potential of SC considering energy price fluctuation, uncertainty, and seasonal variation; (3) the charging infrastructure requirements; and (4) the system efficiency of powering SAEVs with solar generation. A case study from the Puget Sound region demonstrates the proposed SC algorithm using trip patterns from the regional travel demand model and local energy prices. Results suggest that in the absence of electricity price signals, SAEV charging demand is likely to peak the evening, when regional electricity use patterns already indicate high demand. Under SC management, EVs with larger battery sizes are more responsive to low-electricity cost charging opportunities, and have greater potential to reduce total energy related costs (electricity plus charging infrastructure) for a SAEV fleet, especially under RTP structure.     

众包物流与社交应用的互联实现分析

本文对社交应用与众包平台的"二合一"新型服务展开分析,多角度满足客户与商家共同需求,为个人及社会提供更大的便利与收益。该商业模式充分利用了社会上的闲散资源,把原来由企业聘用的配送员提供的最后三公里以内的物流服务,以自愿有偿的方式,通过互联网外包给非特定群体。高效互联的众包平台是对社会上目前的闲散资源集中管理与分配的全新方式,给予企业、兼职员工及客户之间沟通的桥梁,企业、兼职员工与客户自身之间可实现相互联系来满足各方需求,三者之间可在众包平台上自由沟通,提供工作任务并领取完成。     

Modelling shared space users via rule-based social force model

The promotion of space sharing in order to raise the quality of community living and safety of street surroundings is increasingly accepted feature of modern urban design. In this context, the development of a shared space simulation tool is essential in helping determine whether particular shared space schemes are suitable alternatives to traditional street layouts. A simulation tool that enables urban designers to visualise pedestrians and cars trajectories, extract flow and density relation in a new shared space design, achieve solutions for optimal design features before implementation, and help getting the design closer to the system optimal. This paper presents a three-layered microscopic mathematical model which is capable of representing the behaviour of pedestrians and vehicles in shared space layouts and it is implemented in a traffic simulation tool. The top layer calculates route maps based on static obstacles in the environment. It plans the shortest path towards agents’ respective destinations by generating one or more intermediate targets. In the second layer, the Social Force Model (SFM) is modified and extended for mixed traffic to produce feasible trajectories. Since car movements are not as flexible as pedestrian movements, velocity angle constraints are included for cars. The conflicts described in the third layer are resolved by rule-based constraints for shared space users. An optimisation algorithm is applied to determine the interaction parameters of the force-based model for shared space users using empirical data. This new three-layer microscopic model can be used to simulate shared space environments and assess, for example, new street designs.