A new traffic model with the consideration of coupling effect with two lanes

This paper introduces a new two-lane high-order continuum model by embedding the two delay time scales con- tinuum traffic model presented by Xue （2003 Phys. Rev. E 68 066123） into the multi-lane model proposed by Daganzo （1997 Transpn. Res. B 31 83） with the consideration of the coupling effect between the vehicles of two lanes in instantaneous traffic situation and lane-change effect. In the novel model, the coupling effect of two lanes and phenomena of lane change, which were not discussed in Daganzo＇s model and Xue＇s model, are taken into account. Numerical simulation shows that it is in accordance with real traffic flow. This obviously indicates that the new phenomenon and behaviour are analogous results as single lane presented by Xue, and the proposed model is more reasonable on two lanes. Furthermore, the generation rate between two lanes is also investigated. The results show that the formation and diffusion of traffic shock wave can be better simulated on two lanes.

Continuum modeling for two-lane traffic flow with consideration of the traffic interruption probability

Considering the effects that the probability of traffic interruption and the friction between two lanes have on the car-following behaviour, this paper establishes a new two-lane microscopic car-following model. Based on this microscopic model, a new macroscopic model was deduced by the relevance relation of microscopic and macroscopic scale parameters for the two-lane traffic flow. Terms related to lane change are added into the continuity equations and velocity dynamic equations to investigate the lane change rate. Numerical results verify that the proposed model can be efficiently used to reflect the effect of the probability of traffic interruption on the shock, rarefaction wave and lane change behaviour on two-lane freeways. The model has also been applied in reproducing some complex traffic phenomena caused by traffic accident interruption.

Continuum models for freeways with two lanes and numerical tests

This paper deals with the continuum modeling of traffic dynamics for freeways with two lanes where the faster vehicles are allowed to travel on both lanes while the slower vehicles are allowed to travel on one lane only. The speed gradient-based momentum equation is used to develop the traffic models for each lane. Using the proposed models, some nonequilibrium phenomena such as small disturbance instability and stop-and-go waves, together with results from numerical tests are investigated. The conditions for keeping the models’linear stability are presented.

Continuum modeling for two-lane traffic flow

In this paper, we study the continuum modeling of traffic dynamics for two-lane freeways. A new dynamics model is proposed, which contains the speed gradient-based momentum equations derived from a car-following theory suited to two-lane traffic flow. The conditions for securing the linear stability of the new model are presented. Numerical tests are can＇ied out and some nonequilibrium phenomena are observed, such as small disturbance instability, stop-and-go waves, local clusters and phase transition.

Extended speed gradient model for traffic flow on two-lane freeways

In this paper, the speed gradient （SG） model is extended to describe the traffic flow on two-lane freeways. Terms related to lane change are added into the continuity equations and velocity dynamic equations. The empirically observed two-lane phenomena, such as lane usage inversion and lane change rate versus density, are reproduced by extended SG model. The local cluster effect is also investigated by numerical simulations.

A continuum traffic flow model with the consideration of coupling effect for two-lane freeways

A new higher-order continuum model is proposed by considering the coupling and lane changing effects of the vehicles on two adjacent lanes. A stability analysis of the proposed model provides the conditions that ensure its linear stability. Issues related to lane changing, shock waves and rarefaction waves, local clustering and phase transition are also investigated with numerical experiments. The simulation results show that the proposed model is capable of providing explanations to some particular traffic phenomena commonly observable in real traffic flows.

Analysis of the wave properties of a new two-lane continuum model with the coupling effect

A multilane extension of the single-lane anisotropic continuum model （GK model） developed by Gupta and Katiyar for traffic flow is discussed with the consideration of the coupling effect between the vehicles of different lanes in the instantaneous traffic situation and the lane-changing effect. The conditions for securing the linear stability of the new model are presented. The shock and the rarefaction waves, the local cluster effect and the phase transition are investigated through simulation experiments with the new model and are found to be consistent with the diverse nonlinear dynamical phenomena observed in a real traffic flow. The analysis also focuses on empirically observed two- lane phenomena, such as lane usage inversion and the density dependence of the number of lane changes. It is shown that single-lane dynamics can be extended to multilane cases without changing the basic properties of the single-lane model. The results show that the new multilane model is capable of explaining some particular traffic phenomena and is in accordance with real traffic flow.

A viscous continuum traffic flow model with consideration of the coupling effect for two-lane freeways

In this paper, the viscous continuum traffic flow model for a single lane is extended to the traffic flow for two-lane freeways. The proposed model is a higher-order continuum model considering the coupling and lane changing effects of the vehicles on two adjacent lanes. It results from integrating the Taylor series expansion of the viscous continuum traffic flow model proposed by Ge （2006 Physiea A 371 667） into the multi-lane model presented by Daganzo （1997 Transpn. Res. B 31 83）. Our proposed model may be used to describe non-anisotropic behaviour because of lane changing in multi-lane traffic. A linear stability analysis is given and the neutral stability condition is obtained. Also, issues related to lane changing, shock waves and rarefaction waves, local clustering and phase transition are investigated through a simulation experiment. The simulation results show that the proposed model is capable of explaining some particular traffic phenomena commonly observable in real world traffic flow.

Micro-simulation model of two-lane freeway vehicles for obtaining traffic flow characteristics including safety condition

Unidirectional two-lane freeway is a typical and the simplest form of freeway. The traffic flow char- acteristics including safety condition on two-lane freeway is of great significance in planning, design, and manage- ment of a freeway. Many previous traffic flow models are able to figure out flow characteristics such as speed, den- sity, delay, and so forth. These models, however, have great difficulty in reflecting safety condition of vehicles. Besides, for the cellular automation, one of the most widely used microscopic traffic simulation models, its discreteness in both time and space can possibly cause inaccuracy or big errors in simulation results. In this paper, a micro-simula- tion model of two-lane freeway vehicles is proposed to evaluate characteristics of traffic flow, including safety condition. The model is also discrete in time but continu- ous in space, and it divides drivers into several groups on the basis of their preferences for overtaking, which makes the simulation more aligned with real situations. Partial test is conducted in this study and results of delay, speed, volume, and density indicate the preliminary validity of our model, based on which the proposed safety coefficient evaluates safety condition under different flow levels. It is found that the results of this evaluation coincide with daily experience of drivers, providing ground for effectiveness of the safety coefficient.

不平衡数据驱动的山区公路货车移动遮断险态跟驰行为识别模型

为识别山区双车道公路货车移动遮断下的小客车险态跟驰行为,基于无人机拍摄和视频轨迹提取技术提取车辆轨迹,利用人工少数类过采样法(Synthetic Minority Oversampling Technique,SMOTE)对不平衡轨迹数据过采样,并对驾驶行为聚类分析,将跟驰行为标定为危险和安全两种类别;依据紧迫跟驰、偏移过大和车速变化大三种险态跟驰行为诱因,确定险态跟驰行为风险测度(Measure of Driving Risk,MOR),包括碰撞时间倒数、相对横向偏移量和速度变异系数,并将MOR和聚类标定标签作为识别模型输入变量;通过轻量梯度提升机(Light Gradient Boosting Machine,LGBM)建立险态跟驰行为识别模型,再通过支持向量机(Support Vector Machines,SVM)、随机森林(Random Forest,RF)和自适应增强(Adaptive Boosting,AdaBoost)算法验证模型的有效性。以云南省某山区双车道公路为例进行试验,共提取543对小客车跟驰货车轨迹数据,数据预处理后筛选出467对有效跟驰数据;经过采样处理和聚类标定,结果表明:小客车跟驰货车时,超三成小客车处于险态跟驰状态;险态跟驰行为直道和弯道识别模型的精确率分别达95.49%和95.48%,其中LGBM表现最稳定,而RF和AdaBoost的稳定性较差且精确率不高。基于LGBM的险态跟驰行为识别模型具有较高的准确率和稳定性,在车路协同和自动驾驶等领域有应用前景。

高原山区双车道公路超车车道设置条件与参数

为给高原山区双车道公路超车车道的设计提供参考依据,针对高原山区双车道公路超车车道设置的几何条件、交通量条件与设置长度开展研究。通过工程实例验证了模型的有效性,进行了超车车道长度与运行速度的相关性研究。首先,结合高原山区条件的影响,从保证超车车辆驾驶人舒适度的角度出发,给出了高原山区双车道公路超车车道的最小圆曲线半径值;其次,从车辆转向安全行驶的角度出发,给出了超车车道的最大上坡和下坡坡度条件;然后,建立了双车道公路交通冲突时间与交通量、设计速度的关系模型,并给出了各设计速度下设置超车车道的交通量条件;最后,基于VISSIM仿真试验数据,利用多元非线性回归法构建了高原山区双车道公路超车车道长度模型。结果表明:在高原山区环境下,当双车道公路的设计速度分别为80,60,40 km/h时,满足设置超车车道要求路段的交通量应大于392,364,318 pcu/h;平面圆曲线半径应大于610,370,200 m;下坡方向的最大纵坡分别为―2.4%,―2.7%,―3.2%;上坡方向的最大纵坡分别为2.6%,3.0%,3.5%;在同一交通量条件下,随着双车道公路超车车道长度的增加,小客车的平均运行速度呈现出逐渐增大的趋势,当超车车道长度达到一定值时,平均运行速度维持在80 km/h,不再发生明显变化。

面向量产的高速公路智能换道系统决策规划方法研究

高速公路智能换道是高级辅助驾驶系统(ADAS)的重要功能,现阶段算法难以在低算力硬件资源条件下兼顾换道安全性和平顺性。为解决此问题,本文提出一种高速公路智能换道系统决策规划方法。通过分级危险区域,检测碰撞风险做出换道决策,进而实施横纵向解耦规划。在横向规划中,设计两阶段五次多项式换道轨迹规划,提升换道途中安全性和平顺性。在纵向规划中,巡航工况采用类PID算法,可提升规划实时性,而跟车工况采用基于同步预测时域的模型预测控制(MPC)算法,通过关联横纵向规划时间可提升换道平顺性,并设计代价函数降低求解复杂度可满足低资源占用要求。通过实车对比试验,验证了该方法在高速公路换道多场景中具有较高的安全性、平顺性和体验感。此外,算法占用的静态区存储和栈区峰值存储测试对比结果表明了该方法具有较低的硬件资源占用率,可满足低算力控制器对资源占用的要求。

基于双分支分割网络的复杂环境车道线检测方法

对车道线实现准确检测是自动驾驶中的关键技术。针对现有的车道线检测方法对复杂工况下的车道线检测精度不足的问题,提出一个面向复杂场景下的车道线检测模型。基于LaneNet网络设计一种双分支分割网络,利用网络模型中的损失函数使图像像素点占比提高,实现网络参数的优化。通过编码器与解码器结构对车道线采样,实现语义分割与车道线像素点嵌入分割;并通过自适应DBSCAN聚类算法实现对邻域半径和最小样本个数两个参数的自主选择,引入H-Net网络中的图像逆透视变换与车道线拟合实现检测。最后,利用图森数据集对所设计模型进行验证。结果表明,所提出的车道线检测模型有较高的精度,能实现复杂场景下的车道线检测。

大跨度连拱城市隧道总体设计要点分析

依托岳阳市畈中路来米坡隧道这一国内少见的大跨度连拱双向六车道城市隧道,从隧道选线、断面布置、结构设计、进出洞方案等关键节点进行详细分析和针对性设计,以期提供安全、可靠、经济的隧道设计参数,确保工程安全可靠。

变参数两跨四车道桥梁结构设计与分析

为探究两跨四车道桥梁在受到大型船舶撞击时的受力性能,结合第十六届全国大学生结构设计竞赛广东省分区赛赛题《撞击荷载下变参数两跨四车道桥梁结构设计与制作》要求,通过Midas Civil对承受移动荷载和撞击荷载的桥梁结构模型进行数值模拟计算与结构优化设计,最后通过加载试验对仿真计算结果进行验证。研究表明模型节点受力集中且制作复杂,桥梁三级加载时极易出现节点脱落与变形过大导致弦被压断,利用浸润胶水后的竹粉包裹或竹皮缠绕节点可起到较好的加强作用;将主要受力杆件截面设计成T字形,可增加杆件间的接触面积,有效防止加载车道不同引发桥梁偏载时的节点脱落问题。

考虑车辆运行特性的双车道超车模型

鉴于现有的超车模型往往会忽视超车过程中车辆运行特性对超车行为的影响,文中在现有超车模型的基础上,对超车车辆依据车辆运行特性进行分类,设计了双车道车辆超车场景,并考虑不同道路等级的设计时速,建立了计算超车车辆从超车行为产生到超车过程结束所需的超车时间和距离的数学模型.最后,选择不同类型车辆、超车速度及行车速度,分别计算了微型车、小客车和中大型车在双车道公路超车的时间和距离,并与现有的超车模型计算结果进行对比分析.结果表明:双车道公路超车时间和距离与车辆类型、超车速度、超车车辆与被超车辆的行车速度和对向车辆速度密切相关;文中模型由于考虑车辆的运行特性,不同车辆超车所需的超车时间和距离是不相同的,计算结果更符合实际超车现象.

山区双车道公路尾随相撞事故与道路线形的关系

为了改善我国山区双车道公路的安全状况,选取负二项分布作为回归分析的模型基础,应用同向纵坡的概念将甘肃省某山区双车道公路长为139 km的路段划分成94个同向纵坡单元,运用Stata 9.0统计软件对该路段内2003—2005年所发生的100起尾随相撞事故与8个反映道路设计要素的线形变量进行了广义的负二项回归分析.结果表明,山区双车道公路上的尾随相撞事故与累计坡长呈很强的正相关关系,累计坡长越长,尾随相撞的事故数越多.

双车道公路弯道行车轨迹特性研究

采用VTR摄像机记录车辆通过观测断面处的侧向位置,应用Virtualdub视频分析软件判读车辆外侧前轮至道路中心线的距离。选取典型双车道公路上8处曲线为试验段,根据试验数据的统计分析结果,得到以下主要研究结论:车辆在进入曲线段时,行驶轨迹存在着朝曲线内侧偏移的运动趋势;在出曲线段时,车辆行驶轨迹趋向朝曲线外侧偏移;平曲线半径大小对车辆行驶轨迹特性有显著的影响,平曲线半径越大,行车轨迹侧向偏移量越小,反之则越大;总体上看,平曲线转角变化越缓和,曲率变化率越小,行车轨迹侧向偏移量越小,曲率变化率与曲线段的行车轨迹最大侧向偏移量呈显著的线性正相关关系。

超车模型在双车道公路仿真系统中的应用研究

借鉴以往的研究成果,在分析双车道公路超车特性的基础上,将超车过程划分为超车意愿、超车条件、超车行为、超车中止强制回车4个步骤,建立了超车模型。选用超车率、超车次率和区间平均速度作为验证指标来对比仿真结果与实测数据,对比结果符合误差范围,证明了模型的有效性。应用模型进行仿真试验,通过分析得到的超车率-流量关系,发现该关系曲线与实际情况相吻合且呈现出两个阶段,前一阶段随着双车道公路流量的增加,超车率逐渐增大至最大值。后一阶段流量增加而超车率不断下降,当流量达到2 900 pcu/h以后,超车率几乎为零,以此作为临界点,推荐我国标准2级双车道公路的双向通行能力为2 900 pcu/h。

基于超车行为的双车道公路通行能力分析

为了研究双车道公路上的超车行为,定义了可回车车头时距与可超车车头时距,通过超车试验得到了两者的临界间隙值;分析了单向、双向车道的最小通行能力,合理解释了双向车道通行能力值小于2倍单向车道通行能力值的原因;最后确定了中国双车道公路上跟车车头时距值和跟车率。结果表明:根据实测数据及拟合仿真试验得到的双车道公路的基本通行能力为3 000 pcu.h-1。