An evolutionary game theory-based machine learning framework for predicting mandatory lane change decision

Mandatory lane change(MLC)is likely to cause traffic oscillations,which have a negative impact on traffic efficiency and safety.There is a rapid increase in research on mandatory lane change decision(MLCD)prediction,which can be categorized into physics-based models and machine-learning models.Both types of models have their advantages and disadvantages.To obtain a more advanced MLCD prediction method,this study proposes a hybrid architecture,which combines the Evolutionary Game Theory(EGT)based model(considering data efficient and interpretable)and the Machine Learning(ML)based model(considering high prediction accuracy)to model the mandatory lane change decision of multi-style drivers(i.e.EGTML framework).Therefore,EGT is utilized to introduce physical information,which can describe the progressive cooperative interactions between drivers and predict the decision-making of multi-style drivers.The generalization of the EGTML method is further validated using four machine learning models:ANN,RF,LightGBM,and XGBoost.The superiority of EGTML is demonstrated using real-world data(i.e.,Next Generation SIMulation,NGSIM).The results of sensitivity analysis show that the EGTML model outperforms the general ML model,especially when the data is sparse.

A Lane Change Model Considering the Stability of Cooperative Adaptive Cruise Control Platoon Fleet

In this article,lane change models for mixed traffic flow under cooperative adaptive cruise control(CACC)platoon formation are established.The analysis begins by examining the impact of lane changes on traffic flow stability.The influences of various factors such as lane change locations,timing,and the current traffic state on stability are discussed.In this analysis,it is assumed that the lane change location and the entry position in the adjacent lane have already been selected,without considering the specific intention behind the lane change.The speeds of the involved vehicles are adjusted based on an existing lane change model,and various conditions are analyzed for traffic flow disturbances,including duration,shock amplitude,and driving delays.Numerical calculations are provided to illustrate these effects.Additionally,traffic flow stability is factored into the lane change decision-making process.By incorporating disturbances to the fleet into the lane change income model,both a lane change intention model and a lane change execution model are constructed.These models are then compared with a model that does not account for stability,leading to the corresponding conclusions.

基于Mathews稳定图法的采空区稳定性分析

采空区稳定性关系到矿山生产安全。为了方便准确地对采空区稳定性进行分析,以指导矿山安全生产。以某铅锌矿的某采空区为例,获取了采场的RQD值、节理组数、节理粗糙度、节理蚀变度等采空区力学指标或结构参数,分别计算出采空区的修正的岩石Q值、应力系数、节理方位系数、重力调整系数,进而计算得到采场的稳定数;统计了采空区的长度、高度和宽度等形状参数,以此为基础计算得到采空区的壁面积和壁周长,进而计算得到采空区的形状因子,以采空区的稳定数和形状因子为依据,在Mathews稳定图确定采空区所在的点,根据落点位置确定采空区稳定性,进而指导矿山安全生产。实践证明,Mathews稳定图法对采场稳定性分析是准确的。

基于拓展的Mathews稳定图法和数值模拟的采空区稳定性分析

某铅锌矿经多年开采遗留下一些未处理采空区,为进行后续开采,现需对采空区进行稳定性研究。通过拓展的Mathews稳定图法、FLAC3D数值模拟软件进行研究,并基于Mathews稳定图法分析暴露时间对采空区稳定性的影响。以矿山三个未处理采空区作为研究对象,利用RMR和Q′值进行岩体质量分级,根据获得的岩体力学参数,使用增加了稳定性等概率线的Mathews稳定图,计算出采空区顶板及上盘的稳定性及稳定概率;计算考虑暴露时间的采空区稳定性概率,进行比较;利用FLAC3D数值模拟软件对采空区进行稳定性数值模拟分析,并与Mathews合成图得出的结果进行对比。结果表明:综合Mathews稳定图法和FLAC3D数值模拟,6204采空区顶板评价结果为不稳定,其他采空面均为稳定;随着暴露时间的增加,采空区稳定性随之降低,且对岩性较差的采空区有较大影响;拓展的Mathews稳定图法与数值模拟可以相互验证,综合分析采空区的稳定性。

Research on the feasibility of storage and estimation model of storage capacity of CO_(2)in fissures of coal mine old goaf

The concept of the carbon cycle in the old goaf of a coal mine based on CO_(2)utilization and storage was put forward adhering to the principle of low-carbon development,utilization of space resources in old goafs,and associated gas resources development.Firstly,the evolution characteristics of overburden fissures in the goaf of the case was studied using a two-dimensional physical similarity simulation test,the sealing performance of the caprocks after stabilization was analyzed,and the fissures were counted and classi-fied.Then,the process of gaseous CO_(2)injection in the connected fissure was simulated by Ansys Fluent software,and the migration law and distribution characteristics of CO_(2)under the condition of gaseous CO_(2)injection were analyzed.Finally,the estimation models of free CO_(2)storage capacity in the old goaf were constructed considering the proportion of connected fissure and the effectiveness of CO_(2)injection.The CO_(2)storage capacity in the old goaf of the case coal mine was estimated.The results showed that a caprock group of“hard-thickness low-permeability hard-thickness”was formed after the caprock-fissures system in the goaf of the case tended to be stable vertically.The connected fissure,occlude cracks,and micro-fractures in the goaf accounted for 85.5%,8.5%,and 6%of the total fissures,respectively.Gaseous CO_(2)first migrated to the bottom of the connected fissure after CO_(2)was injected into the goaf,then spread horizontally along the bottom of the connected fissure after reaching the bottom,and finally spread longitudinally after filling the bottom of the entire connected fissure.The theoretical and effective storage capacities of free CO_(2)at normal temperature and pressure in the old goaf of the case were 9757 and 7477 t,respectively.The effective storage capacity of free CO_(2)at normal temperature and pressure in the old goaf after all minefield mined was 193404 t.The research can provide some reference for the coal mining industry to help the goal of“carbon peaking and carbon neutrality”.

Stability-Considered Lane Keeping Control of Commercial Vehicles Based on Improved APF Algorithm

Regarding the lane keeping system,path tracking accuracy and lateral stability at high speeds need to be taken into account especially for commercial vehicles due to the characteristics of larger mass,longer wheelbase and higher mass center.To improve the performance mentioned above comprehensively,the control strategy based on improved artificial potential field(APF)algorithm is proposed.In the paper,time to lane crossing(TLC)is introduced into the potential field function to enhance the accuracy of path tracking,meanwhile the vehicle dynamics parameters including yaw rate and lateral acceleration are chosen as the repulsive force field source.The lane keeping controller based on improved APF algorithm is designed and the stability of the control system is proved based on Lyapunov theory.In addition,adaptive inertial weight particle swarm optimization algorithm(AIWPSO)is applied to optimize the gain of each potential field function.The co-simulation results indicate that the comprehensive evaluation index respecting lane tracking accuracy and lateral stability is reduced remarkably.Finally,the proposed control strategy is verified by the HiL test.It provides a beneficial reference for dynamics control of commercial vehicles and enriches the theoretical development and practical application of artificial potential field method in the field of intelligent driving.

Enhancing Urban Mobility: Exploring the Potential of Exclusive Motorcycle Lane Using VISSIM

The proliferation of Mobility on Demand (MOD) services has ushered in a surge of ridesharing platforms, catalyzing the emergence of micro mobility solutions like motorcycle sharing. Consequently, motorcycles have witnessed unprecedented growth over recent decades. This proliferation, while offering convenience, has introduced challenges such as diminished road capacity, and compromised safety. This study advocates for the implementation of exclusive motorcycle lanes to mitigate the ensuing disorderliness using VISSIM microsimulation platform. Empirical data from a key corridor in Dhaka is harnessed to calibrate and simulate network performance scenarios—pre- and post-implementation of dedicated motorcycle lanes. The outcomes of our simulation experiments exhibit the implementation of dedicated motorcycle lanes leads to a reduction in vehicular throughput but improvement the flow of motorcycles. In addition, Surrogate Safety Measures (SSMs) demonstrate the safety improvements through implementation of the treatment.

Review and Analysis: Fate of Arsenic Applied to Canal Shipping Lane Vegetation and United States Military Base Grounds in the Panama Canal Zone

The opening of the Panama Canal in 1913 increased the availability of internationally traded goods and transformed ocean-shipping by shortening travel time between the Atlantic Ocean and Pacific Ocean. The canal sparked the growth of port authorities and increased ship tonnage on both coasts of Panama. Since the construction of the Panama Canal, in the 1910s, pesticides, herbicides and chemicals, including arsenic, have been essential for controlling wetland vegetation, including hyacinth, which blocked rivers, lakes, and the canal as well as managing mosquitoes. Pesticides and chemicals flowed into Lake Gatun (reservoir) either attached to sediment or in solution during the monsoon season. Lake Gatun was the drinking water source for most of the people living in the Panama Canal Zone. The United States military base commanders had the ability to order and use cacodylic acid (arsenic based) from the Naval Depot Supply Federal and Stock Catalog and the later Federal Supply Catalog on the military base grounds in the Panama Canal Zone. Cacodylic acid was shipped to Panama Canal Zone ports, including Balboa and Cristobal, and distributed to the military bases by rail or truck. The objective of this study is to determine the fate of arsenic: 1) applied between 1914 and 1935 to Panama Canal shipping lane hyacinth and other wetland vegetation and 2) cacodylic acid (arsenic) sprayed from 1948 to 1999 on the US military base grounds in the Panama Canal Zone.

LSTM-based lane change prediction using Waymo open motion dataset: The role of vehicle operating space

Lane change prediction is critical for crash avoidance but challenging as it requires the understanding of the instantaneous driving environment.With cutting-edge artificial intelligence and sensing technologies,autonomous vehicles(AVs)are expected to have exceptional perception systems to capture instantaneously their driving environments for predicting lane changes.By exploring the Waymo open motion dataset,this study proposes a framework to explore autonomous driving data and investigate lane change behaviors.In the framework,this study develops a Long Short-Term Memory(LSTM)model to predict lane changing behaviors.The concept of Vehicle Operating Space(VOS)is introduced to quantify a vehicle's instantaneous driving environment as an important indicator used to predict vehicle lane changes.To examine the robustness of the model,a series of sensitivity analysis are conducted by varying the feature selection,prediction horizon,and training data balancing ratios.The test results show that including VOS into modeling can speed up the loss decay in the training process and lead to higher accuracy and recall for predicting lane-change behaviors.This study offers an example along with a methodological framework for transportation researchers to use emerging autonomous driving data to investigate driving behaviors and traffic environments.

Deformation failure mechanism and application of the backfill along the goaf-side retained roadway

In order to determine the rational width of backfill in the goaf-side retained roadway, the deformation failure mechanism of surrounding rock in retained roadway is studied in the use of theoretical analysis, numerical simulation, etc., when the width of backfill is different. The results show that: with the increase of backfill width, the roof deformation above the backfill decreases; the outside of backfill obviously suffers from greater stress compared to the inner side of backfill; the damage firstly appears in the intersection of top backfill and roof; the plastic failure area is mainly distributed in the roof and floor of inside the roadway; 2 m wide backfill in the goaf-side retained roadway can meet the requirements of roadway deformation. Based on the original combination support of "anchor-mesh-belt-lock" in the haulage-track roadway, the study also considers the reinforced support of "anchor-mesh-belt" above the backfill, and 50 m ahead of working face, and 200 m behind the working face. This kind of support achieves a good result. The roadway deformation of field measurement shows that it can satisfy the need of the next working face.

Lane Keeping Algorithm for Off-The-Shelf Wide-Angle Camera

Automobile accidents cost over a trillion-do llar every year and this figure will continue increasing without employing new technological solutions.Among these solutions,the automated lane-keeping system is one of the promising ones and such a system consists of two essential technologies:road detection and steering control.In this paper,novel lane keeping algorithms are proposed and are implemented using only a single off-the-shelf wide-angle camera as input.The implemented system is verified,through both simulation and experiments,and is found providing satisfactory performance for an automated lane-keeping system.When compared to the state-of-the-art lane-keeping systems,the implemented system can perform consistently across various ambient light conditions including the most challenging ones.

Hydraulic support crushed mechanism for the shallow seam mining face under the roadway pillars of room mining goaf

While the fully-mechanized longwall mining technology was employed in a shallow seam under a room mining goaf and overlained by thin bedrock and thick loose sands, the roadway pillars in the abandoned room mining goaf were in a stress-concentrated state, which may cause abnormal roof weighting, violent ground pressure behaviours, even roof fall and hydraulic support crushed(HSC) accidents. In this case,longwall mining safety and efficiency were seriously challenged. Based on the HSC accidents occurred during the longwall mining of 3-1-2 seam, which locates under the intersection zone of roadway pillars in the room mining goaf of 3-1-1 seam, this paper employed ground rock mechanics to analyse the overlying strata structure movement rules and presented the main influence factors and determination methods for the hydraulic support working resistance. The FLAC3 D software was used to simulate the overlying strata stress and plastic zone distribution characteristics. Field observation was implemented to contrastively analyse the hydraulic support working resistance distribution rules under the roadway pillars in strike direction, normal room mining goaf, roadway pillars in dip direction and intersection zone of roadway pillars. The results indicate that the key strata break along with rotations and reactions of the coal pillars deliver a larger concentrated load to the hydraulic support under intersection zone of roadway pillars than other conditions. The ‘‘overburden strata-key strata-roadway pillars-immediate roof" integrated load has exceeded the yield load that leads to HSC accidents. Findings in HSC mechanism provide a reasonable basis for shallow seam mining, and have important significance for the implementation of safe and efficient mining.

Lane Recognition Algorithm Using the Hough Transform Based on Complicated Conditions

At present, most lane line detection methods are aimed at simple road surface. There is still no good solution for the situation that the lane line contains arrow, text and other signs. The edge left by markers such as arrow and text will interfere with the detection of lane lines. In view of the situation of arrow mark and text mark interference between lane lines, the paper proposes a new processing algorithm. The algorithm consists of four parts, Gaussian blur, image graying processing, DLD-threshold (Dark-Light-Dark-threshold) algorithm, correlation filter edge extraction and Hough transform. Among them, the DLD-threshold algorithm and related filters are mainly used to remove the identification interference between lane lines. The test results on the Caltech Lanes dataset are given at the end of the article. The result of verification of this algorithm showed a max recognition rate of 97.2%.

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.

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.

Numerical simulation to determine the gas explosion risk in longwall goaf areas:A case study of Xutuan Colliery

Underground gassy longwall mining goafs may suffer potential gas explosions during the mining process because of the irregularity of gas emissions in the goaf and poor ventilation of the working face,which are risks difficult to control.In this work,the 3235 working face of the Xutuan Colliery in Suzhou City,China,was researched as a case study.The effects of air quantity and gas emission on the three-dimensional distribution of oxygen and methane concentration in the longwall goaf were studied.Based on the revised Coward’s triangle and linear coupling region formula,the coupled methane-oxygen explosive hazard zones(CEHZs)were drawn.Furthermore,a simple practical index was proposed to quantitatively determine the gas explosion risk in the longwall goaf.The results showed that the CEHZs mainly focus on the intake side where the risk of gas explosion is greatest.The CEHZ is reduced with increasing air quantity.Moreover,the higher the gas emission,the larger the CEHZ,which moves towards the intake side at low goaf heights and shifts to the deeper parts of the goaf at high heights.In addition,the risk of gas explosion is reduced as air quantities increase,but when gas emissions increase to a higher level(greater than 50 m3/min),the volume of the CEHZ does not decrease with the increase of air quantity,and the risk of gas explosion no longer shows a linear downward trend.This study is of significance as it seeks to reduce gas explosion accidents and improve mine production safety.

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.

Study of 3-D Numerical Simulation for Gas Transfer in the Goaf of the Coal Mining

In order to simulate field distribution rules,mathematical models for 3-D air flows and gas transfer in the goaf of the coal mining are established,based on theories of permeability and dynamic dispersion through porous media. A gas dispersion equation in a 3-D field is calculated by use of numerical method on a weighted upstream multi-element balance. Based on data of an example with a U type ventilation mode,surface charts of air pressure distribution and gas concentration are drawn by Graphtool software. Finally,a comparison between actually measured results in the model test and the numerical simulation results is made to proves the numerical implementation feasible.

Residents' Collective Memory of Urban Street and Lane Spaces:A Case Study of the Confucius Temple Block in Nanjing City

Along with the rapid globalization and urbanization,primitive ecological environment and cultural life atmosphere of urban streets and lanes have degraded,memories of the city have been lost,and cities have shown the tendency of convergence and homogenization.Taking the Confucius Temple Block for example,this paper applied cognitive map,oral interview and GIS spatial statistics to study residents' col ective memories of urban street and lane spaces,and found that the locals' collective memories of streets and lanes in the Confucius Temple Block declined gradually in the sequence of "aura area" → "secondary aura area" → "buffer area" → "blind spot area",and "civilian" urban design concept was claimed as the major incentive of the decline.Streets and lanes as important components of urban public spaces have specific historical connotations and genius loci,and they deserve wide concern from the academic circle and the society for their function of protecting collective memories of residents.

A car-following model with the anticipation effect of potential lane changing

In this paper, a new car-following model is presented, taking into account the anticipation of potential lane changing by the leading vehicle. The stability condition of the model is obtained by using the linear stability theory. The modified Korteweg-de Vries （KdV） equation is constructed and solved, and three types of traffic flow in the headway-sensitivity space, namely stable, metastable and unstable ones, are classified. Both the analytical and simu- lation results show that anxiety about lane changing does indeed have an influence on driving behavior and that a consideration of lane changing probability in the car-following model could stabilize traffic flows. The quantitative relationship between stability improvement and lane changing probability is also investigated.