Mandatory lane-changing modelling based on a game theoretic approach in traditional and connected environments

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.

Mandatory lane-changing decision making and planning in emergency situations

By considering mandatory lane-changing as a collision avoidance measure,this paper presented the corresponding lane-change decision making and trajectory planning algorithm under an emergency scenario.Different from the traditional algorithm in which lane-change decision making and trajectory planning are separated,they are here coupled in a proposed algorithm and the related parameters are dynamically adjusted in the whole process.In addition to lane-change collision avoidance feasibility analysis,lanechange time instance and duration time are obtained by solving the constrained convex quadratic optimization programme.By taking lane-change time instance and duration time as inputs,the algorithm then proceeded to propose a kinematic model-based highorder polynomial lane change trajectory.By giving the simulation result compassion with the related algorithm,it is proved that the proposed algorithm has a good robustness and high efficiency.

Target Vehicle Selection Algorithm for Adaptive Cruise Control Based on Lane-changing Intention of Preceding Vehicle

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.

A new traffic model on compulsive lane-changing caused by off-ramp

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.

Modelling of vehicle interaction behavior during discretionary lane-changing preparation process on freeway

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.

A new traffic model with a lane-changing viscosity term

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.

Effects of Potential Lane-Changing Probability on Uniform Flow

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.

Impact of Mandatory Provisions on the Validity of Juristic Acts: A Path for Legal Policy Analysis

Contrary to the approach in judicial practice,Paragraph 1,Article 153,of the Civil Code of the People’s Republic of China,as a rule of invalidity for violating mandatory provisions,does not adopt a dichotomy towards mandatory provisions with effectiveness and administrative characteristics,yet it maintains the legislative philosophy of differentiation.It leaves unspecified whether mandatory provisions that do not explicitly render a juristic act invalid impact the act’s validity,entrusting this determination to the discretion of judges on a case-by-case basis.When judges,under the authority of Paragraph 1,Article 153 of the Civil Code,explore the normative intent of mandatory provisions to assess their effect on the validity of juristic acts,they should engage in legal policy analysis centered on consequence-based argumentation to overcome the limitations of norm typological analysis.This analysis employs a reasoning model predicated on the normative purpose,utilizing a consequencefocused interpretative approach for formulating and arguing propositions of rules applicable to pending cases,thereby arriving at case-specific conclusions.Since the invalidation of juristic acts serves as an auxiliary regulatory tool for the state economy and society,a consequence-oriented interpretation needs to be based on the idea of mutual instrumentalization of public and private laws.This entails predicting the outcomes of negating the validity of a juristic act in industrial regulatory scenarios and assessing these outcomes within the framework of public and private regulatory instruments.

Theory on Introducing a Mandatory Attorney System into Civil Litigation from the Perspective of the Protection of the Right of Action

As an important rectifying mechanism to the involved parties-oriented civil litigation model,the mandatory attorney system requires the involved parties of a lawsuit to appoint a lawyer to represent them in the litigation,otherwise they will be rejected because the litigation requirements aren’t met.This seems to restrict the litigants’right to initiate a lawsuit by themselves.Through the arrangement of the system for the participation of lawyers in some litigation procedures,stages,and cases,coupled with the legal principle of litigation costs,the litigation costs sharing mechanism,legal aid,and other related supporting systems,it is not only a substantive guarantee for the litigants’right of action,but also can even strengthen the protection of the litigants’right of action in civil litigation.Based on the need to effectively protect and strengthen the litigants’right of action,combined with its civil litigation system and judicial operation environment,China should adopt a phased and gradual strategy to introduce and implement the mandatory attorney system in civil litigation while constantly improving its lawyer system,litigation costs system,legal aid system,and other related supporting systems.

Ethics of mandatory COVID-19 vaccination:a scoping review

Vaccination against life-threatening infectious illnesses is an important medical contribution that saves millions of lives worldwide each year.However,vaccine development and its use often attracted significant ethical controversies.The ethical deliberations around vaccine research and use often utilize public health ethics principles where the benefit of the community at large or the common good is considered as the goal of ethical deliberations over benefits at the individual level.A scoping review of the literature regarding mandatory COVID-19 vaccination showed that many scholars recommended such a strategy based on the harm principle,and there is not much literature regarding other ethical principles that can be utilized to promote mandatory COVID-19 vaccination.

强制与自愿二元定位下《证券法》ESG信息披露制度的体系完善

如何提升ESG信息披露的数量与质量,是当下ESG信息披露制度完善的首要目标。现有研究主要基于ESG强制性信息披露可以弥补自愿性监管不足之逻辑,认为应加强ESG信息披露的强制性;却忽略了自愿性信息披露的价值,以及在为何加强、如加强强制性方面论证不足。首先,理论研究发现,自愿性信息披露具有强制性信息披露不可替代的优势,其灵活性更契合ESG信息披露的个性化特征,形成更有效的市场信息;另一方面,自愿性与强制性信息披露是不可割裂的,在制度功能、披露内容与制度构建上具有关联性、互补性。完善的ESG信息披露制度需要强制性与自愿性的二元结合。其次,ESG的功能定位直接影响监管模式的选择。监管部门如将ESG定位为促进公司长期价值的工具,即属于公司自治范畴,采用自愿立场;如将ESG定位为社会治理的手段,往往会提升ESG信息披露的强制性以达到社会治理的目标。据此,我国现阶段基于“双碳”治理的目标提升环境信息披露的强制性,保留其余信息披露的自愿性具有理论与实践正当性。再次,虽然二元监管模式定位合理,但是在具体制度建设中仍存在环境强制性信息披露监管不足、自愿性ESG信息披露激励不足的内生冲突。当前环境强制性信息披露仍然采用单一重要性原则,可能造成ESG信息披露供给不足以及难以应对“漂绿”现象;在法定环境信息披露事项上,也存在标准不一的问题。自愿性信息披露则存在激励不足的现象。上市公司可能因为ESG信息披露承担监管风险,但却无细则与免责事由指引如何避免。最后,在制度优化上,监管强化存在引进双重重要性原则以及增列强制性信息披露事由两条路径。但考虑到双重重要性原则所代表的社会公共利益与证券法投资者保护利益的根本性冲突,现阶段统一法定环境信息披露标准较为合适。另一方面,证券法可以增列与环境有关的公司治理结构披露事项,以与环境法信息公开相区别。激励强化存在引进预测性信息安全港以及细化指引两条路径。但考虑到国内并无预测性信息安全港的相关规则,立法成本过高,因此现阶段细化自愿性ESG信息披露较为适宜。

刑事案例指导制度统一法律适用的机制完善

案例指导制度的功能定位在于统一法律适用。法教义学的理论供给缺位、司法解释的抽象性、新兴的疑难案件和传统的边缘案件都可能给法律的统一适用造成阻碍,而案例指导制度对这些阻碍因素均有化解作用。指导性案例的生命力在于其所建议的处理方案的优越性,不应赋予其强制效力。为实现该制度的应然的功能定位,指导性案例必须具备翔实的说理。此外,还应当以“统一法律适用”为准绳,优化当前指导性案例的选编制度以及相关的配套机制。

困境与破解:强制报告制度的法社会学分析——以家庭暴力侵害未成年人案件为视角

法律与社会发展不可分离。未成年人保护不仅是一个法律问题,更是一个社会问题。法律虽为社会控制的高级手段,亦不可脱离社会独自发挥作用,需与道德规范、社会价值观、文化等其他社会控制手段互为表里。从法社会学的研究视角出发,家庭暴力侵害未成年人案件强制报告制度具有多种实践价值,但该制度在一定程度上冲击了部分报告义务主体和社会公众的固有思想观念,致使部分报告义务主体履行强制报告义务缺乏精神动力,阻碍了该制度在实践中的顺利运行。应从回应社会发展需求、关注特殊群体权益保障、加强社会控制、培育和塑造现代公民等方面,借助其他社会控制手段化解思想观念冲突,破解强制报告制度的适用困境,进一步提高强制报告制度在家庭暴力侵害未成年人案件中的适用实效。

中国汽车强标及配套推标体系研究与发展建议

汽车强制性国家标准在规范汽车市场、保障产品质量、促进技术进步方面发挥重要作用。为更好服务支撑政府产业管理,加快我国汽车标准国际化进程,着力营造稳定、开放、透明、可预期的汽车标准化发展环境,本文研究开展了面向2030年的强制性国家标准及配套推荐性国家标准的体系建设:一是系统分析了国际主流国家汽车法规体系现状及发展趋势,二是全面提出了面向2030年的汽车强制性国家标准体系发展建议,三是探索提出了配套管理措施与建议。研究成果可为产业管理部门、汽车企业机构等提供参考,支撑相关规划及政策制定,为企业中长期产品研发提供有效指导。

重整计划强制批准中担保权人保护规则的检视与完善

《企业破产法》关于重整计划强制批准的规定,为担保权人提供了适当程度的保护,但现有规则过于抽象,导致实践中存在争议。担保债权是否获得全额清偿的判断,以担保财产的评估价值为依据,担保财产的评估价值应由双方协商确定,协商不成时以重整计划草案提交批准时担保财产的“清算价值”为标准评估。公平补偿应以重整计划执行期间担保债权延期清偿的损失为限,补偿利率应以“贷款市场报价利率”为基准,综合考量延期清偿时间、债务人重新购置担保财产的成本等因素向上调整。担保权未受实质损害的识别,应主要考量重整计划草案是否明确对担保财产价值减损的补偿,以及其是否未经担保权人同意改变债权的清偿方式。

证券法信息披露规则的体系解释

证券法“一体两面”的信息披露规则体系,以重大信息披露规则为体,以虚假陈述和内幕信息为两个违法面相,三者的信息范围及重大性标准具有一致性。2020年新修订的《证券法》颁行,新增自愿信息披露规则,形成强制披露为主、自愿披露为辅的信披制度安排。与强制披露的信息重大性具有确定性不同的是,自愿披露的信息重大性具有不确定性、延伸性和附着性,该类信息未公开时不属于内幕信息,但一经公开,则应与强制披露遵从相同的行为规范。重大性标准是信息披露规则体系的基础,非重大信息不必披露,二元重大性标准具有内在一致性,比较而言,依法披露信息的立法应采用源于证券立法哲学的投资者决策标准,该标准适用过程中的主观性可通过列举价值判断型事项进行规则补强。

工程建设标准的法治化现状、成因及对策

本文梳理了全国31个省级绿色建筑地方标准和工程建设行业标准,结合标准化相关法律、法规,指出了工程建设标准存在的主要问题有:制定过程缺少标准化主管部门参与、编号不符合管理办法、未按要求备案、发布公告含有行政许可事项等。然后根据房地产行业现实特征,剖析了工程建设标准化现状的形成原因,最后从强化司法保障、部门联动清理、市场机制培养等角度,提出了推进工程建设标准规范化发展的建议。

论强制调解于“一带一路”投资争端解决的适用

“一带一路”倡议实施十年间,沿线国直接投资数额显著增加、投资结构持续多元化,但也有若干项目由于投资者和当地政府矛盾而被迫中断。“一带一路”是和平之路、合作共赢之路,可以效仿国内法中的强制调解制度,通过引入程序上的强制性来扩大调解在投资者-东道国投资争端解决中的适用,发挥其比投资仲裁更为经济、灵活、有助于合作关系修复的优势。强制调解制度并不会改变调解作为ADR自愿性的本质特征,和解协议的达成仍取决于双方同意。“一带一路”投资争端解决引入强制调解制度时,应该选择适当的路径,明确适用范围,综合考虑磋商、仲裁、东道国法院诉讼等其他争端解决方式的优劣,通过程序规则衔接,着眼于一整套高效、灵活争端解决机制的构建。

检验检测委托协议与检验检测报告声明分析

为避免检测过程的重大分歧,帮助客户正确认识和使用报告,有效控制风险,本文根据实验室认可和检验检测机构资质认定的相关要求,结合实践经验,提出了检验检测委托协议应约定的10个方面,分析了检验检测报告应声明的10余项内容,总结了应关注的重点事项,提供了行业可参照的通用性要求,对规范检验检测活动具有较大实践指导意义。

面向强制换道场景的智能网联汽车协同换道策略

智能网联汽车的协同换道技术已得到广泛研究,但现有协同换道策略难以解决强制换道场景下的车辆协同问题,或对上游交通造成的负面影响较大。本文旨在面向强制换道场景需求,提出一种考虑理论最小安全距离的两阶段协同换道策略。首先,提出了两车协同换道系统控制架构,并面向车辆强制换道场景制定了协同换道方案。随后,设计了间距调整、协同换道两阶段的滚动时域轨迹规划方法,并求解理论最小安全距离作为间距调整阶段末态约束,解决了现有研究间距策略保守的问题。最后,通过仿真与硬件在环试验验证了所提策略的有效性、优越性与计算实时性。结果表明,所提策略可有效提升换道成功率,在保障换道安全性的条件下降低了换道行为对交通的影响,且在实际边缘云平台的实时计算、通信环境下具备可用性。