3D Road Network Modeling and Road Structure Recognition in Internet of Vehicles

Internet of Vehicles (IoV) is a new system that enables individual vehicles to connect with nearby vehicles,people, transportation infrastructure, and networks, thereby realizing amore intelligent and efficient transportationsystem. The movement of vehicles and the three-dimensional (3D) nature of the road network cause the topologicalstructure of IoV to have the high space and time complexity.Network modeling and structure recognition for 3Droads can benefit the description of topological changes for IoV. This paper proposes a 3Dgeneral roadmodel basedon discrete points of roads obtained from GIS. First, the constraints imposed by 3D roads on moving vehicles areanalyzed. Then the effects of road curvature radius (Ra), longitudinal slope (Slo), and length (Len) on speed andacceleration are studied. Finally, a general 3D road network model based on road section features is established.This paper also presents intersection and road section recognition methods based on the structural features ofthe 3D road network model and the road features. Real GIS data from a specific region of Beijing is adopted tocreate the simulation scenario, and the simulation results validate the general 3D road network model and therecognitionmethod. Therefore, thiswork makes contributions to the field of intelligent transportation by providinga comprehensive approach tomodeling the 3Droad network and its topological changes in achieving efficient trafficflowand improved road safety.

Resilience assessment and optimization method of city road network in the post-earthquake emergency period

The post-earthquake emergency period,which is a sensitive time segment just after an event,mainly focuses on saving life and restoring social order.To improve the seismic resilience of city road networks,a resilience evaluation method used in the post-earthquake emergency period is proposed.The road seismic damage index of a city road network can consider the influence of roads,bridges and buildings along the roads,etc.on road capacity after an earthquake.A function index for a city road network is developed,which reflects the connectivity,redundancy,traffic demand and traffic function of the network.An optimization model for improving the road repair order in the post-earthquake emergency period is also developed according to the resilience evaluation,to enable decision support for city emergency management and achieve the best seismic resilience of the city road network.The optimization model is applied to a city road network and the results illustrate the feasibility of the resilience evaluation and optimization method for a city road network in the post-earthquake emergency period.

Autonomous Vehicle Platoons In Urban Road Networks:A Joint Distributed Reinforcement Learning and Model Predictive Control Approach

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.

Optimal path finding algorithms based on SLSD road network model

A solution to compute the optimal path based on a single-line-single-directional（SLSD）road network model is proposed.Unlike the traditional road network model,in the SLSD conceptual model,being single-directional and single-line style,a road is no longer a linkage of road nodes but abstracted as a network node.Similarly,a road node is abstracted as the linkage of two ordered single-directional roads.This model can describe turn restrictions,circular roads,and other real scenarios usually described using a super-graph.Then a computing framework for optimal path finding（OPF）is presented.It is proved that classical Dijkstra and A algorithms can be directly used for OPF computing of any real-world road networks by transferring a super-graph to an SLSD network.Finally,using Singapore road network data,the proposed conceptual model and its corresponding optimal path finding algorithms are validated using a two-step optimal path finding algorithm with a pre-computing strategy based on the SLSD road network.

Calculation connectivity reliability of road networks based on recursive decomposition arithmetic

In order to decrease the calculation complexity of connectivity reliability of road networks, an improved recursive decomposition arithmetic is proposed. First, the basic theory of recursive decomposition arithmetic is reviewed. Then the characteristics of road networks, which are different from general networks, are analyzed. Under this condition, an improved recursive decomposition arithmetic is put forward which fits road networks better. Furthermore, detailed calculation steps are presented which are convenient for the computer, and the advantage of the approximate arithmetic is analyzed based on this improved arithmetic. This improved recursive decomposition arithmetic directly produces disjoint minipaths and avoids the non-polynomial increasing problems. And because the characteristics of road networks are considered, this arithmetic is greatly simplified. Finally, an example is given to prove its validity.

Design of Aided Decision-Making Program for Prioritizing Construction Projects in Urban Road Network Planning

The importance and complexity of prioritizing construction projects (PCP) in urban road network planning lead to the necessity to develop an aided decision making program (ADMP). Cost benefit ratio model and stage rolled method are chosen as the theoretical foundations of the program, and then benefit model is improved to accord with the actuality of urban traffic in China. Consequently, program flows, module functions and data structures are designed, and particularly an original data structure of road ...

Lazy loading algorithm for traffic assignment of road networks under fixed charge condition

The measures of path charge are important considerations in traffic assignment of road networks. Factors, such as travel time, fixed charge and traffic congestion which affect road users＇ choices of trip paths, are analyzed. Travelers usually decide their trip paths based on their personal habits, preferences and the information at hand. By considering both deterministic and stochastic factors which affect the value of time （VOT） during the process of path choosing, a variational inequality model is proposed to describe the problem of traffic assignment. A lazy loading algorithm for traffic assignment is designed to solve the proposed model, and the calculation steps are given. Numerical experiment results show that compared with the all-or-nothing assignment, the proposed model and the algorithm can provide more optimal traffic assignments for road networks. The results of this study can be used to optimize traffic planning and management.

Spatiotemporal Patterns of Road Network and Road Development Pri-ority in Three Parallel Rivers Region in Yunnan,China:An Evaluation Based on Modified Kernel Distance Estimate

Road network is a critical component of public infrastructure,and the supporting system of social and economic development.Based on a modified kernel density estimate(KDE)algorithm,this study evaluated the road service capacity provided by a road network composed of multi-level roads(i.e.national,provincial,county and rural roads),by taking account of the differences of effect extent and intensity for roads of different levels.Summarized at town scale,the population burden and the annual rural economic income of unit road service capacity were used as the surrogates of social and economic demands for road service.This method was applied to the road network of the Three Parallel River Region,the northwestern Yunnan Province,China to evaluate the development of road network in this region.In results,the total road length of this region in 2005 was 3.70×104km,and the length ratio between national,provincial,county and rural roads was 1∶2∶8∶47.From 1989 to 2005,the regional road service capacity increased by 13.1%,of which the contributions from the national,provincial,county and rural roads were 11.1%,19.4%,22.6%,and 67.8%,respectively,revealing the effect of′All Village Accessible′policy of road development in the mountainous regions in the last decade.The spatial patterns of population burden and economic requirement of unit road service suggested that the areas farther away from the national and provincial roads have higher road development priority(RDP).Based on the modified KDE model and the framework of RDP evaluation,this study provided a useful approach for developing an optimal plan of road development at regional scale.

A Trajectory-Oriented Carriageway-Based Road Network Data Model, Part 1: Background

This is the first of a three-part series of pape rs which introduces a general background of building trajectory-oriented road net work data models, including motivation, related works, and basic concepts. The p urpose of the series is to develop a trajectory-oriented road network data mode l, namely carriageway-based road network data model (CRNM). Part 1 deals with t he modeling background. Part 2 proposes the principle and architecture of the CR NM. Part 3 investigates the implementation of the CRNM in a case study. In the p resent paper, the challenges of managing trajectory data are discussed. Then, de veloping trajectory-oriented road network data models is proposed as a solution and existing road network data models are reviewed. Basic representation approa ches of a road network are introduced as well as its constitution.

A Trajectory-Oriented, Carriageway-Based Road Network Data Model,Part 2:Methodology

This is the second of a three-part series of papers which presents the principle and architecture of the CRNM, a trajectory-oriented, carriageway-based road network data model. The first part of the series has introduced a general background of building trajectory-oriented road network data models, including motivation, related works, and basic concepts. Based on it, this paper describs the CRNM in detail. At first, the notion of basic roadway entity is proposed and discussed. Secondly, carriageway is selected as the basic roadway entity after compared with other kinds of roadway, and approaches to representing other roadways with carriageways are introduced. At last, an overall architecture of the CRNM is proposed.

A Trajectory-Oriented Carriageway-Based Road Network Data Model, Part 3: Implementation

This is the final of a three-part series of papers which mainly discusses the implementation issues of the CRNM. The first two papers in the series have introduced the modeling background and methodology, respectively. An overall architecture of the CRNM has been proposed in the last paper. On the basis of the above discusses, a linear reference method (LRM) for providing spatial references for location points of a trajectory is developed. A case study is introduced to illustrate the application of the CRNM for modeling a road network in the real world is given. A comprehensive conclusion is given for the series of papers.

Integrated reliability of travel time and capacity of urban road network under ice and snowfall conditions

In order to evaluate and integrate travel time reliability and capacity reliability of a road network subjected to ice and snowfall conditions,the conceptions of travel time reliability and capacity reliability were defined under special conditions.The link travel time model(ice and snowfall based-bureau public road,ISB-BPR) and the path choice decision model(elastic demand user equilibrium,EDUE) were proposed.The integrated reliability was defined and the model was set up.Monte Carlo simulation was used to calculate the model and a numerical example was provided to demonstrate the application of the model and efficiency of the solution algorithm.The results show that the intensity of ice and snowfall,the traffic demand and supply,and the requirements for level of service(LOS) have great influence on the reliability of a road network.For example,the reliability drops from 65% to 5% when the traffic demand increases by 30%.The comprehensive performance index may be used for network planning,design and maintenance.

Monitoring subsidence rates along road network by persistent scatterer SAR interferometry with high-resolution TerraSAR-X imagery

Ground subsidence is one of the key factors damaging transportation facilities, e.g., road networks consisting of highways and railways. In this paper, we propose to apply the persistent scatterer synthetic aperture radar interferometry （PS-InSAR） approach that uses high- resolution TerraSAR-X （TSX） imagery to extract the regional scale subsidence rates （i.e., average annual sub- sidence in mm/year） along road networks. The primary procedures involve interferometric pair selection, interfer- ogram generation, persistent scatterer （PS） detection, PS networking, phase parameterization, and subsidence rate estimation. The Xiqing District in southwest Tianjin （China） is selected as the study area. This district contains one railway line and several highway lines. A total of 15 TSX images covering this area between April 2009 and June 2010 are utilized to obtain the subsidence rates by using the PS-InSAR （PSI） approach. The subsidence rates derived from PSI range from -68.7 to -1.3 mm/year. These findings show a significantly uneven subsidence pattern along the road network. Comparison between the PSI-derived subsidence rates and the leveling data obtained along the highways shows that the mean and standard deviation （SD） of the discrepancies between the two types of subsidence rates are 0.1 and 4-3.2 mm/year, respectively. The results indicate that the high-resolution TSX PSI is capable of providing comprehensive and detailed subsidence information regarding road networks with millimeter-level accuracy. Further inspections under geo- logical conditions and land-use categories in the study area indicate that the observed subsidence is highly related to aquifer compression due to groundwater pumping. Therefore, measures should be taken to mitigate groundwater extraction for the study area.

Seismic damage to road networks subjected to earthquakes in Nepal,2015

The Gorkha earthquake in Nepal led to many landslides and severe damage to the transportation infrastructure. After careful comparison of the aerial photographs and satellite images before and after the earthquake, partially verified by a field study, more than 2,064 landslides and many road failures were observed. Many bridges, especially steel-truss and suspension bridges, suffered little damage from inertia loads during the earthquake, but were severely damaged due to rockfalls. Potential geological hazards hindered the delivery of supplies in mountainous areas, and road closures impeded the overall speed of rehabilitation.

Effects of aggregating forests, establishing forest road networks, and mechanization on operational efficiency and costs in a mountainous region in Japan

We investigated forest road networks and forestry operations before and after mechanization on aggregated forestry operation sites. We developed equations to estimate densities of road networks with average slope angles, operational efficiency of bunching operations with road network density, and average forwarding distances with operation site areas. Subsequently, we analyzed the effects of aggregating forests, establishing forest road networks, and mechanization on operational efficiency and costs. Six ha proved to be an appropriate operation site area with minimum operation expenses. The operation site areas of the forest owners＇ cooperative in this region aggregated approximately 6 ha and the cooperative conducted forestry operations on aggregated sites. Therefore, 6 ha would be an appropriate operation site area in this region. Regarding road network density, higher-density road networks increased operational expenses due to the higher direct operational expenses of strip road establishment. Therefore, road network density should be reduced to approximately 200 m.

Privacy Protection with Dynamic Pseudonym-Based Multiple Mix-Zones Over Road Networks

In this research we proposed a strategy for location privacy protection which addresses the issues related with existing location privacy protection techniques. Mix-Zones and pseudonyms are considered as the basic building blocks for location privacy; however, continuously changing pseudonyms process at multiple locations can enhance user privacy. It has been revealed that changing pseudonym at improper time and location may threat to user's privacy. Moreover, certain methods related to pseudonym change have been proposed to attain desirable location privacy and most of these solutions are based upon velocity, GPS position and direction of angle. We analyzed existing methods related to location privacy with mix zones, such as RPCLP, EPCS and MODP, where it has been observed that these methods are not adequate to attain desired level of location privacy and suffered from large number of pseudonym changes. By analyzing limitations of existing methods, we proposed Dynamic Pseudonym based multiple mix zone(DPMM) technique, which ensures highest level of accuracy and privacy. We simulate our data by using SUMO application and analysis results has revealed that DPMM outperformed existing pseudonym change techniques and achieved better results in terms of acquiring high privacy with small number of pseudonym change.

Scale-free Structure of Town Road Network in Southern Jiangsu Province of China

From the viewpoint of Graph Theory this paper builds a town road network graph of regional scale, and proposes numerical vertex degree （Di）, rank vertex degree （Dr） and population size vertex degree （Dp） on the base of vertex degree （D）. Then the indicators of Di, Dr, Op and mathematical statistics methods are applied to investigating scale-free structure of town road networks in the southern Jiangsu Province. The results show that the distribution of Oi does not exhibit scale-free properties, but Dr and Dp do. Additionally the correlation coefficient between Dp and Di is only 0.569, but the spatial correlation between Dp and Dr is very evident on the base of correlation analysis and spatial analysis of GIS. The mutual mechanism between Dp and Dr spatially represents a ＂Core-Belt＂ model of town development of regional scale. The town development model is open and clustered, and beneficial to both economic development and ecological protection. And then we suggest that Suzhou City, Wuxi City, Changzhou City and Wujin City control towns＇ high-density pattern by conducting centralization and consolidation policies, and properly controlling and planning higher rank roads; whereas Nanjing City, Zhenjiang City, Jintan City and Liyang City must strengthen the development of towns along higher rank roads.

Joint Optimization of Latency and Energy Consumption for Mobile Edge Computing Based Proximity Detection in Road Networks

In recent years, artificial intelligence and automotive industry have developed rapidly, and autonomous driving has gradually become the focus of the industry. In road networks, the problem of proximity detection refers to detecting whether two moving objects are close to each other or not in real time. However, the battery life and computing capability of mobile devices are limited in the actual scene,which results in high latency and energy consumption. Therefore, it is a tough problem to determine the proximity relationship between mobile users with low latency and energy consumption. In this article, we aim at finding a tradeoff between latency and energy consumption. We formalize the computation offloading problem base on mobile edge computing(MEC)into a constrained multiobjective optimization problem(CMOP) and utilize NSGA-II to solve it. The simulation results demonstrate that NSGA-II can find the Pareto set, which reduces the latency and energy consumption effectively. In addition, a large number of solutions provided by the Pareto set give us more choices of the offloading decision according to the actual situation.

A Spatio-temporal Data Model for Road Network in Data Center Based on Incremental Updating in Vehicle Navigation System

The technique of incremental updating,which can better guarantee the real-time situation of navigational map,is the developing orientation of navigational road network updating.The data center of vehicle navigation system is in charge of storing incremental data,and the spatio-temporal data model for storing incremental data does affect the efficiency of the response of the data center to the requirements of incremental data from the vehicle terminal.According to the analysis on the shortcomings of several typical spatio-temporal data models used in the data center and based on the base map with overlay model,the reverse map with overlay model (RMOM) was put forward for the data center to make rapid response to incremental data request.RMOM supports the data center to store not only the current complete road network data,but also the overlays of incremental data from the time when each road network changed to the current moment.Moreover,the storage mechanism and index structure of the incremental data were designed,and the implementation algorithm of RMOM was developed.Taking navigational road network in Guangzhou City as an example,the simulation test was conducted to validate the efficiency of RMOM.Results show that the navigation database in the data center can response to the requirements of incremental data by only one query with RMOM,and costs less time.Compared with the base map with overlay model,the data center does not need to temporarily overlay incremental data with RMOM,so time-consuming of response is significantly reduced.RMOM greatly improves the efficiency of response and provides strong support for the real-time situation of navigational road network.

Traffic Signals Control with Adaptive Fuzzy Controller in Urban Road Network

An adaptive fuzzy logic controller (AFC) is presented for the signal control of the urban traffic network. The AFC is composed of the signal control system-oriented control level and the signal controller-oriented fuzzy rules regulation level. The control level decides the signal timings in an intersection with a fuzzy logic controller. The regulation level optimizes the fuzzy rules by the Adaptive Rule Module in AFC according to both the system performance index in current control period and the traffic flows in the last one. Consequently the system performances are improved. A weight coefficient controller (WCC) is also developed to describe the interactions of traffic flow among the adjacent intersections. So the AFC combined with the WCC can be applied in a road network for signal timings. Simulations of the AFC on a real traffic scenario have been conducted. Simulation results indicate that the adaptive controller for traffic control shows better performance than the actuated one.