This paper introduces a lane-changing strategy aimed at trajectory planning and tracking control for intelligent vehicles navigating complex driving environments.A fifth-degree polynomial is employed to generate a set...This paper introduces a lane-changing strategy aimed at trajectory planning and tracking control for intelligent vehicles navigating complex driving environments.A fifth-degree polynomial is employed to generate a set of potential lane-changing trajectories in the Frenet coordinate system.These trajectories are evaluated using non-cooperative game theory,considering the interaction between the target vehicle and its surroundings.Models considering safety payoffs,speed payoffs,comfort payoffs,and aggressiveness are formulated to obtain a Nash equilibrium solution.This way,collision avoidance is ensured,and an optimal lane change trajectory is planned.Three game scenarios are discussed,and the optimal trajectories obtained are compared using the NGSIM dataset.Comparison of trajectory tracking effects by themodel predictive control(MPC)and linear quadratic regulator(LQR).Finally,the left lane change,right lane change,and abort lane change operations are verified in the autonomous driving simulation platform.Simulation and experimental results show that the strategy can plan appropriate lane change trajectory and accomplish tracking in complex environments.展开更多
Objectives:This study examines the effectiveness of an eight-week game-based physical activity program designed to reduce post-traumatic stress levels in children affected by the Kahramanmaraş-centered earthquakes tha...Objectives:This study examines the effectiveness of an eight-week game-based physical activity program designed to reduce post-traumatic stress levels in children affected by the Kahramanmaraş-centered earthquakes that occurred in Turkey on 06 February 2023.Following the earthquake,millions of children experienced significant changes in their education and living conditions,adversely affecting their psychological health.Methods:The therapeutic effects of physical activity on post-traumatic stress disorder(PTSD)are frequently emphasized in the literature,and this study specifically focuses on the impact of game-based exercises.The research employed an experimental design,involving 80 earthquake-affected children aged 10 to 13,who were randomly assigned to either an experimental group(n=40)or a control group(n=40).The experimental group participated in game-based physical activities three times per week for eight weeks,with each session lasting 60 min.Data were collected using the Child Post-Traumatic Stress Reaction Index(CPTS-RI),and pre-test and post-test comparisons were conducted.Results:Children in the experimental group showed a marked reduction in PTSD symptoms,with mean CPTS-RI scores decreasing from 2.60 at pre-test to 1.91 at post-test.In contrast,the control group’s scores remained virtually unchanged(2.59 at pre-test vs.2.57 at post-test).Two-way ANOVA demonstrated significant main effects of group and time,as well as a significant group×time interaction(F=114.88,p<0.001,η^(2)=0.42),indicating that the reduction was attributable to participation in the game-based physical activity program.These findings highlight not only the statistical significance but also the practical relevance of structured,culturally adapted physical activity interventions for trauma-exposed children.Conclusion:These findings suggest that regular,structured game-based physical activities can support the mental health of children following traumatic events such as earthquakes and reduce their stress levels.The study recommends integrating physical activity into post-disaster psychosocial support programs and highlights it as an effective,accessible,and enjoyable method to enhance children’s trauma coping skills.Accordingly,it advocates for the wider implementation of physical activity-based interventions in similar crisis situations.展开更多
To improve the ride comfort and safety of a traditional adaptive cruise control(ACC)system when the preceding vehicle changes lanes,it proposes a target vehicle selection algorithm based on the prediction of the lane-...To improve the ride comfort and safety of a traditional adaptive cruise control(ACC)system when the preceding vehicle changes lanes,it proposes a target vehicle selection algorithm based on the prediction of the lane-changing intention for the preceding vehicle.First,the Next Generation Simulation dataset is used to train a lane-changing intention prediction algorithm based on a sliding window support vector machine,and the lane-changing intention of the preceding vehicle in the current lane is identified by lateral position offset.Second,according to the lane-changing intention and collision threat of the preceding vehicle,the target vehicle selection algorithm is studied under three different conditions:safe lane-changing,dangerous lane-changing,and lane-changing cancellation.Finally,the effectiveness of the proposed algorithm is verified in a co-simulation platform.The simulation results show that the target vehicle selection algorithm can ensure the smooth transfer of the target vehicle and effectively reduce the longitudinal acceleration fluctuation of the subject vehicle when the preceding vehicle changes lanes safely or cancels their lane change maneuver.In the case of a dangerous lane change,the target vehicle selection algorithm proposed in this paper can respond more rapidly to a dangerous lane change than the target vehicle selection method of the traditional ACC system;thus,it can effectively avoid collisions and improve the safety of the subject vehicle.展开更多
In this paper, a new continuum traffic flow model is proposed, with a lane-changing source term in the continuity equation and a lane-changing viscosity term in the acceleration equation. Based on previous literature,...In this paper, a new continuum traffic flow model is proposed, with a lane-changing source term in the continuity equation and a lane-changing viscosity term in the acceleration equation. Based on previous literature, the source term addresses the impact of speed difference and density difference between adjacent lanes, which provides better precision for free lane-changing simulation; the viscosity term turns lane-changing behavior to a ＂force＂ that may influence speed distribution. Using a flux-splitting scheme for the model discretization, two cases are investigated numerically. The case under a homogeneous initial condition shows that the numerical results by our model agree well with the analytical ones; the case with a small initial disturbance shows that our model can simulate the evolution of perturbation, including propagation,dissipation, cluster effect and stop-and-go phenomenon.展开更多
In the field of traffic flow studies, compulsive lane-changing refers to lane-changing （LC） behaviors due to traffic rules or bad road conditions, while free LC happens when drivers change lanes to drive on a faster...In the field of traffic flow studies, compulsive lane-changing refers to lane-changing （LC） behaviors due to traffic rules or bad road conditions, while free LC happens when drivers change lanes to drive on a faster or less crowded lane. LC studies based on differential equation models accurately reveal LC influence on traffic environment. This paper presents a second-order partial differential equation （PDE） model that simulates both compulsive LC behavior and free LC behavior, with lane-changing source terms in the continuity equation and a lane-changing viscosity term in the momentum equation. A specific form of this model focusing on a typical compulsive LC behavior, the ＇off-ramp problem＇, is derived. Numerical simulations are given in several cases, which are consistent with real traffic phenomenon.展开更多
In order to increase the accuracy of microscopic traffic flow simulation,two acceleration models are presented to simulate car-following behaviors of the lane-changing vehicle and following putative vehicle during the...In order to increase the accuracy of microscopic traffic flow simulation,two acceleration models are presented to simulate car-following behaviors of the lane-changing vehicle and following putative vehicle during the discretionary lanechanging preparation( DLCP) process, respectively. The proposed acceleration models can reflect vehicle interaction characteristics. Samples used for describing the starting point and the ending point of DLCP are extracted from a real NGSIM vehicle trajectory data set. The acceleration model for a lanechanging vehicle is supposed to be a linear acceleration model.The acceleration model for the following putative vehicle is constructed by referring to the optimal velocity model,in which optimal velocity is defined as a linear function of the velocity of putative leading vehicle. Similar calibration,a hypothesis test and parameter sensitivity analysis were conducted on the acceleration model of the lane-changing vehicle and following putative vehicle,respectively. The validation results of the two proposed models suggest that the training and testing errors are acceptable compared with similar works on calibrations for car following models. The parameter sensitivity analysis shows that the subtle observed error does not lead to severe variations of car-following behaviors of the lane-changing vehicle and following putative vehicle.展开更多
Metaheuristic algorithms are one of themost widely used stochastic approaches in solving optimization problems.In this paper,a new metaheuristic algorithm entitled Billiards Optimization Algorithm(BOA)is proposed and ...Metaheuristic algorithms are one of themost widely used stochastic approaches in solving optimization problems.In this paper,a new metaheuristic algorithm entitled Billiards Optimization Algorithm(BOA)is proposed and designed to be used in optimization applications.The fundamental inspiration in BOA design is the behavior of the players and the rules of the billiards game.Various steps of BOA are described and then its mathematical model is thoroughly explained.The efficiency of BOA in dealing with optimization problems is evaluated through optimizing twenty-three standard benchmark functions of different types including unimodal,high-dimensional multimodal,and fixed-dimensionalmultimodal functions.In order to analyze the quality of the results obtained by BOA,the performance of the proposed approach is compared with ten well-known algorithms.The simulation results show that BOA,with its high exploration and exploitation abilities,achieves an impressive performance in providing solutions to objective functions and is superior and far more competitive compared to the ten competitor algorithms.展开更多
In this paper, we use the car-following model with the anticipation effect of the potential lane-changing probability （Acta Mech. Sin. 24 （2008） 399） to investigate the effects of the potential lane-changing proba...In this paper, we use the car-following model with the anticipation effect of the potential lane-changing probability （Acta Mech. Sin. 24 （2008） 399） to investigate the effects of the potential lane-changing probability on uniform flow. The analytical and numerical results show that the potential lane-changing probability can enhance the speed and flow of uniform flow and that their increments are related to the density.展开更多
Museums offer a lifelong edutainment environment with flexible choices for the public and provide fruitful interdisciplinary learning resources to support competency-based education.However,the lack of proper scaffold...Museums offer a lifelong edutainment environment with flexible choices for the public and provide fruitful interdisciplinary learning resources to support competency-based education.However,the lack of proper scaffolding and supports in museums negatively affect learner learning.Further,the individual differences need to be considered to effectively support the diverse learners learning in museums.In this study,an innovative learning model to support competency education for lifelong learning in museums is proposed.A game-based learning service named CoboFun that offers various types of problem-solving activities was developed to facilitate learners’interaction with exhibits and their peers in the museum.To examine the service design of CoboFun,learners’perceptions were evaluated and the differences in their cognitive styles were examined(Field Independent(FI)and Field Dependent(FD)).The results showed that both FI and FD learners enjoyed learning with CoboFun but that flexible learning tools needed to be provided to satisfy the different needs for the learners with different cognitive styles.展开更多
The paper proposes an innovative approach aimed at fostering AI literacy through interactive gaming experiences.This paper designs a game-based prototype for preparing pre-service teachers to innovate teaching practic...The paper proposes an innovative approach aimed at fostering AI literacy through interactive gaming experiences.This paper designs a game-based prototype for preparing pre-service teachers to innovate teaching practices across disciplines.The simulation,Color Conquest,serves as a strategic game to encourage educators to reconsider their pedagogical practices.It allows teachers to use and develop various scenarios by customizing maps,giving students agency to engage in the complex decision-making process.Additionally,this engagement process provides teachers with an opportunity to develop students’skills in artificial intelligence literacy as students actively develop strategic thinking,problem-solving,and critical reasoning skills.展开更多
Games that are used in research on game-based learning and serious games that are used for education are usually exclusive,making it difficult for teachers to attempt new methods in education.According to the data pub...Games that are used in research on game-based learning and serious games that are used for education are usually exclusive,making it difficult for teachers to attempt new methods in education.According to the data published in 2009 by the European Schoolnet(EUN),a network of European Ministries of Education,most of the problems that teachers face when using games in class are related to game selection.Based on the aforementioned data,this study presents a set of criteria for selecting games in order to solve the inconvenience experienced by teachers.The games,which are used as teaching materials for game-based learning,have been replaced with commercial games that are easily purchased,rather than serious games that are difficult to obtain the licensing.Based on the criteria,two games were selected in this study and the classes were conducted at the educational site.Compared to the group trained with textbooks,it has been confirmed that the effect of game-based learning was sufficient.In addition,five out of ten problems that teachers face were resolved.展开更多
Class imbalance has long been a problem in traffic safety research,as it significantly reduces the prediction accuracy for minority class samples.In this study,a Control Method for Synthetic Samples(CMSS)is proposed t...Class imbalance has long been a problem in traffic safety research,as it significantly reduces the prediction accuracy for minority class samples.In this study,a Control Method for Synthetic Samples(CMSS)is proposed to control samples synthesized in a direction which is conducive to the improvement of prediction performance.This method first employs several oversampling methods to synthesize samples.Then,a regression model is established based on the cluster centres of synthetic samples and the corresponding value of performance improvement after adding the synthetic samples.The Shapley Additive Explanations(SHAP)technique is used to interpret it,and thus determine the features that have the most significant influence on the improvement.After that,random disturbance terms are added to several important features to make a directional adjustment.To achieve better prediction performance,the particle swarm optimization(PSO)algorithm is utilized to search for the number of features and the value of random perturbation terms.The highD dataset is used to validate the effectiveness of CMSS by predicting the lane-changing risk.In addition,the impact of factors such as imbalance rates on the effect of CMSS is discussed.Results show that CMSS can effectively improve the prediction performance of the non-integrated learning models under different class imbalance ratios.It is also revealed that the category of the regression model has a significant effect on the results of CMSS.As a novel method,CMSS can be combined with various kinds of oversampling methods to bring new perspectives for solving the class imbalance problem.展开更多
Lane-changing behaviour is one of the complex|driving behaviours.The lane-changing behaviour of drivers may exacerbate congestion,however driver behavioural characteristics are difficult to accurately acquire and quan...Lane-changing behaviour is one of the complex|driving behaviours.The lane-changing behaviour of drivers may exacerbate congestion,however driver behavioural characteristics are difficult to accurately acquire and quantify,and thus tend to be simplified or ignored in existing lane-changing models.In this paper,the Bik-means clustering algorithm is used to analyse the urban road congestion state discrimination method.Then,simulated driving tests were conducted for different traffic congestion conditions.Through the force feedback system and infrared camera,the data of driver lane-changing behaviours at different traffic congestion levels are obtained separately,and the definitions of the start and end points of a vehicle changing lanes are determined.Furthermore,statistical analysis and discussion of key feature parameters including driver lane-changing behaviour data and visual data under different levels of traffic congestion were conducted.It is found that the average lane-change intention times in each congestion state are 2 s,4 s,6 s and 7 s,while the turn-signal duration and the number of rear-view mirror observations have similar patterns of change to the data on lane-changing intention duration.Moreover,drivers’pupil diameters become smaller during the lane-changing intention phase,and then relatively enlarge during lane-changing;the range of pupil variation is roughly 3.5 mm to 4 mm.The frequency of observing the vehicle in front of the target lane increased as the level of congestion increased,and the frequency of observation in the driver’s mirrors while changing lanes approximately doubled compared to driving straight ahead,and this ratio increased as the level of congestion increased.展开更多
Lane-changing is performed either to follow the route to a planned destination(i.e.,mandatory lane-changing)or to achieve better driving conditions(i.e.,discretionary lane-changing).A connected environment is expected...Lane-changing is performed either to follow the route to a planned destination(i.e.,mandatory lane-changing)or to achieve better driving conditions(i.e.,discretionary lane-changing).A connected environment is expected to assist during lane-changing manoeuvres,but it is not known well how driving aids in a connected environment assist lane-changing execution.As such,this study investigates the impact of a connected environment on lanechanging execution time during mandatory and discretionary lane-changing manoeuvres.To this end,this study designed an advanced driving simulator experiment where 78 drivers performed these manoeuvres on a simulated motorway in three randomised driving conditions.The conditions were baseline(without driving aids),a fully functioning connected environment with a perfect supply of driving aids,and an impaired connected environment with delayed driving aids.The lane-changing execution time has been modelled by a random parameters hazard-based duration modelling approach,which accounts for the panel nature of data and captures the unobserved heterogeneity.Results suggest that,compared to the baseline condition(i.e.,a non-connected environment),most of the drivers in the connected environment take more time to complete their lane-changing manoeuvres,indicating drivers’safer lane-changing execution behaviour in the connected environment.The communication delay driving condition has been found to have more deteriorating effects on mandatory lanechanging manoeuvres than discretionary lane-changing manoeuvres.This study concludes that(i)the connected environment increases safety margin during both lane-changing manoeuvres,and(ii)a higher magnitude of safety margin is observed during mandatory lane-changing manoeuvres whereby drivers have a higher need for assistance.展开更多
In this paper, the two-lane traffic are studied by using the lane-changing rules in the car-following models. The simulation show that the frequent lane changing occurs when the lateral distance in car following activ...In this paper, the two-lane traffic are studied by using the lane-changing rules in the car-following models. The simulation show that the frequent lane changing occurs when the lateral distance in car following activities is considered and it gives rise to oscillating waves. In contrast, if the lateral distance is not considered （or considered occasionally）, the lane changing appears infrequently and soliton waves occurs. This implies that the stabilization mechanism no longer functions when the lane changing is permitted. Since the oscillating and soliton waves correspond to the unstable and metastable flow regimes, respectively, our study verifies that a phase transition may occur as a result of the lane changing.展开更多
Purpose–This study aims to propose an enhanced eco-driving strategy based on reinforcement learning(RL)to alleviate the mileage anxiety of electric vehicles(EVs)in the connected environment.Design/methodology/approac...Purpose–This study aims to propose an enhanced eco-driving strategy based on reinforcement learning(RL)to alleviate the mileage anxiety of electric vehicles(EVs)in the connected environment.Design/methodology/approach–In this paper,an enhanced eco-driving control strategy based on an advanced RL algorithm in hybrid action space(EEDC-HRL)is proposed for connected EVs.The EEDC-HRL simultaneously controls longitudinal velocity and lateral lane-changing maneuvers to achieve more potential eco-driving.Moreover,this study redesigns an all-purpose and efficient-training reward function with the aim to achieve energy-saving on the premise of ensuring other driving performance.Findings–To illustrate the performance for the EEDC-HRL,the controlled EV was trained and tested in various traffic flow states.The experimental results demonstrate that the proposed technique can effectively improve energy efficiency,without sacrificing travel efficiency,comfort,safety and lane-changing performance in different traffic flow states.Originality/value–In light of the aforementioned discussion,the contributions of this paper are two-fold.An enhanced eco-driving strategy based an advanced RL algorithm in hybrid action space(EEDC-HRL)is proposed to jointly optimize longitudinal velocity and lateral lane-changing for connected EVs.A full-scale reward function consisting of multiple sub-rewards with a safety control constraint is redesigned to achieve eco-driving while ensuring other driving performance.展开更多
The paper proposes a model of mandatory lane-changing behaviour based on a non-cooperative game in a traditional environment and analyses its applicability in a connected environment.In order to solve the problem of t...The paper proposes a model of mandatory lane-changing behaviour based on a non-cooperative game in a traditional environment and analyses its applicability in a connected environment.In order to solve the problem of traffic safety and traffic congestion caused by mandatory lane-changing on urban roads,this paper applies the non-cooperative game theory to describe the game behaviour of the two parties,the lane-changing vehicle and the vehicle behind the target lane,in the connected and traditional environments respectively,and constructs the model considering the safety gain,speed gain and lane-changing gain to obtain a game model and the Nash equilibrium solution.Themodel is calibrated and tested using NGSIM data,and the results of the study show that themodel has a good performance for the decision behaviour of lane-changing vehicles and lag vehicles for mandatory lane-changing behaviour on urban roads.展开更多
The purpose of this paper is to alleviate the potential safety problems associated with the human driver and the automatic system competing for the right of way due to different objectives by mitigating the human-mach...The purpose of this paper is to alleviate the potential safety problems associated with the human driver and the automatic system competing for the right of way due to different objectives by mitigating the human-machine conflict phenomenon in human-machine shared driving(HMSD)technology from the automation system.Firstly,a basic lane-changing trajectory algorithm based on the quintic polynomial in the Frenet coordinate system is developed.Then,in order to make the planned trajectory close to human behavior,naturalistic driving data is collected,based on which some lane-changing performance features are selected and analyzed.There are three aspects have been taken into consideration for the human-like lane-changing trajectory:vehicle dynamic stability performance,driving cost optimization,and collision avoidance.Finally,the HMSD experiments are conducted with the driving simulator to test the potential of the human-like lane-changing trajectory planning algorithm.The results demonstrate that the lane-changing trajectory planning algorithm with the highest degree of personalization is highly consistent with human driver behavior and consequently would potentially mitigate the human-machine conflict with the HMSD application.Furthermore,it could be further employed as an empirical trajectory prediction result.The algorithm employs the distribution state of the historical trajectory for human-like processing,simplifying the operational process and ensuring the credibility,integrity,and interpretability of the results.Moreover,in terms of optimization processing,the form of optimization search followed by collision avoidance detection is adopted to in principle reduce the calculation difficulty.Additionally,a new convex polygon collision detection method,namely the vertex embedding method,is proposed for collision avoidance detection.展开更多
In order to increase the availability of the part-time idle bus rapid transit lane(BRT-lane),a time division multiplexing(TDM) method to share BRT-lane with the vehicles besides BRT buses is proposed based on vehicle-...In order to increase the availability of the part-time idle bus rapid transit lane(BRT-lane),a time division multiplexing(TDM) method to share BRT-lane with the vehicles besides BRT buses is proposed based on vehicle-road collaboration. The TDM control strategy is established under the circumstance of vehicle-infrastructure integration(VII). The algorithm is given to forecast the segmented BRT travel time. According to the real time traffic information,a comprehensive model is given to estimate the vehicles' lane-changing time from/to the BRTlane to/from its neighbor lane and determine the timing sequence for vehicles collaboration. Finally,the experiment demonstrates that the predicted value of the travel time and lane-changing time is much close to the true value. The control strategy of the vehicles collaboration could promise the non-BRT vehicles to share BRT-lane without disturbing BRT's priority.展开更多
基金supported by the Science and Technology Program of Shandong Higher Education Institutions(Grant J18KA048).
文摘This paper introduces a lane-changing strategy aimed at trajectory planning and tracking control for intelligent vehicles navigating complex driving environments.A fifth-degree polynomial is employed to generate a set of potential lane-changing trajectories in the Frenet coordinate system.These trajectories are evaluated using non-cooperative game theory,considering the interaction between the target vehicle and its surroundings.Models considering safety payoffs,speed payoffs,comfort payoffs,and aggressiveness are formulated to obtain a Nash equilibrium solution.This way,collision avoidance is ensured,and an optimal lane change trajectory is planned.Three game scenarios are discussed,and the optimal trajectories obtained are compared using the NGSIM dataset.Comparison of trajectory tracking effects by themodel predictive control(MPC)and linear quadratic regulator(LQR).Finally,the left lane change,right lane change,and abort lane change operations are verified in the autonomous driving simulation platform.Simulation and experimental results show that the strategy can plan appropriate lane change trajectory and accomplish tracking in complex environments.
基金funded by the Scientific Research Projects Unit(BAP)ofİnönüUniversity under project number SBA-2024-3449.
文摘Objectives:This study examines the effectiveness of an eight-week game-based physical activity program designed to reduce post-traumatic stress levels in children affected by the Kahramanmaraş-centered earthquakes that occurred in Turkey on 06 February 2023.Following the earthquake,millions of children experienced significant changes in their education and living conditions,adversely affecting their psychological health.Methods:The therapeutic effects of physical activity on post-traumatic stress disorder(PTSD)are frequently emphasized in the literature,and this study specifically focuses on the impact of game-based exercises.The research employed an experimental design,involving 80 earthquake-affected children aged 10 to 13,who were randomly assigned to either an experimental group(n=40)or a control group(n=40).The experimental group participated in game-based physical activities three times per week for eight weeks,with each session lasting 60 min.Data were collected using the Child Post-Traumatic Stress Reaction Index(CPTS-RI),and pre-test and post-test comparisons were conducted.Results:Children in the experimental group showed a marked reduction in PTSD symptoms,with mean CPTS-RI scores decreasing from 2.60 at pre-test to 1.91 at post-test.In contrast,the control group’s scores remained virtually unchanged(2.59 at pre-test vs.2.57 at post-test).Two-way ANOVA demonstrated significant main effects of group and time,as well as a significant group×time interaction(F=114.88,p<0.001,η^(2)=0.42),indicating that the reduction was attributable to participation in the game-based physical activity program.These findings highlight not only the statistical significance but also the practical relevance of structured,culturally adapted physical activity interventions for trauma-exposed children.Conclusion:These findings suggest that regular,structured game-based physical activities can support the mental health of children following traumatic events such as earthquakes and reduce their stress levels.The study recommends integrating physical activity into post-disaster psychosocial support programs and highlights it as an effective,accessible,and enjoyable method to enhance children’s trauma coping skills.Accordingly,it advocates for the wider implementation of physical activity-based interventions in similar crisis situations.
基金Supported by National Key Research and Development Program(Grant No.2017YFB0102601)National Natural Science Foundation of China(Grant Nos.51775236,U1564214).
文摘To improve the ride comfort and safety of a traditional adaptive cruise control(ACC)system when the preceding vehicle changes lanes,it proposes a target vehicle selection algorithm based on the prediction of the lane-changing intention for the preceding vehicle.First,the Next Generation Simulation dataset is used to train a lane-changing intention prediction algorithm based on a sliding window support vector machine,and the lane-changing intention of the preceding vehicle in the current lane is identified by lateral position offset.Second,according to the lane-changing intention and collision threat of the preceding vehicle,the target vehicle selection algorithm is studied under three different conditions:safe lane-changing,dangerous lane-changing,and lane-changing cancellation.Finally,the effectiveness of the proposed algorithm is verified in a co-simulation platform.The simulation results show that the target vehicle selection algorithm can ensure the smooth transfer of the target vehicle and effectively reduce the longitudinal acceleration fluctuation of the subject vehicle when the preceding vehicle changes lanes safely or cancels their lane change maneuver.In the case of a dangerous lane change,the target vehicle selection algorithm proposed in this paper can respond more rapidly to a dangerous lane change than the target vehicle selection method of the traditional ACC system;thus,it can effectively avoid collisions and improve the safety of the subject vehicle.
基金Project supported by the National Natural Science Foundation of China(Grant Nos.11002035 and 11372147)Hui-Chun Chin and Tsung-Dao Lee Chinese Undergraduate Research Endowment(Grant No.CURE 14024)
文摘In this paper, a new continuum traffic flow model is proposed, with a lane-changing source term in the continuity equation and a lane-changing viscosity term in the acceleration equation. Based on previous literature, the source term addresses the impact of speed difference and density difference between adjacent lanes, which provides better precision for free lane-changing simulation; the viscosity term turns lane-changing behavior to a ＂force＂ that may influence speed distribution. Using a flux-splitting scheme for the model discretization, two cases are investigated numerically. The case under a homogeneous initial condition shows that the numerical results by our model agree well with the analytical ones; the case with a small initial disturbance shows that our model can simulate the evolution of perturbation, including propagation,dissipation, cluster effect and stop-and-go phenomenon.
基金supported by the National Natural Science Foundation of China(Grant Nos.11002035 and 11372147)
文摘In the field of traffic flow studies, compulsive lane-changing refers to lane-changing （LC） behaviors due to traffic rules or bad road conditions, while free LC happens when drivers change lanes to drive on a faster or less crowded lane. LC studies based on differential equation models accurately reveal LC influence on traffic environment. This paper presents a second-order partial differential equation （PDE） model that simulates both compulsive LC behavior and free LC behavior, with lane-changing source terms in the continuity equation and a lane-changing viscosity term in the momentum equation. A specific form of this model focusing on a typical compulsive LC behavior, the ＇off-ramp problem＇, is derived. Numerical simulations are given in several cases, which are consistent with real traffic phenomenon.
基金The National Basic Research Program of China(No.2012CB725405)the National Natural Science Foundation of China(No.51308115)+1 种基金the Science and Technology Demonstration Project of Ministry of Transport of China(No.2015364X16030)Fundamental Research Funds for the Central Universities,the Postgraduate Research&Practice Innovation Program of Jiangsu Province(No.KYLX15_0153)
文摘In order to increase the accuracy of microscopic traffic flow simulation,two acceleration models are presented to simulate car-following behaviors of the lane-changing vehicle and following putative vehicle during the discretionary lanechanging preparation( DLCP) process, respectively. The proposed acceleration models can reflect vehicle interaction characteristics. Samples used for describing the starting point and the ending point of DLCP are extracted from a real NGSIM vehicle trajectory data set. The acceleration model for a lanechanging vehicle is supposed to be a linear acceleration model.The acceleration model for the following putative vehicle is constructed by referring to the optimal velocity model,in which optimal velocity is defined as a linear function of the velocity of putative leading vehicle. Similar calibration,a hypothesis test and parameter sensitivity analysis were conducted on the acceleration model of the lane-changing vehicle and following putative vehicle,respectively. The validation results of the two proposed models suggest that the training and testing errors are acceptable compared with similar works on calibrations for car following models. The parameter sensitivity analysis shows that the subtle observed error does not lead to severe variations of car-following behaviors of the lane-changing vehicle and following putative vehicle.
基金The research and article are supported by Specific Research project 2022 Faculty of Education,University of Hradec Králové,Czech Republic.
文摘Metaheuristic algorithms are one of themost widely used stochastic approaches in solving optimization problems.In this paper,a new metaheuristic algorithm entitled Billiards Optimization Algorithm(BOA)is proposed and designed to be used in optimization applications.The fundamental inspiration in BOA design is the behavior of the players and the rules of the billiards game.Various steps of BOA are described and then its mathematical model is thoroughly explained.The efficiency of BOA in dealing with optimization problems is evaluated through optimizing twenty-three standard benchmark functions of different types including unimodal,high-dimensional multimodal,and fixed-dimensionalmultimodal functions.In order to analyze the quality of the results obtained by BOA,the performance of the proposed approach is compared with ten well-known algorithms.The simulation results show that BOA,with its high exploration and exploitation abilities,achieves an impressive performance in providing solutions to objective functions and is superior and far more competitive compared to the ten competitor algorithms.
基金Supported by the Program for New Century Excellent Talents in University under Grant No.NCET-08-0038the National Natural Science Foundation of China under Grant Nos.70701002,70971007,and 70521001 the National Basic Research Program of China under Grant No.2006CB705503
文摘In this paper, we use the car-following model with the anticipation effect of the potential lane-changing probability （Acta Mech. Sin. 24 （2008） 399） to investigate the effects of the potential lane-changing probability on uniform flow. The analytical and numerical results show that the potential lane-changing probability can enhance the speed and flow of uniform flow and that their increments are related to the density.
文摘Museums offer a lifelong edutainment environment with flexible choices for the public and provide fruitful interdisciplinary learning resources to support competency-based education.However,the lack of proper scaffolding and supports in museums negatively affect learner learning.Further,the individual differences need to be considered to effectively support the diverse learners learning in museums.In this study,an innovative learning model to support competency education for lifelong learning in museums is proposed.A game-based learning service named CoboFun that offers various types of problem-solving activities was developed to facilitate learners’interaction with exhibits and their peers in the museum.To examine the service design of CoboFun,learners’perceptions were evaluated and the differences in their cognitive styles were examined(Field Independent(FI)and Field Dependent(FD)).The results showed that both FI and FD learners enjoyed learning with CoboFun but that flexible learning tools needed to be provided to satisfy the different needs for the learners with different cognitive styles.
文摘The paper proposes an innovative approach aimed at fostering AI literacy through interactive gaming experiences.This paper designs a game-based prototype for preparing pre-service teachers to innovate teaching practices across disciplines.The simulation,Color Conquest,serves as a strategic game to encourage educators to reconsider their pedagogical practices.It allows teachers to use and develop various scenarios by customizing maps,giving students agency to engage in the complex decision-making process.Additionally,this engagement process provides teachers with an opportunity to develop students’skills in artificial intelligence literacy as students actively develop strategic thinking,problem-solving,and critical reasoning skills.
基金the Ministry of Education of the Republic of Korea and the National Research Foundation of Korea(2019S1A5C2A04082405)。
文摘Games that are used in research on game-based learning and serious games that are used for education are usually exclusive,making it difficult for teachers to attempt new methods in education.According to the data published in 2009 by the European Schoolnet(EUN),a network of European Ministries of Education,most of the problems that teachers face when using games in class are related to game selection.Based on the aforementioned data,this study presents a set of criteria for selecting games in order to solve the inconvenience experienced by teachers.The games,which are used as teaching materials for game-based learning,have been replaced with commercial games that are easily purchased,rather than serious games that are difficult to obtain the licensing.Based on the criteria,two games were selected in this study and the classes were conducted at the educational site.Compared to the group trained with textbooks,it has been confirmed that the effect of game-based learning was sufficient.In addition,five out of ten problems that teachers face were resolved.
基金sponsored by the Science and Technology Innovation Program of Hunan Province(Grant No.2023RC3143)the National Natural Science Foundation of China(Grant No.52102405)+1 种基金the China Postdoctoral Science Foundation(Grant No.2023M731962)the Fundamental Research Funds for the Central Universities,CHD(Grant No.300102343504).
文摘Class imbalance has long been a problem in traffic safety research,as it significantly reduces the prediction accuracy for minority class samples.In this study,a Control Method for Synthetic Samples(CMSS)is proposed to control samples synthesized in a direction which is conducive to the improvement of prediction performance.This method first employs several oversampling methods to synthesize samples.Then,a regression model is established based on the cluster centres of synthetic samples and the corresponding value of performance improvement after adding the synthetic samples.The Shapley Additive Explanations(SHAP)technique is used to interpret it,and thus determine the features that have the most significant influence on the improvement.After that,random disturbance terms are added to several important features to make a directional adjustment.To achieve better prediction performance,the particle swarm optimization(PSO)algorithm is utilized to search for the number of features and the value of random perturbation terms.The highD dataset is used to validate the effectiveness of CMSS by predicting the lane-changing risk.In addition,the impact of factors such as imbalance rates on the effect of CMSS is discussed.Results show that CMSS can effectively improve the prediction performance of the non-integrated learning models under different class imbalance ratios.It is also revealed that the category of the regression model has a significant effect on the results of CMSS.As a novel method,CMSS can be combined with various kinds of oversampling methods to bring new perspectives for solving the class imbalance problem.
基金supported in part by funds from Heilongjiang Provincial Key R&D Programme(Grant No.JD22A014)the Fundamental Research Funds for the Central Universities(Grant No.2572021AW35).
文摘Lane-changing behaviour is one of the complex|driving behaviours.The lane-changing behaviour of drivers may exacerbate congestion,however driver behavioural characteristics are difficult to accurately acquire and quantify,and thus tend to be simplified or ignored in existing lane-changing models.In this paper,the Bik-means clustering algorithm is used to analyse the urban road congestion state discrimination method.Then,simulated driving tests were conducted for different traffic congestion conditions.Through the force feedback system and infrared camera,the data of driver lane-changing behaviours at different traffic congestion levels are obtained separately,and the definitions of the start and end points of a vehicle changing lanes are determined.Furthermore,statistical analysis and discussion of key feature parameters including driver lane-changing behaviour data and visual data under different levels of traffic congestion were conducted.It is found that the average lane-change intention times in each congestion state are 2 s,4 s,6 s and 7 s,while the turn-signal duration and the number of rear-view mirror observations have similar patterns of change to the data on lane-changing intention duration.Moreover,drivers’pupil diameters become smaller during the lane-changing intention phase,and then relatively enlarge during lane-changing;the range of pupil variation is roughly 3.5 mm to 4 mm.The frequency of observing the vehicle in front of the target lane increased as the level of congestion increased,and the frequency of observation in the driver’s mirrors while changing lanes approximately doubled compared to driving straight ahead,and this ratio increased as the level of congestion increased.
基金partly funded by the Australian Research Council grant DP210102970.
文摘Lane-changing is performed either to follow the route to a planned destination(i.e.,mandatory lane-changing)or to achieve better driving conditions(i.e.,discretionary lane-changing).A connected environment is expected to assist during lane-changing manoeuvres,but it is not known well how driving aids in a connected environment assist lane-changing execution.As such,this study investigates the impact of a connected environment on lanechanging execution time during mandatory and discretionary lane-changing manoeuvres.To this end,this study designed an advanced driving simulator experiment where 78 drivers performed these manoeuvres on a simulated motorway in three randomised driving conditions.The conditions were baseline(without driving aids),a fully functioning connected environment with a perfect supply of driving aids,and an impaired connected environment with delayed driving aids.The lane-changing execution time has been modelled by a random parameters hazard-based duration modelling approach,which accounts for the panel nature of data and captures the unobserved heterogeneity.Results suggest that,compared to the baseline condition(i.e.,a non-connected environment),most of the drivers in the connected environment take more time to complete their lane-changing manoeuvres,indicating drivers’safer lane-changing execution behaviour in the connected environment.The communication delay driving condition has been found to have more deteriorating effects on mandatory lanechanging manoeuvres than discretionary lane-changing manoeuvres.This study concludes that(i)the connected environment increases safety margin during both lane-changing manoeuvres,and(ii)a higher magnitude of safety margin is observed during mandatory lane-changing manoeuvres whereby drivers have a higher need for assistance.
基金The project supported by the National Natural Science Foundation of China （70521001, 10404025, 10532060）the National Basic Research Program of China （2006CB705503） the Research Grants Council of the Hong Kong Special Administrative Region （HKU7031/02E, HKU7187/05E）.
文摘In this paper, the two-lane traffic are studied by using the lane-changing rules in the car-following models. The simulation show that the frequent lane changing occurs when the lateral distance in car following activities is considered and it gives rise to oscillating waves. In contrast, if the lateral distance is not considered （or considered occasionally）, the lane changing appears infrequently and soliton waves occurs. This implies that the stabilization mechanism no longer functions when the lane changing is permitted. Since the oscillating and soliton waves correspond to the unstable and metastable flow regimes, respectively, our study verifies that a phase transition may occur as a result of the lane changing.
基金China Automobile Industry Innovation and Development Joint Fund(U1864206).
文摘Purpose–This study aims to propose an enhanced eco-driving strategy based on reinforcement learning(RL)to alleviate the mileage anxiety of electric vehicles(EVs)in the connected environment.Design/methodology/approach–In this paper,an enhanced eco-driving control strategy based on an advanced RL algorithm in hybrid action space(EEDC-HRL)is proposed for connected EVs.The EEDC-HRL simultaneously controls longitudinal velocity and lateral lane-changing maneuvers to achieve more potential eco-driving.Moreover,this study redesigns an all-purpose and efficient-training reward function with the aim to achieve energy-saving on the premise of ensuring other driving performance.Findings–To illustrate the performance for the EEDC-HRL,the controlled EV was trained and tested in various traffic flow states.The experimental results demonstrate that the proposed technique can effectively improve energy efficiency,without sacrificing travel efficiency,comfort,safety and lane-changing performance in different traffic flow states.Originality/value–In light of the aforementioned discussion,the contributions of this paper are two-fold.An enhanced eco-driving strategy based an advanced RL algorithm in hybrid action space(EEDC-HRL)is proposed to jointly optimize longitudinal velocity and lateral lane-changing for connected EVs.A full-scale reward function consisting of multiple sub-rewards with a safety control constraint is redesigned to achieve eco-driving while ensuring other driving performance.
基金Natural science foundation of Heilongjiang Province of China(Grant No.LH2020G002)Jilin Province science and technology development project(Grant No.20210203214SF).
文摘The paper proposes a model of mandatory lane-changing behaviour based on a non-cooperative game in a traditional environment and analyses its applicability in a connected environment.In order to solve the problem of traffic safety and traffic congestion caused by mandatory lane-changing on urban roads,this paper applies the non-cooperative game theory to describe the game behaviour of the two parties,the lane-changing vehicle and the vehicle behind the target lane,in the connected and traditional environments respectively,and constructs the model considering the safety gain,speed gain and lane-changing gain to obtain a game model and the Nash equilibrium solution.Themodel is calibrated and tested using NGSIM data,and the results of the study show that themodel has a good performance for the decision behaviour of lane-changing vehicles and lag vehicles for mandatory lane-changing behaviour on urban roads.
基金Open Fund of State Key Laboratory of Automobile Simulation and Control of Jilin University(20201111).
文摘The purpose of this paper is to alleviate the potential safety problems associated with the human driver and the automatic system competing for the right of way due to different objectives by mitigating the human-machine conflict phenomenon in human-machine shared driving(HMSD)technology from the automation system.Firstly,a basic lane-changing trajectory algorithm based on the quintic polynomial in the Frenet coordinate system is developed.Then,in order to make the planned trajectory close to human behavior,naturalistic driving data is collected,based on which some lane-changing performance features are selected and analyzed.There are three aspects have been taken into consideration for the human-like lane-changing trajectory:vehicle dynamic stability performance,driving cost optimization,and collision avoidance.Finally,the HMSD experiments are conducted with the driving simulator to test the potential of the human-like lane-changing trajectory planning algorithm.The results demonstrate that the lane-changing trajectory planning algorithm with the highest degree of personalization is highly consistent with human driver behavior and consequently would potentially mitigate the human-machine conflict with the HMSD application.Furthermore,it could be further employed as an empirical trajectory prediction result.The algorithm employs the distribution state of the historical trajectory for human-like processing,simplifying the operational process and ensuring the credibility,integrity,and interpretability of the results.Moreover,in terms of optimization processing,the form of optimization search followed by collision avoidance detection is adopted to in principle reduce the calculation difficulty.Additionally,a new convex polygon collision detection method,namely the vertex embedding method,is proposed for collision avoidance detection.
基金supported by National Natural Science Foundation of China(No.61174176)Zhejiang Planning Project of Science and Technology(No.2013C33086)
文摘In order to increase the availability of the part-time idle bus rapid transit lane(BRT-lane),a time division multiplexing(TDM) method to share BRT-lane with the vehicles besides BRT buses is proposed based on vehicle-road collaboration. The TDM control strategy is established under the circumstance of vehicle-infrastructure integration(VII). The algorithm is given to forecast the segmented BRT travel time. According to the real time traffic information,a comprehensive model is given to estimate the vehicles' lane-changing time from/to the BRTlane to/from its neighbor lane and determine the timing sequence for vehicles collaboration. Finally,the experiment demonstrates that the predicted value of the travel time and lane-changing time is much close to the true value. The control strategy of the vehicles collaboration could promise the non-BRT vehicles to share BRT-lane without disturbing BRT's priority.
