Traffic flow of a roundabout crossing with an open boundary condition

This paper presents a cellular automaton traffic flow model with an open boundary condition to describe the traffic flow at a roundabout crossing with an inner roundabout lane and an outer roundabout lane. The simulation results show that the boundary condition, bottlenecks and the self-organization affect the traffic flow at the roundabout crossing. Because of the effect of bottlenecks, jams easily appear on the inner roundabout lane. To improve the capacity of the roundabout system, proper values of the enter probability α and the out probability βcan be chosen.

Development of a tracking-based system for automated traffic data collection for roundabouts

Traffic data collection is essential for performance assessment, safety improvement and road planning. While automated traffic data collection for highways is relatively mature, that for roundabouts is more challenging due to more complex traffic scenes, data specifications and vehicle behavior. In this paper, the authors propose an automated traffic data collection system dedicated to roundabout scenes. The proposed system has mainly four steps of processing. First, camera calibration is performed for roundabout traffic scenes with a novel circle-based calibration algorithm. Second, the system uses enhanced Mixture of Gaussian algorithm with shaking removal for video segmentation, which can tolerate repeated camera displacements and background movements. Then, Kalman filtering, Kemel-based tracking and overlap-based opti- mization are employed to track vehicles while they are occluded and to derive the complete vehicle trajectories. The resulting vehicle trajectory of each individual vehicle gives the position, size, shape and speed of the vehicle at each time moment. Finally, a data mining algorithm is used to automatically extract the interested traffic data from the vehicle trajectories. The overall traffic data collection system has been implemented in software and runs on regular PC. The total processing time for a 3-hour video is currently 6 h. The automated traffic data collection system can significantly reduce cost and improve efficiency compared to manual data collection. The extracted traffic data have been compared to accurate manual measurements for 29 videos recorded on 29 different days, and an accuracy of more than 90% has been achieved.

Calibrating HCM model for roundabout entry capacity under heterogeneous traffic

Roundabout is a channelized intersection where traffic moves around a central island,clockwise for leftside driving and anti-clockwise for right-side driving.Efficiently designed roundabouts can handle traffic very smoothly without causing any delay.The capacity of roundabouts used to be calculated by the weaving theory in India.However,calculation of the entry capacity in the recent literature is based on critical gaps and follow-up times,and the Highway Capacity Manual of US(HCM2010)provides an equation to estimate the entry capacity of a roundabout by using the flow in passenger car unit per hour(PCU/h),critical gaps and follow-up times at the entry section.In order to examine whether the HCM equation applies to Indian traffic condition or not,we collected data from five roundabouts in India in this study.Relevant data were extracted/estimated to calibrate parameters of the HCM equation.The PCU for a vehicle was estimated on the basis of lagging headway and width of the vehicle,and the critical gap value for a vehicle was estimated by minimizing the sum of absolute difference in a gap with respect to the highest rejected and accepted gaps.Results show that the critical gap values obtained under heterogeneous traffic conditions are much lower than those given in the literature for homogeneous traffic conditions.In addition,the modified HCM equation based on the critical gap values was verified using the field data taken during the formation of a continuous and stable queue at the entry of a roundabout.It was found that a multiplicative adjustment factor needs to be calculated for different sizes of roundabouts to ensure the adjusted HCM equation represents well the traffic condition prevailing in developing countries like India.A test conducted at another roundabout validated that the entry capacity estimated from the calibrated and adjusted HCM model was consistent with the field entry capacity,and the calibrated and adjusted HCM model could predict the entry capacity of an approach to a roundabout quite accurately.

道路环形交叉口机动车冲突风险区识别模型研究

为定量识别城市非信控环形交叉口区域内的机动车冲突风险易发生点,降低环形交叉口的事故发生率,本文构建针对非信控环形交叉口机动车冲突风险识别模型。首先,利用无人机采集高精度、连续的多车辆轨迹视频,结合Kinovea视频运动分析软件实现运行车辆状态识别与跟踪,并记录车辆每一帧的运动数据;其次,基于交通冲突识别指标TTC(Time to Collision),提出适应环形交叉口道路线形特征的车辆TTC计算方法,并使用累计频率法确定严重、一般和轻微冲突的阈值分别为1.2,2.8,4.4 s;最后,通过绘制高峰和平峰交通冲突空间异步图,并结合交通冲突数和严重冲突率,对环形交叉口的36个子区段进行交通冲突风险等级评定。研究结果显示:在高峰时段,某一子区段的平均交通冲突发生次数约为15次,严重冲突率为17.45%;在平峰时段,某一子区段的平均交通冲突发生次数约为8次,严重冲突率为8.28%。重度风险区域在高峰时段占比达到50%,而在平峰时段为8.33%,这些重度风险区域主要集中在交织区段。因此,环形交叉口在高峰时段且位于交织区段的情况更易发生交通事故。本文研究成果有助于交通管理部门了解环形交叉口在不同时段和区段上的交通冲突情况和特征,以便采取相应的预警和管理措施。

Perception Enhanced Deep Deterministic Policy Gradient for Autonomous Driving in Complex Scenarios

Autonomous driving has witnessed rapid advancement;however,ensuring safe and efficient driving in intricate scenarios remains a critical challenge.In particular,traffic roundabouts bring a set of challenges to autonomous driving due to the unpredictable entry and exit of vehicles,susceptibility to traffic flow bottlenecks,and imperfect data in perceiving environmental information,rendering them a vital issue in the practical application of autonomous driving.To address the traffic challenges,this work focused on complex roundabouts with multi-lane and proposed a Perception EnhancedDeepDeterministic Policy Gradient(PE-DDPG)for AutonomousDriving in the Roundabouts.Specifically,themodel incorporates an enhanced variational autoencoder featuring an integrated spatial attention mechanism alongside the Deep Deterministic Policy Gradient framework,enhancing the vehicle’s capability to comprehend complex roundabout environments and make decisions.Furthermore,the PE-DDPG model combines a dynamic path optimization strategy for roundabout scenarios,effectively mitigating traffic bottlenecks and augmenting throughput efficiency.Extensive experiments were conducted with the collaborative simulation platform of CARLA and SUMO,and the experimental results show that the proposed PE-DDPG outperforms the baseline methods in terms of the convergence capacity of the training process,the smoothness of driving and the traffic efficiency with diverse traffic flow patterns and penetration rates of autonomous vehicles(AVs).Generally,the proposed PE-DDPGmodel could be employed for autonomous driving in complex scenarios with imperfect data.

基于间隙接受理论的环形交叉口机非冲突判别

为了对环形交叉口出口道的机非冲突进行准确判定,利用视频轨迹追踪软件Tracker,提取出口道机动车与过街电动自行车的冲突交通流轨迹数据,选取减速度判别法作为交通冲突发生的判定标准,利用间隙接受理论中的Raff法确定减速度的临界值,并对南京市鼓楼广场环形交叉口的冲突进行机非冲突判别,得到判别结果。

湛江市五路交叉环岛改造案例分析及改造探索

对现状城市多路交叉道路改造问题进行研究分析,以广东省湛江市某多路交叉环岛路口为例,对该路口的交通问题进行剖析,在对其车流流向进行规范的基础上,分析改造的可行性。

Roundabout’s Impact on Nearby Businesses

The objective of this study is to determine if installation of roundabouts in a business area or on business corridors can be good for the businesses as well as improve the traffic flow in that area. This objective is achieved by emphasizing on roundabouts located in Kansas cities, particularly Topeka, Kansas. The study concentrates on conducting survey of businesses around the roundabout corridors in different places in the US including Topeka (Kansas), Junction City (Kansas), Newton (Kansas), and Carmel (Indiana). The survey results indicated a positive impact of roundabouts on businesses and traffic movement. Further, as there is no before and after corridor data available for making definite conclusions, a business corridor in Topeka, Kansas is simulated using both SIDRA and VISSIM software to evaluate the impacts of converting several traditional intersections in the corridor to roundabouts. The results from the simulation tasks have showed substantial reductions in vehicle delay and queuing for most of the traffic movements. Therefore, it was concluded that roundabouts on businesses corridor have a positive impact on traffic flows and business.

Evaluation and Improvement of Roundabouts in Changchun

In Changchun, China, roundabouts are fairly common. They are often designed to connect the main roads because of their ability to reduce conflict points, making them safer than other intersections. They can also beautify the city when the central islands are landscaped. However, with increasing traffic, they may not function well and may even paralyze the road network. This means that it is important to evaluate the performance of roundabouts promptly, and to make necessary improvements if required. Using several roundabouts in Changchun as case studies, this article uses V/C ratio and delay to evaluate roundabout performance. Based on the result of evaluation, the micro-simulation model of the poorly-performing roundabout is built and enhancement is proposed.

基于交通参与者延误分析的环形交叉口行人过街信号设置条件

为提升环形交叉口运行效率和安全水平,提出兼顾环岛行人和机动车需求的行人过街信号设置条件。首先,在交叉口饱和度等约束条件下,引入机动车让行率,运用交通流理论建立环岛机动车乘客及过街行人延误模型,以交通参与者总延误为指标提出行人过街信号设置条件;然后,基于视频调查数据使用回归分析方法预测人车交互次数,标定模型各项参数,并通过数值仿真分析不同机动车和行人流量对交通参与者总延误增量的影响;最后,选取哈尔滨市迎宾路-腾达大街环形交叉口作为案例进行模型验证与仿真比较。结果表明:行人流量不变时,机动车流量越大,设置行人过街信号后总延误增量越小;在机动车让行率较高的环岛,行人过街信号的设置对机动车和行人流量的要求较低;与实测数据相比,在符合条件的环岛设置行人过街信号后行人和机动车通过量增加,并且交通参与者总延误降低了23.3%。

大型多环道涡轮环交车道级信号控制方法

针对大型多环道环形交叉口车辆频繁换道和进出口处不同流向交通流冲突的问题,本文结合涡轮式环形交叉口在控制车辆换道方面的独特优势,提出车道级左转两步信号控制方法。首先,通过对第1和第2停车线的车辆到达-驶离曲线分析,建立以车辆平均延误最小为目标,信号周期、饱和度及绿灯时长等为约束的信号配时模型。其次,通过建模分析不同控制方法、不同车道数和中心岛半径对车辆平均延误的影响。结果表明:车道级左转两步信号控制方法相较于传统左转两步信号控制方法,延误水平更低,平均可降低6.13 s;随着车道数和交通量的增加,本文提出方法的车辆平均延误增长幅度和速度均较低;中心岛半径越大,车辆平均延误越大,但增加幅度较小。最后,以镇江市梦溪广场无控制大型多环道环形交叉口为例,VISSIM仿真表明:本文所提出的信号控制方法相较于传统左转两步信号控制方法,车辆平均延误降低8.91%,停车率降低6.85%。该信号控制方法结合涡轮式环形交叉口可有效改善大型多环道环形交叉口交通安全及通行效率。

基于用户画像与Stackelberg博弈的交通环岛通行策略

现有的交通环岛通行优化研究多以无损通信为背景,结合车辆速度等基础数据设计协同策略,忽略了影响交通策略的外界环境等数据,无法满足实际应用的需要。为解决实际通信受限问题,根据智能网联汽车的车-路-环境协同特点,提出一种结合用户画像,基于车辆状态预测的环岛车辆协同换道策略。设计基于时空特征的车辆预测方法AP-LSTM,捕捉车辆关键时空特征以实现小样本轨迹预测,有效提高小样本车辆轨迹预测的准确性和实时性。同时,设计基于预测机制的车辆协同算法PMC,弥补车辆协同决策在实时通信受限的条件下所缺失的车辆状态信息,通过历史数据对车辆未来状态进行预测,在此基础上,结合Stackelberg博弈对交通环岛路口处的车辆进行协同控制。在SUMO平台上的实验结果表明,相比长短时记忆算法,所提AP-LSTM预测方法的均方根误差较低,相比SUMO算法,所提PMC协同算法的加速度标准差降低51.7%,且平均速度提高3.0%,有效提高交通环岛的通行效率和驾驶平稳性。

无信号环形交叉口机非冲突机器学习预测方法

为高效精确地预测无信号环形交叉口机动车与非机动车的交通冲突,提出了基于遗传算法优化的BP神经网络(genetic algorithm and back propagation,GA-BP)和支持向量回归(support vector regression,SVR)的组合预测模型(SVR-GA-BP)。通过无人机采集混合交通流高清视频,利用视频识别软件Tracker提取机非交通冲突轨迹数据,以距离碰撞时间(time to collision,TTC)为判别指标,确定机非冲突严重程度。基于偏相关性分析确定交通量、平均速度、大车比例等为机非交通冲突的显著影响因素,选取均方根误差(root mean squared error,RMSE)、平均绝对误差(mean absolute error,MAE)等五种评价指标对SVR模型、BP神经网络、SVR-GA-BP模型的预测值进行精度分析。结果表明,组合模型在一般冲突预测中精度为97.1%,相比SVR和BP神经网络分别提高6.9%和2.5%,在严重冲突预测中精度为96.1%,相比SVR和BP神经网络分别提高7.3%和5.1%。可见SVR-GA-BP组合模型能够有效预测无信号环形交叉口的机非冲突且精度最高,可为同类型交叉口的安全评价提供借鉴。

基于VISSIM的城市环岛导识研究——以大连市学苑广场为例

环岛具有交通连续、无信号灯干扰,以及塑造良好城市景观等优点。但随着城市交通量越来越大,传统环岛的交通组织已经难以满足交通需求。环岛疏散能力受出入口段及交织流区的影响,通过增设信号灯、交通渠化等方法无法干涉机动车进入环岛后的驾驶行为。岛内交织流区混乱严重,影响环岛疏散能力。大连是典型的广场城市,环形交通密集,经调研学苑广场高峰时期拥堵严重,为了缓解这一问题并提高交通通行效率,提出增加地面导识引导的优化方法。分别对学苑广场环岛地面引导与无引导状态进行VISSIM仿真评价,以车均运行延误时间、车均停车延误时间、车均停车次数,以及排队长度为评价指标,分析对比有无地面引导在早高峰时期的通行状况差异。评价结果显示,通过地面导识能有效减少冲突点,使环岛车流更加有序,提高车辆运行效率。

基于Wardrop交织理论模型的环形交叉口拥堵治理方案研究

结合武汉光谷广场环形交叉口早、晚高峰期交通流量大、交通承载趋于饱和的现状,考虑现状下沉庭院行人及非机动车坡道对电动车通行存在较大困难,造成环岛内机非混行严重。文中提出从源头控制驶入环岛的车流量,降低环岛交织段的交通负荷度,进而提升环岛通行效率的交通拥堵改善方案。基于Wardrop交织理论模型,对光谷环岛各交织段的通行能力进行计算,并利用Vissim微观交通仿真软件,模拟光谷广场环形交叉口运行状况,交织段负荷度、行程时间、延误、排队长度等方面的仿真结果均显示本方案对提升环岛通行效率的效果较为显著。

环形交叉口交织区车流运行特性的研究

由于环形交叉口入口车辆直行和左转的绕行而避免了流线冲突,交织区存在着大量的分流、合流行为,车流运行特性复杂.通过对环形交叉口交织区的摄像调查,测算并分析在该区域的合流与分流运行行为的速度分布、换道位置分布,合流车与环道上前后车的车头时距分布,以及可插间隙的利用等规律,研究发现环形交叉口交织区运行行为具有以下特性:外环道车速比内环道的车速大,合流车的车速最低;分流行为发生于合流行为之后;当可插间隙增大时,合流车速有增大的趋势;对于较小的可插间隙,通常后车时距大于前车时距;多车道环形交叉口的当量车流的临界间隙小于单车道环形交叉口临界间隙.

环形交叉口通行能力研究综述及展望

通行能力是环形交叉口运行效率的重要组成部分,是分析延误、排队长度及系统服务水平的基础.首先对现有的环形交叉口通行能力模型进行分析总结,如经验回归模型、间隙接受模型,以及基于仿真的通行能力模型等;从研究方法和研究思路两个层面对问题现状进行探讨,并对关键技术方法进行分析.结合研究中易忽略的问题,提出了环形交叉口通行能力模型构建的一般思路:明晰各股车流相互作用机理,考虑出口车辆及大车等影响因素,从整体上构建通行能力模型.最后结合环形交叉口的控制目标,对环形交叉口通行能力的研究进行了展望.

基于元胞自动机的双车道环岛交通流特性研究

针对以元胞自动机模型模拟单车道环岛交通行为推断多车道环岛交通流特性的局限性,通过分析双车道环岛上车辆在自由流下的期望行驶路线、在非自由流下的期望换道临界位置和极限位置,描述双车道环岛上车辆的换道决策,建立双车道环岛的元胞自动机模型。数值模拟分析结果表明:环岛总延误时间与环岛限速、车辆驾驶员熟练程度以及车辆左转概率有关,同时也受环岛周长的影响;在其他因素不变的情况下,若环岛周长越小、车辆限速越大、车辆左转概率越小以及驾驶员熟练程度越高,则环岛总延误时间越小。

单进口轮流放行方式的四路环形交叉口交通信号控制

面向四路环形交叉口,以安全、高效地实施单进口轮流放行方式的交通信号控制为基本目的,采用非优化建模的思想,建立了具有4个进口道机动车相位、4个环道机动车相位和4个行人相位的相位结构设计方法,提取了4项通行权供给的时间特性,建立了有条件地满足所有道路使用者的通行时间资源需求的信号配时设计方法。仿真实验结果表明,本文方法能够在机动车交通高峰时段有效遏制环形交叉口整体性能的显著恶化,分时段实施让行规则控制和交通信号控制是十分必要的。

基于数理统计方法的城市道路环形交叉口通行能力研究

分析了吉林市江城广场环形交叉口交通特性,根据实际观测的数据,利用数理统计方法建立了复杂环形交叉口的通行能力模型,为复杂环形交叉口通行能力的研究提供了理论方法.