Extending Time to Collision for probabilistic reasoning in general traffic scenarios

Vehicle-to-vehicle communication systems allow vehicles to share state information with one another to improve safety and efficiency of transportation networks. One of the key applications of such a system is in the prediction and avoidance of collisions between vehicles. If a method to do this is to succeed it must be robust to measurement uncertainty and to loss of communication links. The method should also be general enough that it does not rely on constraints on vehicle motion for the accuracy of its predictions. It should work for all interactions between vehicles and not just a select subset. This paper presents a method to calculate Time to Collision for unconstrained vehicle motion. This metric is gated using a novel technique based on relative vehicle motion that we call “looming”. Finally, these ideas are integrated into a probabilistic framework that accounts for uncertainty in vehicle state and loss of vehicle-to-vehicle communication. Together this work represents a new way of considering vehicle collision estimation. These algorithms are validated on data collected from real world vehicle trials.     

公交通行能力约束的智能调度优化模型

公交通行能力是解决城市交通拥堵问题、促进城市公共交通系统高效运行的要素之一。介绍了公交通行能力的计算要素,并针对目前我国城市由于盲目调度造成的公交系统运营效率、服务水平下降的问题,提出将公交通行能力作为约束条件对公交调度进行优化。鉴于公交企业制订调度方案时需兼顾公交服务水平和企业效益,将智能调度的目标确定为候车时间满意度、候车空间满意度、车内舒适满意度和企业满意度加权平均值最大,并给出了相应的计算方法。最后讨论了利用遗传算法对模型进行求解的过程。     

基于自律分散技术的快速公交智能调度系统设计研究

自律分散技术是一种国际上的新型技术,现已被广泛应用到各个相关领域.快速公交是近年来公交系统发展的重要方向,本文从功能需求的角度出发,运用自律分散技术,对快速公交智能调度系统进行横向和纵向结构的设计研究,从而为快速公交系统的发展研究提供一个新的思路,具有一定的指导和借鉴意义.     

Hardware-in-the-loop testbed for evaluating connected vehicle applications

Connected vehicle environment provides the groundwork of future road transportation. Researches in this area are gaining a lot of attention to improve not only traffic mobility and safety, but also vehicles’ fuel consumption and emissions. Energy optimization methods that combine traffic information are proposed, but actual testing in the field proves to be rather challenging largely due to safety and technical issues. In light of this, a Hardware-in-the-Loop-System (HiLS) testbed to evaluate the performance of connected vehicle applications is proposed. A laboratory powertrain research platform, which consists of a real engine, an engine-loading device (hydrostatic dynamometer) and a virtual powertrain model to represent a vehicle, is connected remotely to a microscopic traffic simulator (VISSIM). Vehicle dynamics and road conditions of a target vehicle in the VISSIM simulation are transmitted to the powertrain research platform through the internet, where the power demand can then be calculated. The engine then operates through an engine optimization procedure to minimize fuel consumption, while the dynamometer tracks the desired engine load based on the target vehicle information. Test results show fast data transfer at every 200 ms and good tracking of the optimized engine operating points and the desired vehicle speed. Actual fuel and emissions measurements, which otherwise could not be calculated precisely by fuel and emission maps in simulations, are achieved by the testbed. In addition, VISSIM simulation can be implemented remotely while connected to the powertrain research platform through the internet, allowing easy access to the laboratory setup.     

福州市交通安全与智能交通系统探讨

智能交通系统是一个高科技集成系统,它综合运用各种高新技术于整个交通管理系统之中,可以系统、全面、高效地提高交通运输的安全性.文章阐述了智能交通系统在交通安全中的作用及在福州市的应用情况,指出了福州市发展智能交通的方向,以提高福州市的交通安全管理水平.     

Virtual 3D city model as a priori information source for vehicle localization system

This paper aims at demonstrating the usefulness of integrating virtual 3D models in vehicle localization systems. Usually, vehicle localization algorithms are based on multi-sensor data fusion. Global Navigation Satellite Systems GNSS, as Global Positioning System GPS, are used to provide measurements of the geographic location. Nevertheless, GNSS solutions suffer from signal attenuation and masking, multipath phenomena and lack of visibility, especially in urban areas. That leads to degradation or even a total loss of the positioning information and then unsatisfactory performances. Dead-reckoning and inertial sensors are then often added to back up GPS in case of inaccurate or unavailable measurements or if high frequency location estimation is required. However, the dead-reckoning localization may drift in the long term due to error accumulation. To back up GPS and compensate the drift of the dead reckoning sensors based localization, two approaches integrating a virtual 3D model are proposed in registered with respect to the scene perceived by an on-board sensor. From the real/virtual scenes matching, the transformation (rotation and translation) between the real sensor and the virtual sensor (whose position and orientation are known) can be computed. These two approaches lead to determine the pose of the real sensor embedded on the vehicle. In the first approach, the considered perception sensor is a camera and in the second approach, it is a laser scanner. The first approach is based on image matching between the virtual image extracted from the 3D city model and the real image acquired by the camera. The two major parts are: 1. Detection and matching of feature points in real and virtual images (three features points are compared: Harris corner detector, SIFT and SURF). 2. Pose computation using POSIT algorithm. The second approach is based on the on–board horizontal laser scanner that provides a set of distances between it and the environment. This set of distances is matched with depth information (virtual laser scan data), provided by the virtual 3D city model. The pose estimation provided by these two approaches can be integrated in data fusion formalism. In this paper the result of the first approach is integrated in IMM UKF data fusion formalism. Experimental results obtained using real data illustrate the feasibility and the performances of the proposed approaches.     

Scheduling of Intelligent and Autonomous Vehicles under pairing/unpairing collaboration strategy in container terminals

A new class of Intelligent and Autonomous Vehicles (IAVs) has been designed in the framework of Intelligent Transportation for Dynamic Environment (InTraDE) project funded by European Union. This type of vehicles is technologically superior to the existing Automated Guided Vehicles (AGVs), in many respects. They offer more flexibility and intelligence in maneuvering within confined spaces where the logistic operations take place. This includes the ability of pairing/unpairing enabling a pair of 1-TEU (20-foot Equivalent Unit) IAVs dynamically to join, transport containers of any size between 1-TEU and 1-FFE (40-foot Equivalent) and disjoin again. Deploying IAVs helps port operators to remain efficient in coping with the ever increasing volume of container traffic at ports and eliminate the need for deploying more 40-ft transporters in the very confined area of ports. In order to accommodate this new feature of IAVs, we review and extend one of the existing mixed integer programming models of AGV scheduling in order to minimize the makespan of operations for transporting a set of containers of different sizes between quay cranes and yard cranes. In particular, we study the case of Dublin Ferryport Terminal. In order to deal with the complexity of the scheduling model, we develop a Lagrangian relaxation-based decomposition approach equipped with a variable fixing procedure and a primal heuristics to obtain high-quality solution of instances of the problem.     

Impact of telecommuting and intelligent transportation systems on residential location choice

The impacts of telecommuting and intelligent transportation systems (ITS) on urban development patterns were investigated in terms of households' residential location choice decisions. A discrete choice modelling approach framework was used. A stated preference (SP) logit analysis was carried out to estimate the parameters of the utility function. An attitude survey of employees of selected public and private sector organizations in the Ottawa-Carleton Region (Canada) yielded the required data for model estimation. In addition to obtaining background information, the survey elicited SP responses by presenting a number of hypothetical residential choice scenarios defined according to the principles of SP experimental design. Results show that telecommuting and ITS measures are highly significant factors in the residential choice model. This leads to the conclusion that these reinforce dispersed residential patterns and encourage moves towards outlying sites. Implications of this conclusion for urban land development planning are noted.     

The pros and cons of Intelligent Speed Adaptation as a restrictive measure for serious speed offenders

In 2011 in the Netherlands a field operational test was performed to investigate the possibility of using restrictive Intelligent Speed Adaptation (ISA) as a penalty system for serious speed offenders. This paper presents the overall results of the research focusing on the pros and cons of the use of ISA as a restrictive measure for serious speed offenders, and on the preconditions for deployment. The results showed that the ISA systems tested have a huge effect on driver behavior and have the potential to improve road safety by reducing the level of speeding, mean speed, as well as the standard deviation of speed. However, there are also cons: the behavioral change in driving behavior was only temporary. In addition the tested technology proved too easy to override, raised issues of equity, and a substantial back office is required when implementing the system for serious speed offenders.     

铁路行车调度指挥仿真系统

铁路调度指挥仿真系统是一个分布式协同工作的递阶分散自律控制系统,由决策层、管理层、执行层和设备层组成,采用部分实物仿真的方式设计模拟系统的软硬件环境。仿真系统设计的关键技术包括:进路表的自动生成算法、控制命令自动生成算法、列车车次自动追踪运行算法、列车群自动追踪运行算法、计划自动调整算法、干扰源仿真模拟和仿真时空一致性控制等。通过选取铁路实际运营的计算机联锁系统和电气集中联锁系统、车站、自动闭塞区间和计轴半自动闭塞区间线路,构建近1∶1的仿真试验环境。按照铁路行车调度指挥实际需求、相关技术标准以及现场实际投入使用的行车调度指挥系统,对仿真系统进行了功能、性能测试。对实际应用中出现的故障进行了模拟分析。结果表明:仿真系统对于实际应用系统的研发、开通运营、日后的维护和系统升级具有不可替代的作用,它能够极大地缩短开通前的调试时间,方便故障分析和各种条件下调度指挥方式的模拟,特别适合特定条件下应急预案的演练。