Real-time lane departure warning system based on principal component analysis of grayscale distribution and risk evaluation model

A technology for unintended lane departure warning was proposed. As crucial information, lane boundaries were detected based on principal component analysis of grayscale distribution in search bars of given number and then each search bar was tracked using Kalman filter between frames. The lane detection performance was evaluated and demonstrated in ways of receiver operating characteristic, dice similarity coefficient and real-time performance. For lane departure detection, a lane departure risk evaluation model based on lasting time and frequency was effectively executed on the ARM-based platform. Experimental results indicate that the algorithm generates satisfactory lane detection results under different traffic and lighting conditions, and the proposed warning mechanism sends effective warning signals, avoiding most false warning.

CFD modelling of Iongwall goaf gas flow to improve gas capture and prevent goaf self-heating

CFD models have been developed to investigate the Iongwall goaf gas flow patternsunder different mining and geological control conditions.The Iongwall goaf wastreated as porous regions and gas flow was modelled as a momentum sink added to themomentum equation.Gas desorption from the caved goaf and destressed coal seamswithin the mining disturbed area was modelled as additional mass sources in the continuityequation.These CFD models were developed according to specific Iongwall layoutsand calibrated against field monitoring data.Two case studies were presented demonstratingthe application of CFD modelling of goaf gas flow characteristics for improved goafgas capture and the reduction of oxygen ingress into the goaf areas for self-heating prevention.Results from the case studies indicate that the optimum goaf drainage strategywould be a combination of shallow (near the face) and deep holes to improve the overalldrainage efficiency and gas purity.For gassy Iongwall faces retreating against the seam dip,it is recommended to conduct cross-measure roof hole drainage targeting the fracturedzones overlying the return corner,rather than high capacity surface goaf drainage deep inthe goaf.

Cellular Automaton Models of Highway Traffic Flow Considering Lane-Control and Speed-Control

As two kinds of management modes of highway traffic control,lane-control,and speed-control produce different effect under different conditions.In this paper,traffic flow cellular automaton models for four-lane highway system with two opposing directions under the above two modes are established considering car and truck mixed running. Through computer numerical simulating,the fundamental diagrams with different parameters are obtained,and after the analysis of density-flux diagrams,the variation discipline of flux with traffic density under different control models is gained.The results indicate that,compared with lane-control,utilization ratio of road can be further improved with speed-control when the truck number increases.The research result is of great significance for reasonable providing theoretical guidance for highway traffic control.

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.

Quantification of Ride Comfort Using Musculoskeletal Mathematical Model Considering Vehicle Behavior

This research aims to quantify driver ride comfort due to changes in damper characteristics between comfort mode and sport mode,considering the vehicle’s inertial behavior.The comfort of riding in an automobile has been evaluated in recent years on the basis of a subjective sensory evaluation given by the driver.However,reflecting driving sensations in design work to improve ride comfort is abstract in nature and difficult to express theoretically.Therefore,we evaluated the human body’s effects while driving scientifically by quantifying the driver’s behavior while operating the steering wheel and the behavior of the automobile while in motion using physical quantities.To this end,we collected driver and vehicle data using amotion capture system and vehicle CAN and IMU sensors.We also constructed a three-dimensional musculoskeletal mathematical model to simulate driver movements and calculate the power and amount of energy per unit of time used for driving the joints and muscles of the human body.Here,we used comfort mode and sport mode to compare damper characteristics in terms of hardness.In comfort mode,damper characteristics are soft and steering stability is mild,but vibration from the road is not easily transmitted to the driver making for a lighter load on the driver.In sport mode,on the other hand,damper characteristics are hard and steering stability is comparatively better.Still,vibration from the road is easily transmitted to the driver,whichmakes it easy for a load to be placed on the driver.As a result of this comparison,it was found that a load was most likely to be applied to the driver’s neck.This result in relation to the neck joint can therefore be treated as an objective measure for quantifying ride comfort.

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.

Microscopic simulation of multi-lane traffic under dynamic tolling and information feedback

To investigate drivers' lane-changing behavior under different information feedback strategies,a microscopic traffic simulation based on the cellular automaton model was made on the typical freeway with a regular lane and a high-occupancy one. A new dynamic tolling scheme in terms of the real-time traffic condition on the high-occupancy lane was further designed to enhance the whole freeway's flow throughput. The results show that the mean velocity feedback strategy is generally more efficient than the travel time feedback strategy in correctly guiding drivers' lane choice behavior. Specifically,the toll level,lane-changing rate and freeway's throughput and congestion coefficient induced by the travel time feedback strategy oscillate with larger amplitude and longer period. In addition,the dynamic tolling scheme can make the high-occupancy lane less congested and maximize the freeway's throughput when the regular-lane inflow rate is larger than 0.45.

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.

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.

Reference Modelof Desired Yaw Anglefor Automated Lane Changing Behavior of Vehicle

In this paper,it studies the problem of trajectory planning and tracking for lane changing behavior of vehicle in automatic highway systems. Based on the model of yaw angle acceleration with positive and negative trapezoid constraint,by analyzing the variation laws of yaw motion of vehicle during a lane changing maneuver,the reference model of desired yaw angle and yaw rate for lane changing is generated. According to the yaw angle model,the vertical and horizontal coordinates of trajectory for vehicle lane change are calculated. Assuming that the road curvature is a constant,the difference and associations between two scenarios are analyzed,the lane changing maneuvers occurred on curve road and straight road,respectively. On this basis,it deduces the calculation method of desired yaw angle for lane changing on circular road. Simulation result shows that,it is different from traditional lateral acceleration planning method with the trapezoid constraint,by applying the trapezoidal yaw acceleration reference model proposed in this paper, the resulting expected yaw angular acceleration is continuous,and the step tracking for steering angle is not needed to implement. Due to the desired yaw model is direct designed based on the variation laws of raw movement of vehicle during a lane changing maneuver, rather than indirectly calculated from the trajectory model for lane changing, the calculation steps are simplified.

An application of Bayesian multilevel model to evaluate variations in stochastic and dynamic transition of traffic conditions

This study seeks to investigate the variations associated with lane lateral locations and days of the week in the stochastic and dynamic transition of traffic regimes(DTTR).In the proposed analysis,hierarchical regression models fitted using Bayesian frameworks were used to calibrate the transition probabilities that describe the DTTR.Datasets of two sites on a freeway facility located in Jacksonville,Florida,were selected for the analysis.The traffic speed thresholds to define traffic regimes were estimated using the Gaussian mixture model(GMM).The GMM revealed that two and three regimes were adequate mixture components for estimating the traffic speed distributions for Site 1 and 2 datasets,respectively.The results of hierarchical regression models show that there is considerable evidence that there are heterogeneity characteristics in the DTTR associated with lateral lane locations.In particular,the hierarchical regressions reveal that the breakdown process is more affected by the variations compared to other evaluated transition processes with the estimated intra-class correlation(ICC)of about 73%.The transition from congestion on-set/dissolution(COD)to the congested regime is estimated with the highest ICC of 49.4%in the three-regime model,and the lowest ICC of 1%was observed on the transition from the congested to COD regime.On the other hand,different days of the week are not found to contribute to the variations(the highest ICC was 1.44%)on the DTTR.These findings can be used in developing effective congestion countermeasures,particularly in the application of intelligent transportation systems,such as dynamic lane-management strategies.

Research on the Construction Priority Model of Bus Lanes

Priority of public transport is one of the important means to enhance the attraction of ground public transportation, and also an important content in the construction of a public transport city. In recent years, Beijing has witnessed large-scale construction of Bus Lane. Based on the current situation that the construction of Bus Lane lacks scientific decision-making methods, this study establishes the time sequence evaluation indicator system for the construction of Bus Lane by analyzing the influencing factors, builds a ranking model of the importance degree of the construction of Bus Lane, and conducts case verification.

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.

Speed prediction models for car and sports utility vehicleat locations along four-lane median divided horizontal curves

Sites with varying geometric features were analyzed to develop the 85 th percentile speed prediction models for car and sports utility vehicle(SUV) at 50 m prior to the point of curvature(PC), PC, midpoint of a curve(MC), point of tangent(PT) and 50 m beyond PT on four-lane median divided rural highways. The car and SUV speed data were combined in the analysis as they were found to be normally distributed and not significantly different. Independent parameters representing geometric features and speed at the preceding section were logically selected in stepwise regression analyses to develop the models. Speeds at various locations were found to be dependent on some combinations of curve length, curvature and speed in the immediately preceding section of the highway. Curve length had a significant effect on the speed at locations 50 m prior to PC, PC and MC. The effect of curvature on speed was observed only at MC. The curve geometry did not have a significant effect on speed from PT onwards. The speed at 50 m prior to PC and curvature is the most significant parameter that affects the speed at PC and MC, respectively. Before entering a horizontal curve, drivers possibly perceive the curve based on its length. Longer curve encourages drivers to maintain higher speed in the preceding tangent section. Further, drivers start experiencing the effect of curvature only after entering the curve and adjust speed accordingly. Practitioners can use these findings in designing consistent horizontal curve for vehicle speed harmony.

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.

Ultimately exposed roof area prediction of bauxite deposit goaf based on macro joint damage

The ultimately exposed roof area(UERA)of goaf is crucial to the safety and economics of underground mining.The prediction models do not consider the mechanical weakness of rock mass and ignore the influence of the joint damage factor,causing a large predicted exposure area with a high roof falling risk.This work adopted joint damage factor to derive a new UERA prediction model.The relationships between the UERA(S)and the span ratio(m),the density(k)and the diameter of fracture(d)were analysed by the new prediction model.The results showed that the exposed area S and the span ratio m have a U-shaped curve relationship.The S decreases with the increase of m and then increases when m is beyond 2.The exposed roof area S is in an inversely proportional power-law relationship with the fracture surface density k,and the curvature of the S-k relationship curve decreases when d=0.5 and k>7,and S is close to 0.There is a negative correlation between S and the fracture surface diameter d,the curvature of the S-d curve decreases with the increase of d and k,and the variation rate increases first and then decreases with the increase of d;when k=0.5 and d>9,S is close to 0.The predicted values of the UERA prediction model are 119.3,112.8,and 114.6 m2 with different joint damage parameters,which are slightly smaller than the actual critical exposure area of a roof(S=120 m2).The case study shows that the alternative prediction model is reasonable and acceptable and provides new theoretical support for the underground mining safety of sedimentary bauxite ore.

Influence of lane change on stability analysis for two-lane traffic flow

This paper deals mainly with the influence of lane changing behaviours on the stability of two-lane traffic flow under a periodic boundary condition. Following the description of an optimal velocity model for two vehicle groups and the derivation of their stability conditions, the feedback signals, which involve information about vehicles from both lanes acting on the two-lane traffic system, are introduced into the optimal velocity model. The control signals play a role in alleviating the traffic jam only if the traffic state is in congestion, and their role will vanish if the traffic state is in the steady state. The numerical simulations show that lane changing behaviours can break the steady state of two-lane traffic flow and aggravate the traffic disturbance, but the control method would successfully suppress the traffic jam eventually, which implies that the conclusions obtained here have certain theoretical and practical significance.

Numerical assessment of the influence of former mining activities and plasticity of rock mass on deformations of terrain surface

This paper presents the results of numerical simulations carried out to confirm the influence of former mining activities on deformation of the mining terrain.The assessment of deformation changes was carried out with the use of FLAC3 D program based on the finite difference method.Numerical calculations were carried out for the example of actual mining operations in seams 703/1-2 and 707/2 of‘‘Marcel"Coal Mine.Taking into account the influence of the model’s plastic features and the so-called activation of a higher occurring seam in conducted simulations enabled obtaining a very good description of the measured subsidence.Based on the results one may state that numerical model can be used to assess the influence of former mining activities and the direction of conducted exploitation on deformations of the mining terrain.These factors are not recognized by geometric-integral theories commonly used for predicting the influence of mining operations on the surface.The results presented in this paper confirm that the applied method of simulating the phenomenon of reactivation of post-mining goafs is correct.