Flow-field guided steering control for rigid autonomous ground vehicles in low-speed manoeuvring

ABSTRACT

This paper studies the low-speed manoeuvring problem for autono-mous ground vehicles operating in complex static environments. Making use of the intrinsic property of a fluid to naturally find its way to an outflow destination, a novel guidance method is proposed. In this approach, a reference flow field is calculated numerically through Computational Fluid Dynamics, based on which both the reference path topology and the steering reference to achieve the path are derived in a single process. Steering control considers three constraints: obstacle and boundary avoidance, rigidity of the vehicle, plus the non-holonomic velocity constraints due to the steering system. The influences of the parameters used during the flow field simulation and the control algorithm are discussed through numerical cases. A divergency field is defined to evaluate the quality of the flow field in guiding the vehicle. This is used to identify any problematic branching features of the flow, and control is adapted in the neighbourhood of such branching features to resolve possible ambiguities in the control reference. Results demonstrate the effectiveness of the method in finding smooth and feasible motion paths, even in complex environments.     

基于客票数据的城市轨道交通车站客流控制决策研究

城市轨道交通大客流控制是保证运行秩序和乘客安全的客运组织管控手段,目前由运营人员根据经验进行大客流辨识和客流控制决策的模式具有一定的主观性和滞后性。基于自动售检票系统(AFC)历史客票数据,分析车站大客流的发展规律,基于实时客票数据和列车运行实绩,获取进站客流的实时聚集数量及其空间分布情况,提出的辅助决策方法能够基于客票数据确定车站客流控制等级和控制时机,具备较好的精确性和前瞻性。     

系统效能通用评估工具研究

基于数据库和算法集成,设计了一套具有良好通用性、灵活性、可扩展性的系统效能评估工具,并以此工具为基础,针对不同的评估需求、数据量和应用环境提出对应的解决方案.     

Flexible long range planning using low cost information

Contemporary transport planning requires a flexible modelling approach which can be used to monitor the implementation of a long term plan checking regularly its short term performance with easily available data; the original model is periodically updated using low cost information and this allows the evaluation of the changes to the plan which may be required. Such an approach requires models suited to regular updating and to the use of data from different sources. Models to update trip matrices from traffic counts have been available for some time; however, the estimation and/or updating of other model stages with low cost data has escaped analytical treatment. The paper discusses this idea and formulates the updating problem for an example involving a joint destination/mode choice model under various assumptions about the nature of the available data. Analytical solutions are proposed as well as some general conclusions.requests for offprints     

Alternative Modeling Approaches Used for Examining Automobile Ownership: A Comprehensive Review

Abstract

Household vehicle ownership, and the associated dimensions including fleet size, vehicle type and usage, has been one of the most researched transport topics. This paper endeavors to provide a critical overview of the wide-ranging methodological approaches employed in vehicle ownership modeling depending on the ownership representation over the past two decades. The studies in the existing literature based on the vehicle ownership representation are classified as: exogenous static, exogenous dynamic, endogenous static and endogenous dynamic models. The methodological approaches applied range from simple linear regressions to complex econometrics formulations taking into account a rich set of covariates. In spite of the steady advancement and impressive evolution in terms of methodological approaches to examine the decision process, we identify complex issues that pose a formidable challenge to address the evolution of vehicle ownership in the coming years. Specifically, we discuss challenges with data availability and methodological framework selection. In light of these discussions, we provide a decision matrix for aiding researchers/practitioners in determining appropriate model frameworks for conducting vehicle ownership analysis.     

长丰县城乡公交需求和现状一体化分析

为了进一步加强城乡经济社会的协调发展,同时缩短城乡差距,加强综合交通网络,并提高城市和农村地区的综合交通运输网络,城乡公交一体化便是公共交通的主流发展。文章在深入安徽省合肥市长丰县实地调研的基础上,探究了长丰县公交一体化的发展状况,为长丰经济发展助力。     

Measuring community reaction to urban transportation impacts using Von Neumann‐Morgenstern utility theory

This paper attempts to measure the impacts of urban transportation system improvements or changes on the community. The community's perceptions of the impacts are represented by its utilities (or disutilities) over various ranges of values of the multiple attributes representing these impacts. The utility technique used in the evaluation is based upon von Neumann‐Morgenstern (vN‐M, 1947) Utility Theory, and is applied using Raiffa's (1970) Fractile Method.

The paper specifically applies the technique to model the perceptions of five subgroups within a community to the impact of a new light rail transit system that is being incorporated in the transportation system of the City of Calgary.

Results of the modeling indicate explicitly how the community changes its perception over ranges of values of the attributes evaluated. Biases of various subgroups within the community over these attributes are also shown. Statistical tests indicate that aggregated utility perceptions can represent the utility perceptions of the individual subgroups quite reasonably.     

Role of Bus‐Based Park and Ride in the UK: A Temporal and Evaluative Review

Abstract

The number of bus‐based Park and Ride (P&R) schemes in the UK has grown substantially over the past 40 years as a result of its encouragement by the Government as a tool to deal with increasing traffic congestion and traffic‐related pollution. The aim of this article is to analyse the degree to which P&R is effective in the contemporary policy context. The authors identify phases of development of P&R since its emergence as a local solution to transport capacity constraints in historic towns. Policy goals are identified against which a review of literature is used to highlight its effectiveness. It is concluded that P&R may increase the distance travelled by its users due to low load factors on dedicated buses, public transport abstraction and trip generation, although it is highlighted that there are areas in which further research is required to clarify its impacts.     

A note on the use of correlation coefficients for assessing goodness-of-fit in spatial interaction models

The use of correlation coefficients to evaluate the accuracy of spatial interaction models is inappropriate unless such models have been fitted using least squares techniques. In other cases the correlation involves an implicit intercept value and a regression coefficient that may significantly modify the interaction model's estimates. Researchers have not acknowledged the role of these two parameters when the correlation is used. A generalized root mean square error is proposed as an alternative indicator of accuracy that may be used with any model.     

TRANSVAGINAL COLOR DOPPLER STUDY OF UTEROPLACENTAL CIRCULATION IN NORMAL EARLY PREGNANCY

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