Unsignalized intersections pose a challenge for autonomous vehicles that must decide how to navigate them safely and efficiently.This paper proposes a reinforcement learning(RL)method for autonomous vehicles to naviga...Unsignalized intersections pose a challenge for autonomous vehicles that must decide how to navigate them safely and efficiently.This paper proposes a reinforcement learning(RL)method for autonomous vehicles to navigate unsignalized intersections safely and efficiently.The method uses a semantic scene representation to handle variable numbers of vehicles and a universal reward function to facilitate stable learning.A collision risk function is designed to penalize unsafe actions and guide the agent to avoid them.A scalable policy optimization algorithm is introduced to improve data efficiency and safety for vehicle learning at intersections.The algorithm employs experience replay to overcome the on-policy limitation of proximal policy optimization and incorporates the collision risk constraint into the policy optimization problem.The proposed safe RL algorithm can balance the trade-off between vehicle traffic safety and policy learning efficiency.Simulated intersection scenarios with different traffic situations are used to test the algorithm and demonstrate its high success rates and low collision rates under different traffic conditions.The algorithm shows the potential of RL for enhancing the safety and reliability of autonomous driving systems at unsignalized intersections.展开更多
With the support of Vehicle-to-Everything(V2X)technology and computing power networks,the existing intersection traffic order is expected to benefit from efficiency improvements and energy savings by new schemes such ...With the support of Vehicle-to-Everything(V2X)technology and computing power networks,the existing intersection traffic order is expected to benefit from efficiency improvements and energy savings by new schemes such as de-signalization.How to effectively manage autonomous vehicles for traffic control with high throughput at unsignalized intersections while ensuring safety has been a research hotspot.This paper proposes a collision-free autonomous vehicle scheduling framework based on edge-cloud computing power networks for unsignalized intersections where the lanes entering the intersections are undirectional,and designs an efficient communication system and protocol.First,by analyzing the collision point occupation time,this paper formulates an absolute value programming problem.Second,this problem is solved with low complexity by the Edge Intelligence Optimal Entry Time(EI-OET)algorithm based on edge-cloud computing power support.Then,the communication system and protocol are designed for the proposed scheduling scheme to realize efficient and low-latency vehicular communications.Finally,simulation experiments compare the proposed scheduling framework with directional and traditional traffic light scheduling mechanisms,and the experimental results demonstrate its high efficiency,low latency,and low complexity.展开更多
To investigate bicyclists＇ behavior at unsignalized intersections with mixed traffic flow, a bicycle capacity model of borrowed-priority merge was developed by the addition-conflict-flow procedure. Based on the actua...To investigate bicyclists＇ behavior at unsignalized intersections with mixed traffic flow, a bicycle capacity model of borrowed-priority merge was developed by the addition-conflict-flow procedure. Based on the actual traffic situation, the concept of borrowed priority, in which the majorroad bicycles borrow the priority of major-road cars to enter the intersections when consecutive headway for major-steam cars is lower than the critical gap for minor-road cars, was addressed. Bicycle capacity at a typical unsignalized intersection is derived by the addition-conflict-flow procedure. The proposes model was validated by the empirical investigation. Numerical results show that bicycle capacity at an intersection is the function of major-road and minor-road car streams. Bicycle capacity increases with increasing major-road cars but decreases with increasing minorroad cars.展开更多
In India, traffic flow on roads is highly mixed in nature with wide variations in the static and dynamic characteristics of vehicles. At unsignalized intersections, vehicles generally do not follow lane discipline and...In India, traffic flow on roads is highly mixed in nature with wide variations in the static and dynamic characteristics of vehicles. At unsignalized intersections, vehicles generally do not follow lane discipline and ignore the rules of priority. Drivers generally become more aggressive and tend to cross the uncontrolled intersections without considering the conflicting traffic. All these conditions cause a very complex traffic situation at unsignal- ized intersections which have a great impact on the capacity and performance of traffic intersections. A new method called additive conflict flow （ACF） method is suitable to determine the capacity of unsignalized inter- sections in non-lane-based mixed traffic conditions as prevailing in India. Occupation time is the key parameter for ACF method, which is defined as the time spent by a vehicle in the conflict area at the intersection. Data for this study were collected at two three-legged unsignalized intersections （one is uncontrolled and other one is semi- controlled） in Mangalore city, India using video-graphic technique during peak periods on three consecutive week days. The occupation time of vehicles at these intersections were studied and compared. The data on conflicting traffic volume and occupation time by each subject vehicle at the conflict area were extracted from the videos using image processing software. The subject vehicles were divided into three categories： two wheelers,cars, and auto-rickshaws. Mathematical relationships were developed to relate the occupation time of different cate- gories of vehicles with the conflicting flow of vehicles for various movements at both the intersections. It was found that occupation time increases with the increasing con- flicting traffic and observed to be higher at the uncontrolled intersection compared to the semicontrolled intersec- tion. The segregated turning movements and the presence of mini roundabout at the semicontrolled intersection reduces the conflicts of vehicular movements, which ulti- mately reduces the occupation time. The proposed methodology will be useful to determine the occupation time for various movements at unsignalized intersections. The models developed in the study can be used by practitioners and traffic engineers to estimate the capacity of unsignalized intersections in non-lane-based discipline and mixed traffic conditions.展开更多
In order to describe the time-headway distribution more precisely in urban traffic network,the mixed distribution model was introduced which has been widely used in mathematical statistics,and a capacity model of unsi...In order to describe the time-headway distribution more precisely in urban traffic network,the mixed distribution model was introduced which has been widely used in mathematical statistics,and a capacity model of unsignalized intersections was obtained based on gap acceptance theory.The new model is suitable for absolute and limited priority controlled conditions and can be regarded as a more general form which handles simple headway distributions including lognormal distribution,negative exponential distribution and shifted negative exponential distribution.Through analyses of the main influencing factors in this model,the proportion of free flowing and the standard variance of gaps between any two continuous following vehicles are high sensitivity with the capacity when major stream volume is low.Besides,the capacity is affected deeply by the mean value of following vehicle gaps when major stream value is fixed and the proportion of free flowing is small.At last,the observed minor stream capacity is obtained by the survey date in Changchun city,and the average relative error between the theoretical capacity proposed in this paper is 13.73%,meanwhile the accuracy increases by 16.68% compared with the theoretical value when major stream obeys shifted negative exponential distribution.展开更多
Right-turn collisions at intersections are one of the most dominant crash types in suburban areas,especially at unsignalized intersections.There is,however,a lack of comprehensive research on the speed patterns of veh...Right-turn collisions at intersections are one of the most dominant crash types in suburban areas,especially at unsignalized intersections.There is,however,a lack of comprehensive research on the speed patterns of vehicles during right-turn manoeuvres and their impacts on crashes.To provide an in-depth investigation of the factors determining the safety of right-turn manoeuvres,driving behavior data were collected through an instrumented vehicle study.Using this data,binary logistic regression models were developed to identify the factors affecting the probability of vehicle-vehicle(V-V)and vehicle-pedestrian(V-P)conflicts at six suburban intersections in Babol,Iran,during right-turn stage manoeuvres.In total,1456 V-V and V-P conflicts were identified from the data analysis.The results from the logistic regression model showed that the vehicle speed,the distance between road users,as well as driver and pedestrian distractions were associated with a higher risk for V-V or V-P conflicts.To estimate the safe right-turn speeds to be selected by drivers at different stages of the right turn,i.e.,at the start,during,and end of the movement,linear regression models were developed.The results showed that participants adjust their driving behaviors the same way toward pedestrians as they do toward vehicles.The findings of this study can be leveraged for the development of a robust advanced driving assistance system,the use of which can further improve the safety performance of right-turn manoeuvres.展开更多
Cooperative driving is widely viewed as a promising method to better utilize limited road resources and alleviate traffic congestion.In recent years,several cooperative driving approaches for idealized traffic scenari...Cooperative driving is widely viewed as a promising method to better utilize limited road resources and alleviate traffic congestion.In recent years,several cooperative driving approaches for idealized traffic scenarios(i.e.,uniform vehicle arrivals,lengths,and speeds)have been proposed.However,theoretical analyses and comparisons of these approaches are lacking.In this study,we propose a unified group-by-group zipper-style movement model to describe different approaches synthetically and evaluate their performance.We derive the maximum throughput for cooperative driving plans of idealized unsignalized intersections and discuss how to minimize the delay of vehicles.The obtained conclusions shed light on future cooperative driving studies.展开更多
This work presents a simulation model for unsignalized crosswalks which takes into account collisions between vehicles and pedestrians,thus allowing to assess the estimated yearly pedestrian fatality.In particular,we ...This work presents a simulation model for unsignalized crosswalks which takes into account collisions between vehicles and pedestrians,thus allowing to assess the estimated yearly pedestrian fatality.In particular,we focus on a method to calibrate such a model combining measurable crosswalk characteristics,such as maximum speed limit or drivers’compliance,with statistical data for past accidents obtained from local municipality.In order to perform simulations under realistic conditions,we constructed a one-week scenario where pedestrian and vehicle traffic vary using specific patterns each hour of the week.The constructed traffic profile is based on openly available data and the suitability for the scenario considered(a crosswalk in Milan,Italy)is investigated showing that cultural/lifestyle elements determine the variation of weekly traffic.Simulations using the constructed one-week scenario were used to obtain the only non-measurable parameter which account for pedestrians’and drivers’distraction.In addition,we also focused on the presence of elderly pedestrians which have different physiological characteristics compared to adults or children and are becoming an important part of the population in several countries around the globe.The simulation model presented here and the method suggested for calibration may be employed in different contexts,thus allowing to build an important tool to be used not only for transportation efficiency/optimization but also for safety analysis.展开更多
The most common type of intersection improvement considered in Ghana is signalization. However, other actions such as the installation of left-turn lanes have been proven to improve the efficiency and safety of an int...The most common type of intersection improvement considered in Ghana is signalization. However, other actions such as the installation of left-turn lanes have been proven to improve the efficiency and safety of an intersection without the need for signalization in the short term. Warrants which guide the installation of such lanes in Ghana are adopted from elsewhere and as a result do not reflect local traffic flow conditions. This study established volume warrants based on a delay threshold to guide the installation of left- turn lanes at unsignalized T-intersections using VISSIM micro simulation tool. The VISSIM model was calibrated using traffic flow, delay, average and maximum queue length data obtained from a two-hour video recording of the case study intersection during the morning peak period. After calibration, several scenarios covering a wide range of opera- tional conditions were simulated. Using level of service （LOS） C cut off point of 25 s/veh as the maximum acceptable delay to minor road left-turning traffic, an equation y = -0.57x ＋1091 has been developed which predicts the minor road left-turn volume threshold （y） above which a minor road left-turn lane may be considered and below which a minor road left-turn lane may not be necessary for a range of major road volumes （x）. The critical delay to major road left-turning traffic was found to be 16 s/veh. Major road left-turn lane volume warrants were also determined based on this threshold delay value. The approach used in this study can serve as a guide that can be used by metropolitan and municipal road en- gineers to assess the need for left-turn lanes.展开更多
Many studies suggest that more crashes occur due to mixed traffic flow at unsignalized intersections. However, very little is known about the injury severity of these crashes. The objective of this study is therefore ...Many studies suggest that more crashes occur due to mixed traffic flow at unsignalized intersections. However, very little is known about the injury severity of these crashes. The objective of this study is therefore to investigate how contributory factors affect crash injury severity at unsignalized intersections. The dataset used for this analysis derived from police crash reports from Dec. 2006 to Apr. 2009 in Heilongjiang Province, China. An ordered probit model was developed to predict the probability that the injury severity of a crash will be one of four levels ： no injury, slight injury, severe injury, and fatal injury. The injury severity of a crash was evaluated in terms of the most severe injury sustained by any person involved in the crash. Results from the present study showed that different factors had varying effects on crash injury severity. Factors found to result in the increased probability of serious injuries include adverse weather, sideswiping with pedestrians on poor surface, the interaction of rear-ends and the third-class highway, winter night without illumination, and the interaction between traffic signs or markings and the third-class highway. Although there are some limitations in the current study, this study provides more insights into crash injury severity at unsignalized intersections.展开更多
Unsignalized intersections are identified as the critical locations due to higher number of road crashes at these locations.The primary causes of crashes at unsignalized intersections are limited sight distance,incorr...Unsignalized intersections are identified as the critical locations due to higher number of road crashes at these locations.The primary causes of crashes at unsignalized intersections are limited sight distance,incorrect assessment of gaps by drivers on the minor road,and higher speeds of vehicles on the major road.In an effort to improve safety and reduce the severity of crashes at unsignalized intersections,an intelligent transportation system(ITS)called the intersection conflict warning system(ICWS)has been developed.The ICWS consists of an activated warning sign and sensors that detect vehicles approaching the intersection.This paper aims to summarize the performance evaluation of ICWS that has been published in the literature.The review commences with an overview of the purpose of designing and installing ICWS at unsignalized intersections.It then discusses driving performance measures considered to evaluate the effectiveness of ICWS in three different environments,i.e.,real world,driving simulator,and simulations,and their results are presented.The paper also discusses the type of sensors used to detect vehicles approaching the intersection and their accuracy in vehicle detection.The results reveal that ICWS had substantially improved driver behaviour.In the presence of ICWS,drivers resulted in shorter reaction time,lower approach speed,increased critical gap acceptance,and reduction in conflicts.An improvement in the performance of ICWS can be achieved by educating drivers about the sign,maintaining system reliability,and further examining the effect of various traffic factors,driver factors,and environmental factors on ICWS.The findings of this study can help researchers and engineers to design a better ICWS that can greatly enhance driving performance and safety at unsignalized intersections.展开更多
Safe and smooth interaction between other vehicles is one of the ultimate goals of driving automation.However,recent reports of demonstrative deployments of automated vehicles(AVs)indicate that AVs are still difficult...Safe and smooth interaction between other vehicles is one of the ultimate goals of driving automation.However,recent reports of demonstrative deployments of automated vehicles(AVs)indicate that AVs are still difficult to meet the expecta-tion of other interacting drivers,which leads to several AV accidents involving human-driven vehicles(HVs)without the understanding about the dynamic interaction process.By investigating 4300 video clips of traffic accidents,it is found that the limited dynamic visual field of drivers is one leading factor in inter-vehicle interaction accidents.A game-theoretic decision algorithm considering social compatibility is proposed to handle the interaction with a human-driven truck at an unsignalized intersection.Starting from a probabilistic model for the visual field characteristics of truck drivers,social fit-ness and reciprocal altruism in the decision are incorporated in the game payoff design.Human-in-the-loop experiments are carried out,in which 24 subjects are invited to drive and interact with AVs deployed with the proposed algorithm and two comparison algorithms.Totally,207 cases of intersection interactions are obtained and analyzed,which shows that the proposed decision-making algorithm can improve both safety and time efficiency,and make AV decisions more in line with the expectation of interacting human drivers.These findings can help inform the design of automated driving decision algorithms,to ensure that AVs can be safely and efficiently integrated into the human-dominated traffic.展开更多
The Washington,DC crash statistic report for the period from 2013 to 2015 shows that the city recorded about 41789 crashes at unsignalized intersections,which resulted in 14168 injuries and 51 fatalities.The economic ...The Washington,DC crash statistic report for the period from 2013 to 2015 shows that the city recorded about 41789 crashes at unsignalized intersections,which resulted in 14168 injuries and 51 fatalities.The economic cost of these fatalities has been estimated to be in the millions of dollars.It is therefore necessary to investigate the predictability of the occurrence of theses crashes,based on pertinent factors,in order to provide mitigating measures.This research focused on the development of models to predict the injury severity of crashes using support vector machines(SVMs)and Gaussian naïve Bayes classifiers(GNBCs).The models were developed based on 3307 crashes that occurred from 2008 to 2015.Eight SVM models and a GNBC model were developed.The most accurate model was the SVM with a radial basis kernel function.This model predicted the severity of an injury sustained in a crash with an accuracy of approximately 83.2%.The GNBC produced the worst-performing model with an accuracy of 48.5%.These models will enable transport officials to identify crash-prone unsignalized intersections to provide the necessary countermeasures beforehand.展开更多
To address the driving conflicts of connected automated vehicles(CAVs)at unsignalized roundabouts,a cooperative decision-making framework is proposed.The personalized driving preferences of CAVs are considered in the ...To address the driving conflicts of connected automated vehicles(CAVs)at unsignalized roundabouts,a cooperative decision-making framework is proposed.The personalized driving preferences of CAVs are considered in the decision-making algorithm,which are reflected by different driving styles.A motion prediction algorithm is used to improve the decision-making performance.The effect of the motion prediction algorithm on the decisionmaking performance is evaluated,including the advancement of driving safety and the computational load for the hardware.The cooperative game theoretic approach is applied to the interaction modelling and collaborative decision making of CAVs.Finally,hardware-in-the-loop(HIL)tests are carried out to evaluate the feasibility and real-time performance of the proposed algorithm.展开更多
One of the elementary operations in computing systems is multiplication.Therefore,high-speed and low-power multipliers design is mandatory for efficient computing systems.In designing low-energy dissipation circuits,r...One of the elementary operations in computing systems is multiplication.Therefore,high-speed and low-power multipliers design is mandatory for efficient computing systems.In designing low-energy dissipation circuits,reversible logic is more efficient than irreversible logic circuits but at the cost of higher complexity.This paper introduces an efficient signed/unsigned 4×4 reversible Vedic multiplier with minimum quantum cost.The Vedic multiplier is considered fast as it generates all partial product and their sum in one step.This paper proposes two reversible Vedic multipliers with optimized quantum cost and garbage output.First,the unsigned Vedic multiplier is designed based on the Urdhava Tiryakbhyam(UT)Sutra.This multiplier consists of bitwise multiplication and adder compressors.Compared with Vedic multipliers in the literature,the proposed design has a quantum cost of 111 with a reduction of 94%compared to the previous design.It has a garbage output of 30 with optimization of the best-compared design.Second,the proposed unsigned multiplier is expanded to allow the multiplication of signed numbers as well as unsigned numbers.Two signed Vedic multipliers are presented with the aim of obtaining more optimization in performance parameters.DesignI has separate binary two’s complement(B2C)and MUX circuits,while DesignII combines binary two’s complement and MUX circuits in one circuit.DesignI shows the lowest quantum cost,231,regarding state-ofthe-art.DesignII has a quantum cost of 199,reducing to 86.14%of DesignI.The functionality of the proposed multiplier is simulated and verified using XILINX ISE 14.2.展开更多
The concept of social stratification and hierarchy among human dates is back to the origin of human race. Presently, the growing reputation of social networks has given us with an opportunity to analyze these well-stu...The concept of social stratification and hierarchy among human dates is back to the origin of human race. Presently, the growing reputation of social networks has given us with an opportunity to analyze these well-studied phenomena over different networks at different scales. Generally, a social network could be defined as a collection of actors and their interactions. In this work, we concern ourselves with a particular type of social networks, known as trust networks. In this type of networks, there is an explicit show of trust (positive interaction) or distrust (negative interaction) among the actors. In a social network, actors tend to connect with each other on the basis of their perceived social hierarchy. The emergence of such a hierarchy within a social community shows the manner in which authority manifests in the community. In the case of signed networks, the concept of social hierarchy can be interpreted as the emergence of a tree-like structure comprising of actors in a top-down fashion in the order of their ranks, describing a specific parent-child relationship, viz. child trusts parent. However, owing to the presence of positive as well as negative interactions in signed networks, deriving such “trust hierarchies” is a non-trivial challenge. We argue that traditional notions (of unsigned networks) are insufficient to derive hierarchies that are latent within signed networks.展开更多
基金supported by the National Natural Science Foundation of China (52102394,52172384)Hunan Provincial Natural Science Foundation of China (2023JJ10008)Young Elite Scientists Sponsorship Program by CAST (2022QNRC001)。
文摘Unsignalized intersections pose a challenge for autonomous vehicles that must decide how to navigate them safely and efficiently.This paper proposes a reinforcement learning(RL)method for autonomous vehicles to navigate unsignalized intersections safely and efficiently.The method uses a semantic scene representation to handle variable numbers of vehicles and a universal reward function to facilitate stable learning.A collision risk function is designed to penalize unsafe actions and guide the agent to avoid them.A scalable policy optimization algorithm is introduced to improve data efficiency and safety for vehicle learning at intersections.The algorithm employs experience replay to overcome the on-policy limitation of proximal policy optimization and incorporates the collision risk constraint into the policy optimization problem.The proposed safe RL algorithm can balance the trade-off between vehicle traffic safety and policy learning efficiency.Simulated intersection scenarios with different traffic situations are used to test the algorithm and demonstrate its high success rates and low collision rates under different traffic conditions.The algorithm shows the potential of RL for enhancing the safety and reliability of autonomous driving systems at unsignalized intersections.
基金supported by the Natural Science Fund for Distinguished Young Scholars of Jiangsu Province under Grant BK20220067。
文摘With the support of Vehicle-to-Everything(V2X)technology and computing power networks,the existing intersection traffic order is expected to benefit from efficiency improvements and energy savings by new schemes such as de-signalization.How to effectively manage autonomous vehicles for traffic control with high throughput at unsignalized intersections while ensuring safety has been a research hotspot.This paper proposes a collision-free autonomous vehicle scheduling framework based on edge-cloud computing power networks for unsignalized intersections where the lanes entering the intersections are undirectional,and designs an efficient communication system and protocol.First,by analyzing the collision point occupation time,this paper formulates an absolute value programming problem.Second,this problem is solved with low complexity by the Edge Intelligence Optimal Entry Time(EI-OET)algorithm based on edge-cloud computing power support.Then,the communication system and protocol are designed for the proposed scheduling scheme to realize efficient and low-latency vehicular communications.Finally,simulation experiments compare the proposed scheduling framework with directional and traditional traffic light scheduling mechanisms,and the experimental results demonstrate its high efficiency,low latency,and low complexity.
基金Supported by the National Basic Research Program of China (2012CB725400)the National Natural Science Foundation of China(70901005+2 种基金7107101671131001)Fundamental Research Funds for the Central Universities(2011JBM055)
文摘To investigate bicyclists＇ behavior at unsignalized intersections with mixed traffic flow, a bicycle capacity model of borrowed-priority merge was developed by the addition-conflict-flow procedure. Based on the actual traffic situation, the concept of borrowed priority, in which the majorroad bicycles borrow the priority of major-road cars to enter the intersections when consecutive headway for major-steam cars is lower than the critical gap for minor-road cars, was addressed. Bicycle capacity at a typical unsignalized intersection is derived by the addition-conflict-flow procedure. The proposes model was validated by the empirical investigation. Numerical results show that bicycle capacity at an intersection is the function of major-road and minor-road car streams. Bicycle capacity increases with increasing major-road cars but decreases with increasing minorroad cars.
文摘In India, traffic flow on roads is highly mixed in nature with wide variations in the static and dynamic characteristics of vehicles. At unsignalized intersections, vehicles generally do not follow lane discipline and ignore the rules of priority. Drivers generally become more aggressive and tend to cross the uncontrolled intersections without considering the conflicting traffic. All these conditions cause a very complex traffic situation at unsignal- ized intersections which have a great impact on the capacity and performance of traffic intersections. A new method called additive conflict flow （ACF） method is suitable to determine the capacity of unsignalized inter- sections in non-lane-based mixed traffic conditions as prevailing in India. Occupation time is the key parameter for ACF method, which is defined as the time spent by a vehicle in the conflict area at the intersection. Data for this study were collected at two three-legged unsignalized intersections （one is uncontrolled and other one is semi- controlled） in Mangalore city, India using video-graphic technique during peak periods on three consecutive week days. The occupation time of vehicles at these intersections were studied and compared. The data on conflicting traffic volume and occupation time by each subject vehicle at the conflict area were extracted from the videos using image processing software. The subject vehicles were divided into three categories： two wheelers,cars, and auto-rickshaws. Mathematical relationships were developed to relate the occupation time of different cate- gories of vehicles with the conflicting flow of vehicles for various movements at both the intersections. It was found that occupation time increases with the increasing con- flicting traffic and observed to be higher at the uncontrolled intersection compared to the semicontrolled intersec- tion. The segregated turning movements and the presence of mini roundabout at the semicontrolled intersection reduces the conflicts of vehicular movements, which ulti- mately reduces the occupation time. The proposed methodology will be useful to determine the occupation time for various movements at unsignalized intersections. The models developed in the study can be used by practitioners and traffic engineers to estimate the capacity of unsignalized intersections in non-lane-based discipline and mixed traffic conditions.
基金Sponsored by the National High Technology Research and Development Program of China(Grant No.2011AA110304)the National Natural Science Foundation of China(Grant No.50908100,70971053)
文摘In order to describe the time-headway distribution more precisely in urban traffic network,the mixed distribution model was introduced which has been widely used in mathematical statistics,and a capacity model of unsignalized intersections was obtained based on gap acceptance theory.The new model is suitable for absolute and limited priority controlled conditions and can be regarded as a more general form which handles simple headway distributions including lognormal distribution,negative exponential distribution and shifted negative exponential distribution.Through analyses of the main influencing factors in this model,the proportion of free flowing and the standard variance of gaps between any two continuous following vehicles are high sensitivity with the capacity when major stream volume is low.Besides,the capacity is affected deeply by the mean value of following vehicle gaps when major stream value is fixed and the proportion of free flowing is small.At last,the observed minor stream capacity is obtained by the survey date in Changchun city,and the average relative error between the theoretical capacity proposed in this paper is 13.73%,meanwhile the accuracy increases by 16.68% compared with the theoretical value when major stream obeys shifted negative exponential distribution.
文摘Right-turn collisions at intersections are one of the most dominant crash types in suburban areas,especially at unsignalized intersections.There is,however,a lack of comprehensive research on the speed patterns of vehicles during right-turn manoeuvres and their impacts on crashes.To provide an in-depth investigation of the factors determining the safety of right-turn manoeuvres,driving behavior data were collected through an instrumented vehicle study.Using this data,binary logistic regression models were developed to identify the factors affecting the probability of vehicle-vehicle(V-V)and vehicle-pedestrian(V-P)conflicts at six suburban intersections in Babol,Iran,during right-turn stage manoeuvres.In total,1456 V-V and V-P conflicts were identified from the data analysis.The results from the logistic regression model showed that the vehicle speed,the distance between road users,as well as driver and pedestrian distractions were associated with a higher risk for V-V or V-P conflicts.To estimate the safe right-turn speeds to be selected by drivers at different stages of the right turn,i.e.,at the start,during,and end of the movement,linear regression models were developed.The results showed that participants adjust their driving behaviors the same way toward pedestrians as they do toward vehicles.The findings of this study can be leveraged for the development of a robust advanced driving assistance system,the use of which can further improve the safety performance of right-turn manoeuvres.
基金This work was supported by the National Natural Science Foundation of China(No.52272420)the Science and Technology Innovation Committee of Shenzhen(No.CJGJZD20200617102801005)the Tsinghua-Toyota Joint Research Institution.
文摘Cooperative driving is widely viewed as a promising method to better utilize limited road resources and alleviate traffic congestion.In recent years,several cooperative driving approaches for idealized traffic scenarios(i.e.,uniform vehicle arrivals,lengths,and speeds)have been proposed.However,theoretical analyses and comparisons of these approaches are lacking.In this study,we propose a unified group-by-group zipper-style movement model to describe different approaches synthetically and evaluate their performance.We derive the maximum throughput for cooperative driving plans of idealized unsignalized intersections and discuss how to minimize the delay of vehicles.The obtained conclusions shed light on future cooperative driving studies.
基金financially supported by the JST-Mirai Program Grant Number JPMJMI17D4.
文摘This work presents a simulation model for unsignalized crosswalks which takes into account collisions between vehicles and pedestrians,thus allowing to assess the estimated yearly pedestrian fatality.In particular,we focus on a method to calibrate such a model combining measurable crosswalk characteristics,such as maximum speed limit or drivers’compliance,with statistical data for past accidents obtained from local municipality.In order to perform simulations under realistic conditions,we constructed a one-week scenario where pedestrian and vehicle traffic vary using specific patterns each hour of the week.The constructed traffic profile is based on openly available data and the suitability for the scenario considered(a crosswalk in Milan,Italy)is investigated showing that cultural/lifestyle elements determine the variation of weekly traffic.Simulations using the constructed one-week scenario were used to obtain the only non-measurable parameter which account for pedestrians’and drivers’distraction.In addition,we also focused on the presence of elderly pedestrians which have different physiological characteristics compared to adults or children and are becoming an important part of the population in several countries around the globe.The simulation model presented here and the method suggested for calibration may be employed in different contexts,thus allowing to build an important tool to be used not only for transportation efficiency/optimization but also for safety analysis.
文摘The most common type of intersection improvement considered in Ghana is signalization. However, other actions such as the installation of left-turn lanes have been proven to improve the efficiency and safety of an intersection without the need for signalization in the short term. Warrants which guide the installation of such lanes in Ghana are adopted from elsewhere and as a result do not reflect local traffic flow conditions. This study established volume warrants based on a delay threshold to guide the installation of left- turn lanes at unsignalized T-intersections using VISSIM micro simulation tool. The VISSIM model was calibrated using traffic flow, delay, average and maximum queue length data obtained from a two-hour video recording of the case study intersection during the morning peak period. After calibration, several scenarios covering a wide range of opera- tional conditions were simulated. Using level of service （LOS） C cut off point of 25 s/veh as the maximum acceptable delay to minor road left-turning traffic, an equation y = -0.57x ＋1091 has been developed which predicts the minor road left-turn volume threshold （y） above which a minor road left-turn lane may be considered and below which a minor road left-turn lane may not be necessary for a range of major road volumes （x）. The critical delay to major road left-turning traffic was found to be 16 s/veh. Major road left-turn lane volume warrants were also determined based on this threshold delay value. The approach used in this study can serve as a guide that can be used by metropolitan and municipal road en- gineers to assess the need for left-turn lanes.
基金supported by the National Natural Science Foundation of China(No.51178149)
文摘Many studies suggest that more crashes occur due to mixed traffic flow at unsignalized intersections. However, very little is known about the injury severity of these crashes. The objective of this study is therefore to investigate how contributory factors affect crash injury severity at unsignalized intersections. The dataset used for this analysis derived from police crash reports from Dec. 2006 to Apr. 2009 in Heilongjiang Province, China. An ordered probit model was developed to predict the probability that the injury severity of a crash will be one of four levels ： no injury, slight injury, severe injury, and fatal injury. The injury severity of a crash was evaluated in terms of the most severe injury sustained by any person involved in the crash. Results from the present study showed that different factors had varying effects on crash injury severity. Factors found to result in the increased probability of serious injuries include adverse weather, sideswiping with pedestrians on poor surface, the interaction of rear-ends and the third-class highway, winter night without illumination, and the interaction between traffic signs or markings and the third-class highway. Although there are some limitations in the current study, this study provides more insights into crash injury severity at unsignalized intersections.
基金supported by the project“M2Smart:Smart Cities for Emerging Countries based on Sensing Network and Big Data Analysis of Multimodal Regional Transport System”,JST/JICA SATREPS,Japan。
文摘Unsignalized intersections are identified as the critical locations due to higher number of road crashes at these locations.The primary causes of crashes at unsignalized intersections are limited sight distance,incorrect assessment of gaps by drivers on the minor road,and higher speeds of vehicles on the major road.In an effort to improve safety and reduce the severity of crashes at unsignalized intersections,an intelligent transportation system(ITS)called the intersection conflict warning system(ICWS)has been developed.The ICWS consists of an activated warning sign and sensors that detect vehicles approaching the intersection.This paper aims to summarize the performance evaluation of ICWS that has been published in the literature.The review commences with an overview of the purpose of designing and installing ICWS at unsignalized intersections.It then discusses driving performance measures considered to evaluate the effectiveness of ICWS in three different environments,i.e.,real world,driving simulator,and simulations,and their results are presented.The paper also discusses the type of sensors used to detect vehicles approaching the intersection and their accuracy in vehicle detection.The results reveal that ICWS had substantially improved driver behaviour.In the presence of ICWS,drivers resulted in shorter reaction time,lower approach speed,increased critical gap acceptance,and reduction in conflicts.An improvement in the performance of ICWS can be achieved by educating drivers about the sign,maintaining system reliability,and further examining the effect of various traffic factors,driver factors,and environmental factors on ICWS.The findings of this study can help researchers and engineers to design a better ICWS that can greatly enhance driving performance and safety at unsignalized intersections.
基金supported by the Department of Science and Technology of Zhejiang under Grants 2022C01241 and 2023C01238supported by a student project from Scientific Research Fund of Zhejiang Provincial Education Department(Y202250796).
文摘Safe and smooth interaction between other vehicles is one of the ultimate goals of driving automation.However,recent reports of demonstrative deployments of automated vehicles(AVs)indicate that AVs are still difficult to meet the expecta-tion of other interacting drivers,which leads to several AV accidents involving human-driven vehicles(HVs)without the understanding about the dynamic interaction process.By investigating 4300 video clips of traffic accidents,it is found that the limited dynamic visual field of drivers is one leading factor in inter-vehicle interaction accidents.A game-theoretic decision algorithm considering social compatibility is proposed to handle the interaction with a human-driven truck at an unsignalized intersection.Starting from a probabilistic model for the visual field characteristics of truck drivers,social fit-ness and reciprocal altruism in the decision are incorporated in the game payoff design.Human-in-the-loop experiments are carried out,in which 24 subjects are invited to drive and interact with AVs deployed with the proposed algorithm and two comparison algorithms.Totally,207 cases of intersection interactions are obtained and analyzed,which shows that the proposed decision-making algorithm can improve both safety and time efficiency,and make AV decisions more in line with the expectation of interacting human drivers.These findings can help inform the design of automated driving decision algorithms,to ensure that AVs can be safely and efficiently integrated into the human-dominated traffic.
文摘The Washington,DC crash statistic report for the period from 2013 to 2015 shows that the city recorded about 41789 crashes at unsignalized intersections,which resulted in 14168 injuries and 51 fatalities.The economic cost of these fatalities has been estimated to be in the millions of dollars.It is therefore necessary to investigate the predictability of the occurrence of theses crashes,based on pertinent factors,in order to provide mitigating measures.This research focused on the development of models to predict the injury severity of crashes using support vector machines(SVMs)and Gaussian naïve Bayes classifiers(GNBCs).The models were developed based on 3307 crashes that occurred from 2008 to 2015.Eight SVM models and a GNBC model were developed.The most accurate model was the SVM with a radial basis kernel function.This model predicted the severity of an injury sustained in a crash with an accuracy of approximately 83.2%.The GNBC produced the worst-performing model with an accuracy of 48.5%.These models will enable transport officials to identify crash-prone unsignalized intersections to provide the necessary countermeasures beforehand.
基金A*STAR,Singapore,under Grant SERC 1922500046 and Grant A2084c0156the SUG-NAP,Nanyang Technological University,under Grant M4082268.050.
文摘To address the driving conflicts of connected automated vehicles(CAVs)at unsignalized roundabouts,a cooperative decision-making framework is proposed.The personalized driving preferences of CAVs are considered in the decision-making algorithm,which are reflected by different driving styles.A motion prediction algorithm is used to improve the decision-making performance.The effect of the motion prediction algorithm on the decisionmaking performance is evaluated,including the advancement of driving safety and the computational load for the hardware.The cooperative game theoretic approach is applied to the interaction modelling and collaborative decision making of CAVs.Finally,hardware-in-the-loop(HIL)tests are carried out to evaluate the feasibility and real-time performance of the proposed algorithm.
文摘One of the elementary operations in computing systems is multiplication.Therefore,high-speed and low-power multipliers design is mandatory for efficient computing systems.In designing low-energy dissipation circuits,reversible logic is more efficient than irreversible logic circuits but at the cost of higher complexity.This paper introduces an efficient signed/unsigned 4×4 reversible Vedic multiplier with minimum quantum cost.The Vedic multiplier is considered fast as it generates all partial product and their sum in one step.This paper proposes two reversible Vedic multipliers with optimized quantum cost and garbage output.First,the unsigned Vedic multiplier is designed based on the Urdhava Tiryakbhyam(UT)Sutra.This multiplier consists of bitwise multiplication and adder compressors.Compared with Vedic multipliers in the literature,the proposed design has a quantum cost of 111 with a reduction of 94%compared to the previous design.It has a garbage output of 30 with optimization of the best-compared design.Second,the proposed unsigned multiplier is expanded to allow the multiplication of signed numbers as well as unsigned numbers.Two signed Vedic multipliers are presented with the aim of obtaining more optimization in performance parameters.DesignI has separate binary two’s complement(B2C)and MUX circuits,while DesignII combines binary two’s complement and MUX circuits in one circuit.DesignI shows the lowest quantum cost,231,regarding state-ofthe-art.DesignII has a quantum cost of 199,reducing to 86.14%of DesignI.The functionality of the proposed multiplier is simulated and verified using XILINX ISE 14.2.
文摘The concept of social stratification and hierarchy among human dates is back to the origin of human race. Presently, the growing reputation of social networks has given us with an opportunity to analyze these well-studied phenomena over different networks at different scales. Generally, a social network could be defined as a collection of actors and their interactions. In this work, we concern ourselves with a particular type of social networks, known as trust networks. In this type of networks, there is an explicit show of trust (positive interaction) or distrust (negative interaction) among the actors. In a social network, actors tend to connect with each other on the basis of their perceived social hierarchy. The emergence of such a hierarchy within a social community shows the manner in which authority manifests in the community. In the case of signed networks, the concept of social hierarchy can be interpreted as the emergence of a tree-like structure comprising of actors in a top-down fashion in the order of their ranks, describing a specific parent-child relationship, viz. child trusts parent. However, owing to the presence of positive as well as negative interactions in signed networks, deriving such “trust hierarchies” is a non-trivial challenge. We argue that traditional notions (of unsigned networks) are insufficient to derive hierarchies that are latent within signed networks.
