基于多车协作优化的冲突消解模型

传统自动驾驶车辆以假设通行权为前提设计冲突消解算法,但在无信号交叉口存在道路通行权不明确情况,给自动驾驶车辆决策带来困扰.本文提出基于多车协作优化的无信号交叉口冲突消解方法,将多个自动驾驶车辆看成一个整体,利用多目标优化控制理论,计算分配给相互冲突车辆的期望速度规划,达到协作行驶的目的.设置协作与非协作式冲突消解仿真实验.结果表明：多车协作的冲突消解方法通过优化车辆联合行动,使交叉口车辆整体收益最大,各利益体间的收益更为均衡;与非协作行驶决策相比,冲突消解时间缩短,减少交叉口单车平均延误1~2 s,平均减少量约为5%.本文可为无信号交叉口自动驾驶车辆冲突时自主协同行驶提供参考.     

基于单片机的隧道清洗车避障系统设计

根据隧道清洗车的作业环境和特点,研究设计了一种隧道清洗车的自动避障系统,控制系统选用C8051F310单片机,检测系统选用激光、超声波测距装置,采用C51语言编写系统程序,进行了系统设计、硬件选型、软件设计、性能测试。结果表明,这种自动避障系统能达到规定的性能要求,检测准确可靠,可以大大提高国产隧道清洗车的安全性和清洁效果,同时减轻作业负荷。     

Traffic conflict assessment for non-lane-based movements of motorcycles under congested conditions

Traffic conflict under congested conditions is one of the main safety issues of motorcycle traffic in developing countries. Unlike cars, motorcycles often display non-lane-based movements such as swerving or oblique following of a lead vehicle when traffic becomes congested. Very few studies have quantitatively evaluated the effects of such non-lane-based movements on traffic conflict. Therefore, in this study we aim to develop an integrated model to assess the traffic conflict of motorcycles under congested conditions. The proposed model includes a concept of safety space to describe the non-lane-based movements unique to motorcycles, new features developed for traffic conflict assessment such as parameters of acceleration and deceleration, and the conditions for choosing a lead vehicle. Calibration data were extracted from video clips taken at two road segments in Ho Chi Minh City. A simulation based on the model was developed to verify the dynamic non-lane-based movements of motorcycles. Subsequently, the assessment of traffic conflict was validated by calculating the probability of sudden braking at each time interval according to the change in the density of motorcycle flow. Our findings underscore the fact that higher flow density may lead to conflicts associated with a greater probability of sudden breaking. Three types of motorcycle traffic conflicts were confirmed, and the proportions of each type were calculated and discussed.     

雾天对驾驶行为的影响研究——避撞驾驶行为

考虑雾天环境下不良视距对驾驶行为的影响,基于驾驶模拟器为实验平台,通过对46名实验人员在不同雾天实验场景下的测试来分析雾天对驾驶人紧急避撞行为的影响.选取一组非平衡重复测量数据,以刹车瞬时速度和刹车反应时间为因变量,将性别、职业作为固定效应,雾天作为重复测量变量建立线形混合效应模型,并采用SPSS求解.结果表明,在无雾、轻雾与浓雾环境下,驾驶人的平均刹车反应时间分别是1.22,1.26,1.56s,而平均刹车瞬时速度分别为68.10,45.53,48.85 km/h.与无雾环境相比,驾驶人在有雾环境下的可视距离受到限制,刹车反应时间分别增加了0.04 s和0.34s,刹车瞬时速度分别减少了22.57 km/h和19.25 km/h.     

船舶操纵模拟技术在坝区河段航线选择中的应用

利用船舶操纵模拟技术模拟分析湘江典型代表船型在长沙枢纽坝区河段的航行情况,结合该河段的通航水流情况、可能的航行冲突区情况等通航环境特点,研究不同航路上下行规则下船舶的会遇情况。结果表明:上下游锚地之间的航段,无论采用各自靠左还是各自靠右的航路规则均可;在下游桥区,采用各自靠右的航路规则更优;两种航路规则下,口门区的交叉点数量相同,对于交通流的影响是一致的,需要在调度过程中避免船舶在潜在冲突区的交叉。     

Multi—Agent系统在飞行冲突探测与解脱中的应用

介绍了Multi—Agent系统在飞行冲突探测与解脱中的具体应用,将航空器看作具有各自目标如目的地、到达时间和服务标准等的智能体,提出采用协作式多智体协商技术来有效解决冲突问题,并建立了基于Multi—Agent系统的飞行冲突探测与解脱模型。航空器Agent之间可通过航空器数据链通信,采用单调让步协议（MCP）协商,自动就冲突解脱方案达成一致,在保证安全间隔的同时实现空域容量的有效利用。     

多车道元胞自动机换道决策模型的冲突处理策略

换道模型是多车道元胞自动机交通流模型的核心子模块之一,在分析现实中驾驶员执行换道时处理车辆冲突过程的基础上,依据其蕴含的不同换道驾驶行为特征把驾驶员采取的换道冲突策略划分为保守型、机敏型与激进型3 类,并通过进一步优化车辆状态更新算法,提出了换道冲突处理多策略,车辆状态更新次序随机的多车道换道模型.运行模型获得不同空间占有率条件下,驾驶员分别采取保守、机敏或激进策略时所产生的换道动机次数和换道成功次数.通过数据分析发现：在特定空间占有率区间,不同换道冲突处理策略将引起较显著换道动机概率差异与换道成功概率差异.