In this paper, platoons of autonomous vehicles operating in urban road networks are considered. From a methodological point of view, the problem of interest consists of formally characterizing vehicle state trajectory...In this paper, platoons of autonomous vehicles operating in urban road networks are considered. From a methodological point of view, the problem of interest consists of formally characterizing vehicle state trajectory tubes by means of routing decisions complying with traffic congestion criteria. To this end, a novel distributed control architecture is conceived by taking advantage of two methodologies: deep reinforcement learning and model predictive control. On one hand, the routing decisions are obtained by using a distributed reinforcement learning algorithm that exploits available traffic data at each road junction. On the other hand, a bank of model predictive controllers is in charge of computing the more adequate control action for each involved vehicle. Such tasks are here combined into a single framework:the deep reinforcement learning output(action) is translated into a set-point to be tracked by the model predictive controller;conversely, the current vehicle position, resulting from the application of the control move, is exploited by the deep reinforcement learning unit for improving its reliability. The main novelty of the proposed solution lies in its hybrid nature: on one hand it fully exploits deep reinforcement learning capabilities for decisionmaking purposes;on the other hand, time-varying hard constraints are always satisfied during the dynamical platoon evolution imposed by the computed routing decisions. To efficiently evaluate the performance of the proposed control architecture, a co-design procedure, involving the SUMO and MATLAB platforms, is implemented so that complex operating environments can be used, and the information coming from road maps(links,junctions, obstacles, semaphores, etc.) and vehicle state trajectories can be shared and exchanged. Finally by considering as operating scenario a real entire city block and a platoon of eleven vehicles described by double-integrator models, several simulations have been performed with the aim to put in light the main f eatures of the proposed approach. Moreover, it is important to underline that in different operating scenarios the proposed reinforcement learning scheme is capable of significantly reducing traffic congestion phenomena when compared with well-reputed competitors.展开更多
In order to reduce the traffic pressure of urban arterial road with the rational utilization of the branch road,the vehicle meeting behavior on the branch road without divided lane was described,and the cellular autom...In order to reduce the traffic pressure of urban arterial road with the rational utilization of the branch road,the vehicle meeting behavior on the branch road without divided lane was described,and the cellular automation (CA) model was put forward by introducing meeting behavior to reflect the relation between safe meeting speed and road width.The numerical simulation results depict several relation curves between road section capacity,speed and road width under different directional distributions of traffic flow,as well as the curves between the major and minor direction saturation flow,speed and road width.These relation characteristics indicate that except the one-way road section capacity and speed remaining unchanged,other road section capacities and speeds under different directional distributions increase with the increase of road width.On narrow road,the two-way traffic capacity and speed are less than those of one-way traffic;on wide road,the two-way traffic capacity doubles that of one-way traffic,but their speeds are almost the same.As the directional distribution moves to an even distribution of 50/50,the major direction saturation flows and speeds as well as the minor direction speeds tend to decease,while the minor direction saturation flow tends to increase.展开更多
The cause-effect associations between geographical phenomena are an important focus in ecological research. Recent studies in structural equation modeling（SEM） demonstrated the potential for analyzing such associati...The cause-effect associations between geographical phenomena are an important focus in ecological research. Recent studies in structural equation modeling（SEM） demonstrated the potential for analyzing such associations. We applied the variance-based partial least squares SEM（PLS-SEM） and geographically-weighted regression（GWR） modeling to assess the human-climate impact on grassland productivity represented by above-ground biomass（AGB）. The human and climate factors and their interaction were taken to explain the AGB variance by a PLS-SEM developed for the grassland ecosystem in Inner Mongolia, China. Results indicated that 65.5% of the AGB variance could be explained by the human and climate factors and their interaction. The case study showed that the human and climate factors imposed a significant and negative impact on the AGB and that their interaction alleviated to some extent the threat from the intensified human-climate pressure. The alleviation may be attributable to vegetation adaptation to high human-climate stresses, to human adaptation to climate conditions or/and to recent vegetation restoration programs in the highly degraded areas. Furthermore, the AGB response to the human and climate factors modeled by GWR exhibited significant spatial variations. This study demonstrated that the combination of PLS-SEM and GWR model is feasible to investigate the cause-effect relation in socio-ecological systems.展开更多
Traffic congestion in road transportation networks is a persistent problem in major metropolitan cities around the world.In this context,this paper deals with exploiting underutilized road capacities in a network to l...Traffic congestion in road transportation networks is a persistent problem in major metropolitan cities around the world.In this context,this paper deals with exploiting underutilized road capacities in a network to lower the congestion on overutilized links while simultaneously satisfying the system optimal flow assignment for sustainable transportation.Four congestion mitigation strategies are identified based on deviation and relative deviation of link volume from the corresponding capacity.Consequently,four biobjective mathematical programming optimal flow distribution(OFD)models are proposed.The case study results demonstrate that all the proposed models improve system performance and reduce congestion on high volume links by shifting flows to low volumeto-capacity links compared to UE and SO models.Among the models,the system optimality with minimal sum and maximum absolute relative-deviation models(SO-SAR and SO-MAR)showed superior results for different performance measures.The SO-SAR model yielded 50%and 30%fewer links at higher link utilization factors than UE and SO models,respectively.Also,it showed more than 25%improvement in path travel times compared to UE travel time for about 100 paths and resulted in the least network congestion index of1.04 compared to the other OFD and UE models.Conversely,the SO-MAR model yielded the least total distance and total system travel time,resulting in lower fuel consumption and emissions,thus contributing to sustainability.The proposed models contribute towards efficient transportation infrastructure management and will be of interest to transportation planners and traffic managers.展开更多
文摘In this paper, platoons of autonomous vehicles operating in urban road networks are considered. From a methodological point of view, the problem of interest consists of formally characterizing vehicle state trajectory tubes by means of routing decisions complying with traffic congestion criteria. To this end, a novel distributed control architecture is conceived by taking advantage of two methodologies: deep reinforcement learning and model predictive control. On one hand, the routing decisions are obtained by using a distributed reinforcement learning algorithm that exploits available traffic data at each road junction. On the other hand, a bank of model predictive controllers is in charge of computing the more adequate control action for each involved vehicle. Such tasks are here combined into a single framework:the deep reinforcement learning output(action) is translated into a set-point to be tracked by the model predictive controller;conversely, the current vehicle position, resulting from the application of the control move, is exploited by the deep reinforcement learning unit for improving its reliability. The main novelty of the proposed solution lies in its hybrid nature: on one hand it fully exploits deep reinforcement learning capabilities for decisionmaking purposes;on the other hand, time-varying hard constraints are always satisfied during the dynamical platoon evolution imposed by the computed routing decisions. To efficiently evaluate the performance of the proposed control architecture, a co-design procedure, involving the SUMO and MATLAB platforms, is implemented so that complex operating environments can be used, and the information coming from road maps(links,junctions, obstacles, semaphores, etc.) and vehicle state trajectories can be shared and exchanged. Finally by considering as operating scenario a real entire city block and a platoon of eleven vehicles described by double-integrator models, several simulations have been performed with the aim to put in light the main f eatures of the proposed approach. Moreover, it is important to underline that in different operating scenarios the proposed reinforcement learning scheme is capable of significantly reducing traffic congestion phenomena when compared with well-reputed competitors.
基金Project(71171200) supported by the National Natural Science Foundation of China
文摘In order to reduce the traffic pressure of urban arterial road with the rational utilization of the branch road,the vehicle meeting behavior on the branch road without divided lane was described,and the cellular automation (CA) model was put forward by introducing meeting behavior to reflect the relation between safe meeting speed and road width.The numerical simulation results depict several relation curves between road section capacity,speed and road width under different directional distributions of traffic flow,as well as the curves between the major and minor direction saturation flow,speed and road width.These relation characteristics indicate that except the one-way road section capacity and speed remaining unchanged,other road section capacities and speeds under different directional distributions increase with the increase of road width.On narrow road,the two-way traffic capacity and speed are less than those of one-way traffic;on wide road,the two-way traffic capacity doubles that of one-way traffic,but their speeds are almost the same.As the directional distribution moves to an even distribution of 50/50,the major direction saturation flows and speeds as well as the minor direction speeds tend to decease,while the minor direction saturation flow tends to increase.
基金supported by the National Natural Science Foundation of China (41371371)the Strategic Priority Research Program of the Chinese Academy of Sciences (XDA05050402)
文摘The cause-effect associations between geographical phenomena are an important focus in ecological research. Recent studies in structural equation modeling（SEM） demonstrated the potential for analyzing such associations. We applied the variance-based partial least squares SEM（PLS-SEM） and geographically-weighted regression（GWR） modeling to assess the human-climate impact on grassland productivity represented by above-ground biomass（AGB）. The human and climate factors and their interaction were taken to explain the AGB variance by a PLS-SEM developed for the grassland ecosystem in Inner Mongolia, China. Results indicated that 65.5% of the AGB variance could be explained by the human and climate factors and their interaction. The case study showed that the human and climate factors imposed a significant and negative impact on the AGB and that their interaction alleviated to some extent the threat from the intensified human-climate pressure. The alleviation may be attributable to vegetation adaptation to high human-climate stresses, to human adaptation to climate conditions or/and to recent vegetation restoration programs in the highly degraded areas. Furthermore, the AGB response to the human and climate factors modeled by GWR exhibited significant spatial variations. This study demonstrated that the combination of PLS-SEM and GWR model is feasible to investigate the cause-effect relation in socio-ecological systems.
文摘Traffic congestion in road transportation networks is a persistent problem in major metropolitan cities around the world.In this context,this paper deals with exploiting underutilized road capacities in a network to lower the congestion on overutilized links while simultaneously satisfying the system optimal flow assignment for sustainable transportation.Four congestion mitigation strategies are identified based on deviation and relative deviation of link volume from the corresponding capacity.Consequently,four biobjective mathematical programming optimal flow distribution(OFD)models are proposed.The case study results demonstrate that all the proposed models improve system performance and reduce congestion on high volume links by shifting flows to low volumeto-capacity links compared to UE and SO models.Among the models,the system optimality with minimal sum and maximum absolute relative-deviation models(SO-SAR and SO-MAR)showed superior results for different performance measures.The SO-SAR model yielded 50%and 30%fewer links at higher link utilization factors than UE and SO models,respectively.Also,it showed more than 25%improvement in path travel times compared to UE travel time for about 100 paths and resulted in the least network congestion index of1.04 compared to the other OFD and UE models.Conversely,the SO-MAR model yielded the least total distance and total system travel time,resulting in lower fuel consumption and emissions,thus contributing to sustainability.The proposed models contribute towards efficient transportation infrastructure management and will be of interest to transportation planners and traffic managers.
