Dear Editor,This letter proposes a dynamic switching soft slicing strategy for industrial mixed traffic in 5G networks. Considering two types of traffic, periodic delay-sensitive (PDS) traffic and sporadic delay-toler...Dear Editor,This letter proposes a dynamic switching soft slicing strategy for industrial mixed traffic in 5G networks. Considering two types of traffic, periodic delay-sensitive (PDS) traffic and sporadic delay-tolerant (SDT) traffic, we design a dynamic switching strategy based on a traffic-Qo S-aware soft slicing (TQASS) scheme and a resource-efficiency-aware soft slicing (REASS) scheme.展开更多
This study investigates pedestrian safety perception in Ho Chi Minh City under mixed traffic conditions by evaluating comfort,crash risk,and injury risk perceptions in two scenarios:walking along and crossing multilan...This study investigates pedestrian safety perception in Ho Chi Minh City under mixed traffic conditions by evaluating comfort,crash risk,and injury risk perceptions in two scenarios:walking along and crossing multilane roads.Using visual experiments with 510 participants,the study identifies how sidewalk quality,obstructions,crossing infrastructure,and traffic conditions shape pedestrian experiences.Statistical modeling reveals that protected sidewalks and comprehensive crossing features significantly enhance perceived safety and comfort.Findings emphasize the need for improved pedestrian infrastructure and traffic calming in dense urban settings to support safer,more inclusive mobility under mixed traffic conditions like Vietnam.展开更多
This paper investigates the impacts of a bus holding strategy on the mutual interference between buses and passenger cars in a non-dedicated bus route,as well as the impacts on the characteristics of pollutant emissio...This paper investigates the impacts of a bus holding strategy on the mutual interference between buses and passenger cars in a non-dedicated bus route,as well as the impacts on the characteristics of pollutant emissions of passenger cars.The dynamic behaviors of these two types of vehicles are described using cellular automata(CA)models under open boundary conditions.Numerical simulations are carried out to obtain the phase diagrams of the bus system and the trajectories of buses and passenger cars before and after the implementation of the bus holding strategy under different probabilities of passenger cars entering a two-lane mixed traffic system.Then,we analyze the flow rate,satisfaction rate,and pollutant emission rates of passenger cars together with the performance of a mixed traffic system.The results show that the bus holding strategy can effectively alleviate bus bunching,whereas it has no significant impact on the flow rate and pollutant emission rates of passenger cars;the flow rate,satisfaction rate,and pollutant emission rates of passenger cars for either the traffic system or for each lane are influenced by the bus departure interval and the number of passengers arriving at bus stops.展开更多
To determine how bus stop design influences mixed traffic operation near Chinese bus stops,a new theoretical method was developed by using additive-conflict-flows procedure.The procedure was extended from homogeneous ...To determine how bus stop design influences mixed traffic operation near Chinese bus stops,a new theoretical method was developed by using additive-conflict-flows procedure.The procedure was extended from homogeneous traffic flow to mixed traffic flow.Based on the procedure and queuing theory,car capacity and speed models were proposed for three types of bus stops including curbside,bus bay and bicycle detour.The effects of various combinations of bus stop type,traffic volume,bus dwell time,and berth number on traffic operations were investigated.The results indicate that traffic volume,bus dwell time and berth number have negative effects on traffic operations for any type of bus stops.For different types of bus stops,at car volumes above approximately 200 vehicles per hour,the bus bay and bicycle detour designs provide more benefits than the curbside design.As traffic volume increases,the benefit firstly increases in uncongested conditions and then decreases in congested conditions.It reaches the maximum at car volumes nearly 1 100 vehicles per hour.The results can be used to aid in the selection of a preferred bus stop design for a given traffic volume in developing countries.展开更多
Accurately predicting the trajectories of surrounding vehicles and assessing the collision risks are essential to avoid side and rear-end collisions caused by cut-in.To improve the safety of autonomous vehicles in the...Accurately predicting the trajectories of surrounding vehicles and assessing the collision risks are essential to avoid side and rear-end collisions caused by cut-in.To improve the safety of autonomous vehicles in the mixed traffic,this study proposes a cut-in prediction and risk assessment method with considering the interactions of multiple traffic participants.The integration of the support vector machine and Gaussian mixture model(SVM-GMM)is developed to simultaneously predict cut-in behavior and trajectory.The dimension of the input features is reduced through Chebyshev fitting to improve the training efficiency as well as the online inference performance.Based on the predicted trajectory of the cut-in vehicle and the responsive actions of the autonomous vehicles,two risk measurements are introduced to formulate the comprehensive interaction risk through the combination of Sigmoid function and Softmax function.Finally,the comparative analysis is performed to validate the proposed method using the naturalistic driving data.The results show that the proposed method can predict the trajectory with higher precision and effectively evaluate the risk level of a cut-in maneuver compared to the methods without considering interaction.展开更多
Many vehicle platoons are interrupted while traveling on roads,especially at urban signalized intersections.One reason for such interruptions is the inability to exchange real-time information between traditional huma...Many vehicle platoons are interrupted while traveling on roads,especially at urban signalized intersections.One reason for such interruptions is the inability to exchange real-time information between traditional human-driven vehicles and intersection infrastructure.Thus,this paper develops a Markov chain-based model to recognize platoons.A simulation experiment is performed in Vissim based on field data extracted from video recordings to prove the model’s applicability.The videos,recorded with a high-definition camera,contain field driving data from three Tesla vehicles,which can achieve Level 2 autonomous driving.The simulation results show that the recognition rate exceeds 80%when the connected and autonomous vehicle penetration rate is higher than 0.7.Whether a vehicle is upstream or downstream of an intersection also affects the performance of platoon recognition.The platoon recognition model developed in this paper can be used as a signal control input at intersections to reduce the unnecessary interruption of vehicle platoons and improve traffic efficiency.展开更多
To study the dynamics of mixed traffic flow consisting of motorized and non-motorized vehicles, a carfollowing model based on the principle of collision free and cautious driving is proposed. Lateral friction and over...To study the dynamics of mixed traffic flow consisting of motorized and non-motorized vehicles, a carfollowing model based on the principle of collision free and cautious driving is proposed. Lateral friction and overlapping driving are introduced to describe the interactions between motorized vehicles and non-motorized vehicles. By numerical simulations, the flux-density relation, the temporal-spatial dynamics, and the velocity evolution are investigated in detail The results indicate non-motorized vehicles have a significant impact on the motorized vehicle flow and cause the maximum flux to decline by about 13%. Non-motorized vehicles can decrease the motorized vehicle velocity and cause velocity oscillation when the motorized vehicle density is low. Moreover, non-motorized vehicles show a significant damping effect on the oscillating velocity when the density is medium and high, and such an effect weakens as motorized vehicle density increases. The results also stress the necessity for separating motorized vehicles from non-motorized vehicles.展开更多
Highway capacity is defined as maximum volume of traffic flow through the particular highway section under given traffic conditions, road conditions and so on. Highway construction and management is judged by capacity...Highway capacity is defined as maximum volume of traffic flow through the particular highway section under given traffic conditions, road conditions and so on. Highway construction and management is judged by capacity standard. The reasonable scale and time of highway construction, rational network structure and optimal management mode of highway network can be determined by analyzing the fitness between capacity and traffic volume. All over the world, highway capacity is studied to different extent in different country. Based on the gap acceptance theory, the mixed traffic flow composed of two representative vehicle types heavy and light vehicles is analyzed with probability theory. Capacity model of the minor mixed traffic flows crossing m major lanes, on which the traffic flows fix in with M3 distributed headway, on the unsignalized intersection is set up, and it is an extension of minor lane capacity theory for one vehicle-type and one major-lane traffic flow.展开更多
Explicit traffic control measures are absent in uncontrolled intersections which make them susceptible to frequent conflicts and resulting collisions between vehicles. In developing countries like India, drivers at su...Explicit traffic control measures are absent in uncontrolled intersections which make them susceptible to frequent conflicts and resulting collisions between vehicles. In developing countries like India, drivers at such intersections do not yield to higher priority movements which cause more crashes between vehicles. The objective of this study is to analyze and model the gap acceptance behavior of minor street drivers at uncontrolled T-intersections considering their aggressive nature. Three intersections in the northeast region of India have been selected as the case study area. Preliminary analysis of the data revealed that drivers behave aggressively, not because they have to wait for a long time at the stop line, but because of their lack of respect for traffic rules. Binary logit models are developed for minor road right turning vehicles which show that gap acceptance behavior is influenced by gap duration, clearing time and aggressive nature of drivers. The equations obtained were used to estimate the critical gaps for aggressive and non-aggressive drivers. Critical gaps are also calculated using an existing method called clearing behavior approach. It is also shown that the estimation of critical gap is more realistic if clearing time and aggressive behavior of drivers are considered.展开更多
In this paper, the characteristics of synchronized traffic in mixed traffic flow are investigated based on the braking light model. By introducing the energy dissipation and the distribution of slowdown vehicles, the ...In this paper, the characteristics of synchronized traffic in mixed traffic flow are investigated based on the braking light model. By introducing the energy dissipation and the distribution of slowdown vehicles, the effects of the maximum velocity, the mixing ratio, and the length of vehicles on the synchronized flow are discussed. It is found that the maximum velocity plays a great role in the synchronized flow in mixed traffic. The energy dissipation and the distribution of slowdown vehicles in the synchronized flow region are greatly different from those in free flow and a traffic jamming region. When all of vehicles have the same maximum velocity with Vmax 〉 15, the mixed traffic significantly displays synchronized flow, which has been demonstrated by the relation between flow rate and occupancy and estimation of the cross-correlation function. Moreover, the energy dissipation in the synchronized flow region does not increase with occupancy. The distribution of slowdown vehicles shows a changeless platform in the synchronized flow region. This is an interesting phenomenon. It helps to deeply understand the synchronized flow and greatly reduce the energy dissipation of traffic flow.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
Parking-toll on main-line is one of toll models on high-level ways in our country at present. This paper analyzes the flow's distributing function, queuing model, and vehicle passing time. Through computer simulat...Parking-toll on main-line is one of toll models on high-level ways in our country at present. This paper analyzes the flow's distributing function, queuing model, and vehicle passing time. Through computer simulation, the negative index relationships between carrying capacity and serving time, and the index relationships between the queuing delay and flow are gained under the condition of different serving time and different vehicle type composition. When the flow density is low, the vehicle type composing has less influence on system serving level. Contrarily, also. Disposing toll station by roadway where flow density is high, we can save transection areas of toll station, reduce system queuing delay time, and enhance carrying capacity of toll station.展开更多
Bus safety is a matter of great importance in many developing countries, with driving behaviors among bus drivers identified as a primary factor contributing to accidents. This concern is particularly amplified in mix...Bus safety is a matter of great importance in many developing countries, with driving behaviors among bus drivers identified as a primary factor contributing to accidents. This concern is particularly amplified in mixed traffic flow (MTF) environments with time pressure (TP). However, there is a lack of sufficient research exploring the relationships among these factors. This study consists of two papers that aim to investigate the impact of MTF environments with TP on the driving behaviors of bus drivers. While the first paper focuses on violated driving behaviors, this particular paper delves into mistake-prone driving behaviors (MDB). To collect data on MDB, as well as perceptions of MTF and TP, a questionnaire survey was implemented among bus drivers. Factor analyses were employed to create new measurements for validating MDB in MTF environments. The study utilized partial correlation and linear regression analyses with the Bayesian Model Averaging (BMA) method to explore the relationships between MDB and MTF/TP. The results revealed a modified scale for MDB. Two MTF factors and two TP factors were found to be significantly associated with MDB. A high presence of motorcycles and dangerous interactions among vehicles were not found to be associated with MDB among bus drivers. However, bus drivers who perceived motorcyclists as aggressive, considered road users’ traffic habits as unsafe, and perceived bus routes’ punctuality and organization as very strict were more likely to exhibit MDB. Moreover, the results from the three MDB predictive models demonstrated a positive impact of bus route organization on MDB among bus drivers. The study also examined various relationships between the socio-demographic characteristics of bus drivers and MDB. These findings are of practical significance in developing interventions aimed at reducing MDB among bus drivers operating in MTF environments with TP.展开更多
Road transport safety policies have emphasized road infrastructure safety design and engineering as a core function.However,in developing countries like Vietnam,this approach has been slower to adopt,resulting in subs...Road transport safety policies have emphasized road infrastructure safety design and engineering as a core function.However,in developing countries like Vietnam,this approach has been slower to adopt,resulting in substandard roads.In-depth studies of accident locations indicate that road environment factors contribute significantly to road accidents in Vietnam and road design features are associated with specific accident types and hazards.Proactive and reactive approaches,such as road safety audit,inspection,assessment,and treatment of hazardous locations,are necessary to ensure that the road and its environment are safe.This paper provides an overview of road safety in Vietnam in general,and Ho Chi Minh in particular,including its factors and characteristics,as well as road infrastructure safety improvements.The iRap tool for road safety inspection and assessment is highlighted as a potential method for systematically analyzing road infrastructure deficiencies and providing targeted countermeasures to improve road safety under mixed traffic conditions.展开更多
While the advantages of Autonomous vehicles(AVs)and their impact on manually-driven vehicles(MVs)have been widely discussed in continuous flow conditions,their perfor-mance under mixed traffic,intermitted flow conditi...While the advantages of Autonomous vehicles(AVs)and their impact on manually-driven vehicles(MVs)have been widely discussed in continuous flow conditions,their perfor-mance under mixed traffic,intermitted flow conditions has yet to be properly studied.One of the representative scenarios is that vehicular flow is interrupted by roadside cross-ing obstacles such as pedestrians or cyclists.Since such interruption makes vehicles stop and go more frequently and creates random and complex traffic conflict,it has become a critical factor that can affect the driving performance of AVs.Therefore,this paper proposes a uniform traffic model(Pre_IDM+)to include roadside crossing impact in traffic flow anal-ysis.The classical intelligent driving model(IDM)is extended into an obstacle-avoiding case,in which a novel pre-reaction workflow is introduced to describe yielding behavior and generate a reasonable braking trajectory.A real mixed traffic data near an un-signalized mid-block crosswalk is used to calibrate Pre_IDM+and an accordingly micro-scope mixed traffic simulation platform is constructed.The simulation results show that discreet AVs can greatly avoid hard braking(83.61%)and slightly improve passing speed(+5.11%)compared with MVs,while competitive AVs can maximize traffic efficiency(+7.03%)but will also deteriorate driving smoothness and comfort(31.66%).Maintaining a sparse distribution of crossing sites along the road may contribute more to traffic stability and driving continuity compared with gathering all obstacles crossing at one location.This paper may help better understand the impact of AVs on general inter-mitted flow and give a reference to mixed traffic modeling towards a complex road condition.展开更多
Connected and Autonomous Vehicles(CAVs)hold great potential to improve traffic efficiency,emissions and safety in freeway on-ramp bottlenecks through coordination between mainstream and on-ramp vehicles.This study pro...Connected and Autonomous Vehicles(CAVs)hold great potential to improve traffic efficiency,emissions and safety in freeway on-ramp bottlenecks through coordination between mainstream and on-ramp vehicles.This study proposes a bi-level coordination strategy for freeway on-ramp merging of mixed traffic consisting of CAVs and human-driven vehicles(HDVs)to optimize the overall traffic efficiency and safety in congested traffic scenarios at the traffic flow level instead of platoon levels.The macro level employs an optimization model based on fundamental diagrams and shock wave theories to make optimal coordination decisions,including optimal minimum merging platoon size to trigger merging coordination and optimal coordination speed,based on macroscopic traffic state in mainline and ramp(i.e.,traffic volume and penetration rates of CAVs).Furthermore,the micro level determines the real platoon size in each merging cycle as per random arrival patterns and designs the coordinated trajectories of the mainline facilitating vehicle and ramp platoon.A receding horizon scheme is implemented to accommodate human drivers’stochastics as well.The developed bi-level strategy is tested in terms of improving efficiency and safety in a simulation-based case study under various traffic volumes and CAV penetration rates.The results show the proposed coordination addresses the uncertainties in mixed traffic as expected and substantially improves ramp merging operation in terms of merging efficiency and traffic robustness,and reducing collision risk and emissions,especially under high traffic volume conditions.展开更多
Traffic on Indian roads is highly mixed in nature with wide variations in the static and dynamic characteristics of vehicles. These vehicles do not follow strict lane discipline and occupy any available lateral positi...Traffic on Indian roads is highly mixed in nature with wide variations in the static and dynamic characteristics of vehicles. These vehicles do not follow strict lane discipline and occupy any available lateral position on the road space. Overtaking is one of the most complex and important manoeuvre on undivided roads where the vehicles use the opposing lane to overtake the slower vehicles with the presence of oncoming vehicles from opposite direction. They are unavoidable especially in the case of mixed traffic conditions where there is always a speed difference between the fast and slow moving vehicles. Overtaking process involves lane-changing manoeuvres, acceleration and deceleration actions and estimation of relative speed of overtaking and overtaken vehicles, and also, estimation of speed and distance of the oncoming vehicle. The main objective of the present study is to study the overtaking characteristics of vehicles on undivided roads under mixed traffic conditions. For this purpose, details of overtaking data were collected on a two-lane two-way undivided road using moving car observer method and registration plate method. The overtaking characteristics of all types of vehicles under mixed traffic conditions were observed and mathematically modelled. The data extracted and analysed were the acceleration characteristics, speeds of the overtaking vehicles, overtaking time, overtaking distances, safe opposing gap required for overtaking, flow rates, overtaking frequencies, types of overtaking strategy, and types of overtaking and overtaken vehicles. Two types of overtaking strategies were observed in the field such as flying overtaking and accelerative overtaking. Graphs were plotted between the relative speed of the overtaking and overtaken vehicles against the overtaking time and negative correlation was found between the speed differential and total overtaking time for all categories of vehicles. It was observed that the number of overtaking increases with increase in the flow rate in the on-going direction and decreases with increase in flow in the opposite direction, The results obtained from this study will be useful to understand the overtaking behaviour of vehicles in mixed and non-lane discipline traffic conditions. These parameters will be useful in the development of traffic simulations models for undivided roads and thereby for estimation of capacity. The findings from the study can also be used to estimate potential collision times which will be helpful to improve the road safety.展开更多
Mixed traffic flow composed of autos and non-autos widely exists in developing countries and areas. To investigate the operational characteristics of the mixed traffic flow consisting of vehicles in different types （...Mixed traffic flow composed of autos and non-autos widely exists in developing countries and areas. To investigate the operational characteristics of the mixed traffic flow consisting of vehicles in different types （large vehicles, cars, and bicycles）, we develop a cellular automaton model to repli- cate the travel behaviors on a bi-directional road segment with respect to the physical and mechanic features of different vehicle types. By implementing the essential parameters calibrated through the field data collection, a numerical study is carried out considering the variation in volume, density, and velocity with different compositions of mixed traffic flows. The primary findings include： the average ve- locity of traffic flow and total volume decrease 60% and 30% after incorporating 10% bicycles, respectively; the phenomenon of double-summit in terms bicycle is beyond 60 % ; the maximal total volume higher than 10 %. of the total volume appears when the proportion of starts to recover when the proportion of bicycle is展开更多
Autonomous driving has attracted significant research interests in the past two decades as it offers many potential benefits,including releasing drivers from exhausting driving and mitigating traffic congestion,among ...Autonomous driving has attracted significant research interests in the past two decades as it offers many potential benefits,including releasing drivers from exhausting driving and mitigating traffic congestion,among others.Despite promising progress,lane-changing remains a great challenge for autonomous vehicles(AV),especially in mixed and dynamic traffic scenarios.Recently,reinforcement learning(RL)has been widely explored for lane-changing decision makings in AVs with encouraging results demonstrated.However,the majority of those studies are focused on a single-vehicle setting,and lane-changing in the context of multiple AVs coexisting with human-driven vehicles(HDVs)have received scarce attention.In this paper,we formulate the lane-changing decision-making of multiple AVs in a mixed-traffic highway environment as a multi-agent reinforcement learning(MARL)problem,where each AV makes lane-changing decisions based on the motions of both neighboring AVs and HDVs.Specifically,a multi-agent advantage actor-critic(MA2C)method is proposed with a novel local reward design and a parameter sharing scheme.In particular,a multi-objective reward function is designed to incorporate fuel efficiency,driving comfort,and the safety of autonomous driving.A comprehensive experimental study is made that our proposed MARL framework consistently outperforms several state-of-the-art benchmarks in terms of efficiency,safety,and driver comfort.展开更多
基金supported by the Liaoning Revitalization Talents Program(XLYC2203148)
文摘Dear Editor,This letter proposes a dynamic switching soft slicing strategy for industrial mixed traffic in 5G networks. Considering two types of traffic, periodic delay-sensitive (PDS) traffic and sporadic delay-tolerant (SDT) traffic, we design a dynamic switching strategy based on a traffic-Qo S-aware soft slicing (TQASS) scheme and a resource-efficiency-aware soft slicing (REASS) scheme.
文摘This study investigates pedestrian safety perception in Ho Chi Minh City under mixed traffic conditions by evaluating comfort,crash risk,and injury risk perceptions in two scenarios:walking along and crossing multilane roads.Using visual experiments with 510 participants,the study identifies how sidewalk quality,obstructions,crossing infrastructure,and traffic conditions shape pedestrian experiences.Statistical modeling reveals that protected sidewalks and comprehensive crossing features significantly enhance perceived safety and comfort.Findings emphasize the need for improved pedestrian infrastructure and traffic calming in dense urban settings to support safer,more inclusive mobility under mixed traffic conditions like Vietnam.
基金Project supported by the National Natural Science Foundation of China(Grant No.52172314)the Natural Science Foundation of Liaoning Province,China(Grant No.2022-MS-150)the Special Funding Project of Taishan Scholar Engineering.
文摘This paper investigates the impacts of a bus holding strategy on the mutual interference between buses and passenger cars in a non-dedicated bus route,as well as the impacts on the characteristics of pollutant emissions of passenger cars.The dynamic behaviors of these two types of vehicles are described using cellular automata(CA)models under open boundary conditions.Numerical simulations are carried out to obtain the phase diagrams of the bus system and the trajectories of buses and passenger cars before and after the implementation of the bus holding strategy under different probabilities of passenger cars entering a two-lane mixed traffic system.Then,we analyze the flow rate,satisfaction rate,and pollutant emission rates of passenger cars together with the performance of a mixed traffic system.The results show that the bus holding strategy can effectively alleviate bus bunching,whereas it has no significant impact on the flow rate and pollutant emission rates of passenger cars;the flow rate,satisfaction rate,and pollutant emission rates of passenger cars for either the traffic system or for each lane are influenced by the bus departure interval and the number of passengers arriving at bus stops.
基金Project(2012CB725400) supported by the National Basic Research Program of ChinaProjects(70901005, 71071016, 71131001) supported by the National Natural Science Foundation of ChinaProject(2011JBM055) supported by the Fundamental Research Funds for the Central Universities of China
文摘To determine how bus stop design influences mixed traffic operation near Chinese bus stops,a new theoretical method was developed by using additive-conflict-flows procedure.The procedure was extended from homogeneous traffic flow to mixed traffic flow.Based on the procedure and queuing theory,car capacity and speed models were proposed for three types of bus stops including curbside,bus bay and bicycle detour.The effects of various combinations of bus stop type,traffic volume,bus dwell time,and berth number on traffic operations were investigated.The results indicate that traffic volume,bus dwell time and berth number have negative effects on traffic operations for any type of bus stops.For different types of bus stops,at car volumes above approximately 200 vehicles per hour,the bus bay and bicycle detour designs provide more benefits than the curbside design.As traffic volume increases,the benefit firstly increases in uncongested conditions and then decreases in congested conditions.It reaches the maximum at car volumes nearly 1 100 vehicles per hour.The results can be used to aid in the selection of a preferred bus stop design for a given traffic volume in developing countries.
基金supported in part by the Key-Area Researchand Development Program of Guangdong Province(2020B0909050003)the Program of Jiangxi(20204ABC03A13)。
文摘Accurately predicting the trajectories of surrounding vehicles and assessing the collision risks are essential to avoid side and rear-end collisions caused by cut-in.To improve the safety of autonomous vehicles in the mixed traffic,this study proposes a cut-in prediction and risk assessment method with considering the interactions of multiple traffic participants.The integration of the support vector machine and Gaussian mixture model(SVM-GMM)is developed to simultaneously predict cut-in behavior and trajectory.The dimension of the input features is reduced through Chebyshev fitting to improve the training efficiency as well as the online inference performance.Based on the predicted trajectory of the cut-in vehicle and the responsive actions of the autonomous vehicles,two risk measurements are introduced to formulate the comprehensive interaction risk through the combination of Sigmoid function and Softmax function.Finally,the comparative analysis is performed to validate the proposed method using the naturalistic driving data.The results show that the proposed method can predict the trajectory with higher precision and effectively evaluate the risk level of a cut-in maneuver compared to the methods without considering interaction.
基金Project(71871013)supported by the National Natural Science Foundation of China。
文摘Many vehicle platoons are interrupted while traveling on roads,especially at urban signalized intersections.One reason for such interruptions is the inability to exchange real-time information between traditional human-driven vehicles and intersection infrastructure.Thus,this paper develops a Markov chain-based model to recognize platoons.A simulation experiment is performed in Vissim based on field data extracted from video recordings to prove the model’s applicability.The videos,recorded with a high-definition camera,contain field driving data from three Tesla vehicles,which can achieve Level 2 autonomous driving.The simulation results show that the recognition rate exceeds 80%when the connected and autonomous vehicle penetration rate is higher than 0.7.Whether a vehicle is upstream or downstream of an intersection also affects the performance of platoon recognition.The platoon recognition model developed in this paper can be used as a signal control input at intersections to reduce the unnecessary interruption of vehicle platoons and improve traffic efficiency.
基金Supported by the National Basic Research Program of China under Grant No.2006CB705500the National Natural Science Foundation of China under Grant Nos.70631001 and 70701004
文摘To study the dynamics of mixed traffic flow consisting of motorized and non-motorized vehicles, a carfollowing model based on the principle of collision free and cautious driving is proposed. Lateral friction and overlapping driving are introduced to describe the interactions between motorized vehicles and non-motorized vehicles. By numerical simulations, the flux-density relation, the temporal-spatial dynamics, and the velocity evolution are investigated in detail The results indicate non-motorized vehicles have a significant impact on the motorized vehicle flow and cause the maximum flux to decline by about 13%. Non-motorized vehicles can decrease the motorized vehicle velocity and cause velocity oscillation when the motorized vehicle density is low. Moreover, non-motorized vehicles show a significant damping effect on the oscillating velocity when the density is medium and high, and such an effect weakens as motorized vehicle density increases. The results also stress the necessity for separating motorized vehicles from non-motorized vehicles.
基金Supported by the National Natural Science Foundation of China（50478071）
文摘Highway capacity is defined as maximum volume of traffic flow through the particular highway section under given traffic conditions, road conditions and so on. Highway construction and management is judged by capacity standard. The reasonable scale and time of highway construction, rational network structure and optimal management mode of highway network can be determined by analyzing the fitness between capacity and traffic volume. All over the world, highway capacity is studied to different extent in different country. Based on the gap acceptance theory, the mixed traffic flow composed of two representative vehicle types heavy and light vehicles is analyzed with probability theory. Capacity model of the minor mixed traffic flows crossing m major lanes, on which the traffic flows fix in with M3 distributed headway, on the unsignalized intersection is set up, and it is an extension of minor lane capacity theory for one vehicle-type and one major-lane traffic flow.
文摘Explicit traffic control measures are absent in uncontrolled intersections which make them susceptible to frequent conflicts and resulting collisions between vehicles. In developing countries like India, drivers at such intersections do not yield to higher priority movements which cause more crashes between vehicles. The objective of this study is to analyze and model the gap acceptance behavior of minor street drivers at uncontrolled T-intersections considering their aggressive nature. Three intersections in the northeast region of India have been selected as the case study area. Preliminary analysis of the data revealed that drivers behave aggressively, not because they have to wait for a long time at the stop line, but because of their lack of respect for traffic rules. Binary logit models are developed for minor road right turning vehicles which show that gap acceptance behavior is influenced by gap duration, clearing time and aggressive nature of drivers. The equations obtained were used to estimate the critical gaps for aggressive and non-aggressive drivers. Critical gaps are also calculated using an existing method called clearing behavior approach. It is also shown that the estimation of critical gap is more realistic if clearing time and aggressive behavior of drivers are considered.
基金supported by the National Natural Science Foundation of China (Grant Nos. 10865001 and 11047003)the National Basic Research Program of China (Grant No. 2006CB705500)the Graduate Student Innovative Foundation of Guangxi Zhuang Autonomous Region, China (Grant No. 105930903077)
文摘In this paper, the characteristics of synchronized traffic in mixed traffic flow are investigated based on the braking light model. By introducing the energy dissipation and the distribution of slowdown vehicles, the effects of the maximum velocity, the mixing ratio, and the length of vehicles on the synchronized flow are discussed. It is found that the maximum velocity plays a great role in the synchronized flow in mixed traffic. The energy dissipation and the distribution of slowdown vehicles in the synchronized flow region are greatly different from those in free flow and a traffic jamming region. When all of vehicles have the same maximum velocity with Vmax 〉 15, the mixed traffic significantly displays synchronized flow, which has been demonstrated by the relation between flow rate and occupancy and estimation of the cross-correlation function. Moreover, the energy dissipation in the synchronized flow region does not increase with occupancy. The distribution of slowdown vehicles shows a changeless platform in the synchronized flow region. This is an interesting phenomenon. It helps to deeply understand the synchronized flow and greatly reduce the energy dissipation of traffic flow.
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.
文摘Parking-toll on main-line is one of toll models on high-level ways in our country at present. This paper analyzes the flow's distributing function, queuing model, and vehicle passing time. Through computer simulation, the negative index relationships between carrying capacity and serving time, and the index relationships between the queuing delay and flow are gained under the condition of different serving time and different vehicle type composition. When the flow density is low, the vehicle type composing has less influence on system serving level. Contrarily, also. Disposing toll station by roadway where flow density is high, we can save transection areas of toll station, reduce system queuing delay time, and enhance carrying capacity of toll station.
文摘Bus safety is a matter of great importance in many developing countries, with driving behaviors among bus drivers identified as a primary factor contributing to accidents. This concern is particularly amplified in mixed traffic flow (MTF) environments with time pressure (TP). However, there is a lack of sufficient research exploring the relationships among these factors. This study consists of two papers that aim to investigate the impact of MTF environments with TP on the driving behaviors of bus drivers. While the first paper focuses on violated driving behaviors, this particular paper delves into mistake-prone driving behaviors (MDB). To collect data on MDB, as well as perceptions of MTF and TP, a questionnaire survey was implemented among bus drivers. Factor analyses were employed to create new measurements for validating MDB in MTF environments. The study utilized partial correlation and linear regression analyses with the Bayesian Model Averaging (BMA) method to explore the relationships between MDB and MTF/TP. The results revealed a modified scale for MDB. Two MTF factors and two TP factors were found to be significantly associated with MDB. A high presence of motorcycles and dangerous interactions among vehicles were not found to be associated with MDB among bus drivers. However, bus drivers who perceived motorcyclists as aggressive, considered road users’ traffic habits as unsafe, and perceived bus routes’ punctuality and organization as very strict were more likely to exhibit MDB. Moreover, the results from the three MDB predictive models demonstrated a positive impact of bus route organization on MDB among bus drivers. The study also examined various relationships between the socio-demographic characteristics of bus drivers and MDB. These findings are of practical significance in developing interventions aimed at reducing MDB among bus drivers operating in MTF environments with TP.
文摘Road transport safety policies have emphasized road infrastructure safety design and engineering as a core function.However,in developing countries like Vietnam,this approach has been slower to adopt,resulting in substandard roads.In-depth studies of accident locations indicate that road environment factors contribute significantly to road accidents in Vietnam and road design features are associated with specific accident types and hazards.Proactive and reactive approaches,such as road safety audit,inspection,assessment,and treatment of hazardous locations,are necessary to ensure that the road and its environment are safe.This paper provides an overview of road safety in Vietnam in general,and Ho Chi Minh in particular,including its factors and characteristics,as well as road infrastructure safety improvements.The iRap tool for road safety inspection and assessment is highlighted as a potential method for systematically analyzing road infrastructure deficiencies and providing targeted countermeasures to improve road safety under mixed traffic conditions.
基金support of the National Natural Science Foundation of China(No.52272320)the China Scholarship Council(No.202006260162)A^(*)STAR,CISCO Systems(USA)Pte.Ltd and National University of Singapore under its Cisco-NUS Accelerated Digital Economy Corporate Laboratory(Award I21001E0002).
文摘While the advantages of Autonomous vehicles(AVs)and their impact on manually-driven vehicles(MVs)have been widely discussed in continuous flow conditions,their perfor-mance under mixed traffic,intermitted flow conditions has yet to be properly studied.One of the representative scenarios is that vehicular flow is interrupted by roadside cross-ing obstacles such as pedestrians or cyclists.Since such interruption makes vehicles stop and go more frequently and creates random and complex traffic conflict,it has become a critical factor that can affect the driving performance of AVs.Therefore,this paper proposes a uniform traffic model(Pre_IDM+)to include roadside crossing impact in traffic flow anal-ysis.The classical intelligent driving model(IDM)is extended into an obstacle-avoiding case,in which a novel pre-reaction workflow is introduced to describe yielding behavior and generate a reasonable braking trajectory.A real mixed traffic data near an un-signalized mid-block crosswalk is used to calibrate Pre_IDM+and an accordingly micro-scope mixed traffic simulation platform is constructed.The simulation results show that discreet AVs can greatly avoid hard braking(83.61%)and slightly improve passing speed(+5.11%)compared with MVs,while competitive AVs can maximize traffic efficiency(+7.03%)but will also deteriorate driving smoothness and comfort(31.66%).Maintaining a sparse distribution of crossing sites along the road may contribute more to traffic stability and driving continuity compared with gathering all obstacles crossing at one location.This paper may help better understand the impact of AVs on general inter-mitted flow and give a reference to mixed traffic modeling towards a complex road condition.
基金VINNOVA(ICV-safety),National Key R&D Program of China(2019YFE0108300)the Area of Advance Transport and AI Center(CHAIR)at Chalmers University of Technology for funding this research.
文摘Connected and Autonomous Vehicles(CAVs)hold great potential to improve traffic efficiency,emissions and safety in freeway on-ramp bottlenecks through coordination between mainstream and on-ramp vehicles.This study proposes a bi-level coordination strategy for freeway on-ramp merging of mixed traffic consisting of CAVs and human-driven vehicles(HDVs)to optimize the overall traffic efficiency and safety in congested traffic scenarios at the traffic flow level instead of platoon levels.The macro level employs an optimization model based on fundamental diagrams and shock wave theories to make optimal coordination decisions,including optimal minimum merging platoon size to trigger merging coordination and optimal coordination speed,based on macroscopic traffic state in mainline and ramp(i.e.,traffic volume and penetration rates of CAVs).Furthermore,the micro level determines the real platoon size in each merging cycle as per random arrival patterns and designs the coordinated trajectories of the mainline facilitating vehicle and ramp platoon.A receding horizon scheme is implemented to accommodate human drivers’stochastics as well.The developed bi-level strategy is tested in terms of improving efficiency and safety in a simulation-based case study under various traffic volumes and CAV penetration rates.The results show the proposed coordination addresses the uncertainties in mixed traffic as expected and substantially improves ramp merging operation in terms of merging efficiency and traffic robustness,and reducing collision risk and emissions,especially under high traffic volume conditions.
文摘Traffic on Indian roads is highly mixed in nature with wide variations in the static and dynamic characteristics of vehicles. These vehicles do not follow strict lane discipline and occupy any available lateral position on the road space. Overtaking is one of the most complex and important manoeuvre on undivided roads where the vehicles use the opposing lane to overtake the slower vehicles with the presence of oncoming vehicles from opposite direction. They are unavoidable especially in the case of mixed traffic conditions where there is always a speed difference between the fast and slow moving vehicles. Overtaking process involves lane-changing manoeuvres, acceleration and deceleration actions and estimation of relative speed of overtaking and overtaken vehicles, and also, estimation of speed and distance of the oncoming vehicle. The main objective of the present study is to study the overtaking characteristics of vehicles on undivided roads under mixed traffic conditions. For this purpose, details of overtaking data were collected on a two-lane two-way undivided road using moving car observer method and registration plate method. The overtaking characteristics of all types of vehicles under mixed traffic conditions were observed and mathematically modelled. The data extracted and analysed were the acceleration characteristics, speeds of the overtaking vehicles, overtaking time, overtaking distances, safe opposing gap required for overtaking, flow rates, overtaking frequencies, types of overtaking strategy, and types of overtaking and overtaken vehicles. Two types of overtaking strategies were observed in the field such as flying overtaking and accelerative overtaking. Graphs were plotted between the relative speed of the overtaking and overtaken vehicles against the overtaking time and negative correlation was found between the speed differential and total overtaking time for all categories of vehicles. It was observed that the number of overtaking increases with increase in the flow rate in the on-going direction and decreases with increase in flow in the opposite direction, The results obtained from this study will be useful to understand the overtaking behaviour of vehicles in mixed and non-lane discipline traffic conditions. These parameters will be useful in the development of traffic simulations models for undivided roads and thereby for estimation of capacity. The findings from the study can also be used to estimate potential collision times which will be helpful to improve the road safety.
文摘Mixed traffic flow composed of autos and non-autos widely exists in developing countries and areas. To investigate the operational characteristics of the mixed traffic flow consisting of vehicles in different types （large vehicles, cars, and bicycles）, we develop a cellular automaton model to repli- cate the travel behaviors on a bi-directional road segment with respect to the physical and mechanic features of different vehicle types. By implementing the essential parameters calibrated through the field data collection, a numerical study is carried out considering the variation in volume, density, and velocity with different compositions of mixed traffic flows. The primary findings include： the average ve- locity of traffic flow and total volume decrease 60% and 30% after incorporating 10% bicycles, respectively; the phenomenon of double-summit in terms bicycle is beyond 60 % ; the maximal total volume higher than 10 %. of the total volume appears when the proportion of starts to recover when the proportion of bicycle is
文摘Autonomous driving has attracted significant research interests in the past two decades as it offers many potential benefits,including releasing drivers from exhausting driving and mitigating traffic congestion,among others.Despite promising progress,lane-changing remains a great challenge for autonomous vehicles(AV),especially in mixed and dynamic traffic scenarios.Recently,reinforcement learning(RL)has been widely explored for lane-changing decision makings in AVs with encouraging results demonstrated.However,the majority of those studies are focused on a single-vehicle setting,and lane-changing in the context of multiple AVs coexisting with human-driven vehicles(HDVs)have received scarce attention.In this paper,we formulate the lane-changing decision-making of multiple AVs in a mixed-traffic highway environment as a multi-agent reinforcement learning(MARL)problem,where each AV makes lane-changing decisions based on the motions of both neighboring AVs and HDVs.Specifically,a multi-agent advantage actor-critic(MA2C)method is proposed with a novel local reward design and a parameter sharing scheme.In particular,a multi-objective reward function is designed to incorporate fuel efficiency,driving comfort,and the safety of autonomous driving.A comprehensive experimental study is made that our proposed MARL framework consistently outperforms several state-of-the-art benchmarks in terms of efficiency,safety,and driver comfort.
