Modelling and model predictive control for a bicycle-rider system

This study proposes a bicycle-rider control model based on model predictive control (MPC). First, a bicycle-rider model with leaning motion of the rider’s upper body is developed. The initial simulation data of the bicycle rider are then used to identify the linear model of the system in state-space form for MPC design. Control characteristics of the proposed controller are assessed by simulating the roll-angle tracking control. In this riding task, the MPC uses steering and leaning torques as the control inputs to control the bicycle along a reference roll angle. The simulation results in different cases have demonstrated the applicability and performance of the MPC for bicycle-rider modelling.     

Transition to a cyclable city: Latent variables affecting bicycle commuting

An understanding of the key factors influencing bicycle commuting is essential for developing effective policies towards a cyclable city. This paper contributes to this line of research by proposing a methodology for including cycling-related indicators in mobility surveys based on the Theory of Planned Behaviour (TPB), and applying an exploratory factor analysis (EFA) to evaluate the structure of latent variables associated with bicycle commuting. The EFA identified six cycling latent variables: Lifestyle, Safety and comfort, Awareness, Direct disadvantages, Subjective norm, and Individual capabilities. These were complemented with a latent variable related to habit: Non-commuting cycling habit. Statistical differences and regression analysis were applied with the cycling latent variables. The study also includes the relationship between objective factors and bicycle commuting, which reveals minor associations. This methodology was applied to the “starter cycling city” of Vitoria-Gasteiz (Spain). The results confirm that in this context – in transition to a cyclable city – safety and comfort issues are not the main barriers for all commuters, although more progress needs to be made to normalise cycling. A set of customised policy initiatives is recommended in the light of the research findings, including marketing campaigns to encourage non-commuting cycling trips, bicycle measures to target social groups as opposed to individuals, bicycle-specific programs such as “Bike-to-work Days”, and cycling courses.     

Bicycle lane priority: Promoting bicycle as a green mode even in congested urban area

The main obstacles to boosting the bicycle as a mode of transport are safety concerns due to interactions with motorized traffic. One option is to separate cyclists from motorists through exclusive bicycle priority lanes. This practice is easily implemented in uncongested traffic. Enforcing bicycle lanes on congested roads may degenerate the network, making the idea very hard to sell both to the public and the traffic authorities. Inspired by Braess Paradox, we take an unorthodox approach to seeking latent misutilized capacity in the congested networks to be dedicated to exclusive bicycle lanes. The aim of this study is to tailor an efficient and practical method to large size urban networks. Hence, this paper appeals to policy makers in their quest to scientifically convince stakeholder that bicycle is not a secondary mode, rather, it can be greatly accommodated along with other modes even in the heart of the congested cities. In conjunction with the bicycle lane priority, other policy measures such as shared bicycle scheme, electric-bike, integration of public transport and bicycle are also discussed in this article. As for the mathematical methodology, we articulated it as a discrete bilevel mathematical programing. In order to handle the real networks, we developed a phased methodology based on Branch-and-Bound (as a solution algorithm), structured in a less intensive RAM manner. The methodology was tested on real size network of city of Winnipeg, Canada, for which the total of 30 road segments – equivalent to 2.77 km bicycle lanes – in the CBD were found.     

基于元胞自动机(CA)的自行车流建模及仿真

为研究城市复杂的混合交通，通过分析自行车的行驶特性，建立了包括元胞尺寸、速度、状态空间及属性、元胞的邻域与局部元胞演变规则的单向自行车二维CA模型。理论分析和数字仿真表明，该模型不仅能灵活有效地描述自行车流，而且其速度-密度特性和最大通行能力的数值范围均符合实际或经验数值。利用该模型还分析并仿真了车道数对单车道自行车通行能力的影响：随着车道宽度的增加，单车道通行能力随之增加，但幅度呈递减趋势，且车道数增长到一定时，通行能力不再继续增长。     

机非混行平面交叉口交通设计理论研究

对机动车与非机动车混行条件下平面交叉口的交通设计进行深入、系统地研究。在分析大量实测数据的基础上,对信号控制交叉口自行车交通流的运行特征进行分析,建立自行车交通流的相关模型;在理论分析和实践的基础上,形成机非混行平面交叉口交通设计理论与方法。这些理论与方法的建立将为解决城市混合交通问题奠定基础。     

An analysis of bicycle route choice preferences in Texas,US

In the US, the rise in motorized vehicle travel has contributed to serious societal, environmental, economic, and public health problems. These problems have increased the interest in encouraging non-motorized modes of travel (walking and bicycling). The current study contributes toward this objective by identifying and evaluating the importance of attributes influencing bicyclists’ route choice preferences. Specifically, the paper examines a comprehensive set of attributes that influence bicycle route choice, including: (1) bicyclists’ characteristics, (2) on-street parking, (3) bicycle facility type and amenities, (4) roadway physical characteristics, (5) roadway functional characteristics, and (6) roadway operational characteristics. The data used in the analysis is drawn from a web-based stated preference survey of Texas bicyclists. The results of the study emphasize the importance of a comprehensive evaluation of both route-related attributes and bicyclists’ demographics in bicycle route choice decisions. The empirical results indicate that travel time (for commuters) and motorized traffic volume are the most important attributes in bicycle route choice. Other route attributes with a high impact include number of stop signs, red light, and cross-streets, speed limits, on-street parking characteristics, and whether there exists a continuous bicycle facility on the route.

Influences on bicycle use

A stated preference experiment was performed in Edmonton in Canada to both examine the nature of various influences on bicycle use and obtain ratios among parameter values to be used in the development of a larger simulation of household travel behaviour. A total of 1128 questionnaires were completed and returned by current cyclists. Each questionnaire presented a pair of possible bicycle use alternatives and asked which was preferred for travel to a hypothetical all-day meeting or gathering (business or social). Alternatives were described by specifying the amounts of time spent on three different types of cycling facility and whether or not showers and/or secure bicycle parking were available at the destination. Indications of socio-economic character and levels of experience and comfort regarding cycling were also collected. The observations thus obtained were used to estimate the parameter values for a range of different utility functions in logit models representing this choice behaviour. The results indicate, among other things, that time spent cycling in mixed traffic is more onerous than time spent cycling on bike lanes or bike paths; that secure parking is more important than showers at the destination; and that cycling times on roadways tend to become less onerous as level of experience increases. Some of these results are novel and others are consistent with findings regarding bicycle use in work done by others, which is seen to add credence to this work. A review of previous findings concerning influences on cycling behaviour is also included.     

Factors influencing the choice of shared bicycles and shared electric bikes in Beijing

China leads the world in both public bikeshare and private electric bike (e-bike) growth. Current trajectories indicate the viability of deploying large-scale shared e-bike (e-bikeshare) systems in China. We employ a stated preference survey and multinomial logit to model the factors influencing the choice to switch from an existing transportation mode to bikeshare or e-bikeshare in Beijing. Demand is influenced by distinct sets of factors: the bikeshare choice is most sensitive to measures of effort and comfort while the e-bikeshare choice is more sensitive to user heterogeneities. Bikeshare demand is strongly negatively impacted by trip distance, temperature, precipitation, and poor air quality. User demographics however do not factor strongly on the bikeshare choice, indicating the mode will draw users from across the social spectrum. The e-bikeshare choice is much more tolerant of trip distance, high temperatures and poor air quality, though precipitation is also a highly negative factor. User demographics do play a significant role in e-bikeshare demand. Analysis of impact to the existing transportation system finds that both bikeshare and e-bikeshare will tend to draw users away from the “unsheltered modes”, walk, bike, and e-bike. Although it is unclear if shared bikes are an attractive “first-and-last-mile solution”, it is clear that e-bikeshare is attractive as a bus replacement.     

Bicycle parking: a systematic review of scientific literature on parking behaviour,parking preferences,and their influence on cycling and travel behaviour

ABSTRACT

Cycling is experiencing a revival in many cities. Research has focused on the determinants of cycling – in particular the role of the built environment and road infrastructure. Bicycle parking has received little attention – even though bicycles are parked most of the time. This article reviews the scientific literature on bicycle parking and identifies existing gaps in research and knowledge. The review analyses 94 peer-reviewed papers identified through a search in Scopus and Web of Science, in December 2017. The annual number of papers increased 15-fold between 1995 and 2017. Overall, the level of evidence on the importance of bicycle parking is limited. The majority of studies are based on cross-sectional data with the presence of parking as a binary independent variable. Most studies focus on bicycle parking at public transport stops and at work places. Few studies report on bicycle parking throughout cities, and hardly any on parking at residential locations. Bicycle parking supply and quality appears to be a determinant of cycling for current and potential cyclists. Our findings can serve as input for an evidence-based debate on the role of bicycle parking. For practitioners, our research supports investment in bicycle parking, but acknowledges that a proper evaluation of such initiatives needs to be conducted to increase the level of evidence.     

Random parameter models for estimating statewide daily bicycle counts using crowdsourced data

Persistent lack of non-motorized traffic counts can affect the evidence-based decisions of transportation planning and safety-concerned agencies in making reliable investments in bikeway and other non-motorized facilities. Researchers have used various approaches to estimate bicycles counts, such as scaling, direct-demand modeling, time series, and others. In recent years, an increasing number of studies have tried to use crowdsourced data for estimating the bicycle counts. Crowdsourced data only represents a small percentage of cyclists. This percentage, on the other hand, can change based on the location, facility type, meteorological, and other factors. Moreover, the autocorrelation observed in bicycle counts may be different from the autocorrelation structure observed among crowdsourced platform users, such as Strava. Strava users are more consistent; hence, the time series count data may be stationary, while bicycle demand may vary based on seasonal factors. In addition to seasonal variation, several time-invariant contributing factors (e.g., facility type, roadway characteristics, household income) affect bicycle demand, which needs to be accounted for when developing direct demand models. In this paper, we use a mixed-effects model with autocorrelated errors to predict daily bicycle counts from crowdsourced data across the state of Texas. Additionally, we supplement crowdsourced data with other spatial and temporal factors such as roadway facility, household income, population demographics, population density and weather conditions to predict bicycle counts. The results show that using a robust methodology, we can predict bicycle demand with a 29% margin of error, which is significantly lower than merely scaling the crowdsourced data (41%).