scholarly journals The Concept of Fairness in Relation to Women Transport Users

2021 ◽  
Vol 13 (5) ◽  
pp. 2919
Author(s):  
Yvonne Hail ◽  
Ronald McQuaid
Keyword(s):  
Low Income ◽  
Public Transport ◽  
Autonomous Vehicles ◽  
Autonomous Vehicle ◽  
Transport Policy ◽  
Mobility Patterns ◽  
Policy And Practice ◽  
Characteristics Analysis ◽  
Fairness Principles ◽  
Disadvantaged People

This paper discusses the concept of ‘fairness’ in transport, specifically regarding women using public transport, future autonomous vehicle taxis or bicycle sharing. Women generally have varying and complex mobility patterns compared to men and suffer disproportionate fairness issues when using transport. Different concepts of fairness are explored, including: equality of opportunity, equity and justice (including procedural, social and distributional justice). While each of these concepts has different implications for women using transport, it is also recognized that fairness principles should apply to all people (regardless of sex, gender or other characteristics). Analysis of the different forms of mobility, as represented by public transport, autonomous vehicles and bicycle sharing, illustrate a variety of specific fairness issues. Factors such as safety and security, cost, physical design of infrastructure and vehicles, and characteristics such as low-income or childcare responsibilities arise in each case. The three cases also indicate a range of both horizonal fairness factors (similar people being treated similarly) and vertical fairness factors (such as more disadvantaged people receiving greater support). Further research is required into setting frameworks for a more comprehensive inclusion of, and balance between, different concepts of fairness and their interactions in both transport policy and practice.

Vision-Based Navigation of Autonomous Vehicles in Roadway Environments with Unexpected Hazards

2019 ◽  
Vol 2673 (12) ◽  
pp. 494-507 ◽  
Author(s):  
Mhafuzul Islam ◽  
Mashrur Chowdhury ◽  
Hongda Li ◽  
Hongxin Hu
Keyword(s):  
Object Detection ◽  
Autonomous Vehicles ◽  
Autonomous Vehicle ◽  
Semantic Segmentation ◽  
Steering Wheel ◽  
Potential Hazard ◽  
Driving System ◽  
Hazardous Object ◽  
Vision Based Navigation ◽  
Navigational System

Vision-based navigation of autonomous vehicles primarily depends on the deep neural network (DNN) based systems in which the controller obtains input from sensors/detectors, such as cameras, and produces a vehicle control output, such as a steering wheel angle to navigate the vehicle safely in a roadway traffic environment. Typically, these DNN-based systems in the autonomous vehicle are trained through supervised learning; however, recent studies show that a trained DNN-based system can be compromised by perturbation or adverse inputs. Similarly, this perturbation can be introduced into the DNN-based systems of autonomous vehicles by unexpected roadway hazards, such as debris or roadblocks. In this study, we first introduce a hazardous roadway environment that can compromise the DNN-based navigational system of an autonomous vehicle, and produce an incorrect steering wheel angle, which could cause crashes resulting in fatality or injury. Then, we develop a DNN-based autonomous vehicle driving system using object detection and semantic segmentation to mitigate the adverse effect of this type of hazard, which helps the autonomous vehicle to navigate safely around such hazards. We find that our developed DNN-based autonomous vehicle driving system, including hazardous object detection and semantic segmentation, improves the navigational ability of an autonomous vehicle to avoid a potential hazard by 21% compared with the traditional DNN-based autonomous vehicle driving system.

scholarly journals Public Transport GPS Probe and Rail Gate Data for Assessing the Pattern of Human Mobility in the Bangkok Metropolitan Region, Thailand

2021 ◽  
Vol 13 (4) ◽  
pp. 2178
Author(s):  
Songkorn Siangsuebchart ◽  
Sarawut Ninsawat ◽  
Apichon Witayangkurn ◽  
Surachet Pravinvongvuth
Keyword(s):  
Performance Assessment ◽  
Public Transport ◽  
Human Mobility ◽  
Open Data ◽  
Capital City ◽  
Metropolitan Region ◽  
Traffic Information ◽  
Mobility Patterns ◽  
Transport Planning ◽  
Java Program

Bangkok, the capital city of Thailand, is one of the most developed and expansive cities. Due to the ongoing development and expansion of Bangkok, urbanization has continued to expand into adjacent provinces, creating the Bangkok Metropolitan Region (BMR). Continuous monitoring of human mobility in BMR aids in public transport planning and design, and efficient performance assessment. The purpose of this study is to design and develop a process to derive human mobility patterns from the real movement of people who use both fixed-route and non-fixed-route public transport modes, including taxis, vans, and electric rail. Taxi GPS open data were collected by the Intelligent Traffic Information Center Foundation (iTIC) from all GPS-equipped taxis of one operator in BMR. GPS probe data of all operating GPS-equipped vans were collected by the Ministry of Transport’s Department of Land Transport for daily speed and driving behavior monitoring. Finally, the ridership data of all electric rail lines were collected from smartcards by the Automated Fare Collection (AFC). None of the previous works on human mobility extraction from multi-sourced big data have used van data; therefore, it is a challenge to use this data with other sources in the study of human mobility. Each public transport mode has traveling characteristics unique to its passengers and, therefore, specific analytical tools. Firstly, the taxi trip extraction process was developed using Hadoop Hive to process a large quantity of data spanning a one-month period to derive the origin and destination (OD) of each trip. Secondly, for van data, a Java program was used to construct the ODs of van trips. Thirdly, another Java program was used to create the ODs of the electric rail lines. All OD locations of these three modes were aggregated into transportation analysis zones (TAZ). The major taxi trip destinations were found to be international airports and provincial bus terminals. The significant trip destinations of vans were provincial bus terminals in Bangkok, electric rail stations, and the industrial estates in other provinces of BMR. In contrast, electric rail destinations were electric rail line interchange stations, the central business district (CBD), and commercial office areas. Therefore, these significant destinations of taxis and vans should be considered in electric rail planning to reduce the air pollution from gasoline vehicles (taxis and vans). Using the designed procedures, the up-to-date dataset of public transport can be processed to derive a time series of human mobility as an input into continuous and sustainable public transport planning and performance assessment. Based on the results of the study, the procedures can benefit other cities in Thailand and other countries.

The human-like trajectory planning for autonomous vehicles based on optimal control in a test track environment

2021 ◽  
pp. 095440702110090
Author(s):  
Xing Xu ◽  
Minglei Li ◽  
Feng Wang ◽  
Ju Xie ◽  
Xiaohan Wu ◽  
...  
Keyword(s):  
Optimal Control ◽  
Autonomous Vehicles ◽  
Optimal Trajectory ◽  
Control Method ◽  
Autonomous Vehicle ◽  
Trajectory Data ◽  
Test Track ◽  
Optimal Control Method ◽  
The Future ◽  
On The Road

A human-like trajectory could give a safe and comfortable feeling for the occupants in an autonomous vehicle especially in corners. The research of this paper focuses on planning a human-like trajectory along a section road on a test track using optimal control method that could reflect natural driving behaviour considering the sense of natural and comfortable for the passengers, which could improve the acceptability of driverless vehicles in the future. A mass point vehicle dynamic model is modelled in the curvilinear coordinate system, then an optimal trajectory is generated by using an optimal control method. The optimal control problem is formulated and then solved by using the Matlab tool GPOPS-II. Trials are carried out on a test track, and the tested data are collected and processed, then the trajectory data in different corners are obtained. Different TLCs calculations are derived and applied to different track sections. After that, the human driver’s trajectories and the optimal line are compared to see the correlation using TLC methods. The results show that the optimal trajectory shows a similar trend with human’s trajectories to some extent when driving through a corner although it is not so perfectly aligned with the tested trajectories, which could conform with people’s driving intuition and improve the occupants’ comfort when driving in a corner. This could improve the acceptability of AVs in the automotive market in the future. The driver tends to move to the outside of the lane gradually after passing the apex when driving in corners on the road with hard-lines on both sides.

scholarly journals Development of an Improved Rapidly Exploring Random Trees Algorithm for Static Obstacle Avoidance in Autonomous Vehicles

Sensors ◽  
2021 ◽  
Vol 21 (6) ◽  
pp. 2244
Author(s):  
S. M. Yang ◽  
Y. A. Lin
Keyword(s):  
Path Planning ◽  
Obstacle Avoidance ◽  
Autonomous Vehicles ◽  
Autonomous Vehicle ◽  
Optimal Path ◽  
Random Trees ◽  
Average Deviation ◽  
Lane Changes ◽  
Path Smoothing ◽  
Rapidly Exploring Random Trees

Safe path planning for obstacle avoidance in autonomous vehicles has been developed. Based on the Rapidly Exploring Random Trees (RRT) algorithm, an improved algorithm integrating path pruning, smoothing, and optimization with geometric collision detection is shown to improve planning efficiency. Path pruning, a prerequisite to path smoothing, is performed to remove the redundant points generated by the random trees for a new path, without colliding with the obstacles. Path smoothing is performed to modify the path so that it becomes continuously differentiable with curvature implementable by the vehicle. Optimization is performed to select a “near”-optimal path of the shortest distance among the feasible paths for motion efficiency. In the experimental verification, both a pure pursuit steering controller and a proportional–integral speed controller are applied to keep an autonomous vehicle tracking the planned path predicted by the improved RRT algorithm. It is shown that the vehicle can successfully track the path efficiently and reach the destination safely, with an average tracking control deviation of 5.2% of the vehicle width. The path planning is also applied to lane changes, and the average deviation from the lane during and after lane changes remains within 8.3% of the vehicle width.

scholarly journals The opportunity of shared autonomous vehicles to improve spatial equity in accessibility and socio-economic developments in European urban areas

2021 ◽  
Vol 13 (1) ◽  
Author(s):  
Norman Eppenberger ◽  
Maximilian Alexander Richter
Keyword(s):  
Educational Attainment ◽  
Unemployment Rate ◽  
Public Transport ◽  
Public Transportation ◽  
Autonomous Vehicles ◽  
Well Being ◽  
District Level ◽  
Positive Effects ◽  
Spatial Equity ◽  
Economic Well Being

Abstract Background This paper provides insight into the opportunity offered by shared autonomous vehicles (SAVs) to improve urban populations’ spatial equity in accessibility. It provides a concrete implementation model for SAVs set to improve equity in accessibility and highlights the need of regulation in order for SAVs to help overcome identified spatial mismatches. Methodology Through the formulation of linear regression models, the relationship between land-use and transportation accessibility (by car and public transport) and socio-economic well-being indicators is tested on district-level in four European cities: Paris, Berlin, London and Vienna. Accessibility data is used to analyse access to points of interest within given timespans by both car and public transport. To measure equity in socio-economic well-being, three district-level proxies are introduced: yearly income, unemployment rate and educational attainment. Results In the cities of Paris, London and Vienna, as well as partially in Berlin, positive effects of educational attainment on accessibility are evidenced. Further, positive effects on accessibility by yearly income are found in Paris and London. Additionally, negative effects of an increased unemployment rate on accessibility are observed in Paris and Vienna. Through the comparison between accessibility by car and public transportation in the districts of the four cities, the potential for SAVs is evidenced. Lastly, on the basis of the findings a ‘SAV identification matrix’ is created, visualizing the underserved districts in each of the four cities and the need of equity enhancing policy for the introduction of SAVs is emphasized.

scholarly journals Modelling of the system “driver - automation - autonomous vehicle - road”

2020 ◽  
Vol 10 (1) ◽  
pp. 175-182 ◽  
Author(s):  
Grzegorz Koralewski
Keyword(s):  
Autonomous Vehicles ◽  
Combustion Engine ◽  
Autonomous Vehicle ◽  
Application Software ◽  
Motion Simulation ◽  
Gear Shift ◽  
Shift Control ◽  
Driving Torque ◽  
Physical Quantities ◽  
Motion Quality

AbstractThe work presents a simulation model of a “driver–automation–autonomous vehicles–road” system which is the basis for synthesis of automatic gear shift control system. The mathematical description makes use of physical quantities which characterise driving torque transformation from the combustion engine to the car driven wheels. The basic components of the model are algorithms for the driver’s action logic in controlling motion velocity, logic of gear shift control functioning regarding direction and moment of switching, for determining right-hand side of differential equations and for motion quality indicators. The model is realised in a form of an application software package, comprising sub-programmes for input data, for computerised motion simulation of cars with mechanical and hydro-mechanical – automatically controlled – transmission systems and for models of characteristic car routes.

scholarly journals An Open-Source Scale Model Platform for Teaching Autonomous Vehicle Technologies

Sensors ◽  
2021 ◽  
Vol 21 (11) ◽  
pp. 3850
Author(s):  
Bastien Vincke ◽  
Sergio Rodriguez Rodriguez Florez ◽  
Pascal Aubert
Keyword(s):  
Open Source ◽  
Autonomous Vehicles ◽  
Autonomous Vehicle ◽  
Constrained Systems ◽  
Scale Model ◽  
Technical Students ◽  
Vehicle Technologies ◽  
Model Platform ◽  
High Level ◽  
Time And Energy

Emerging technologies in the context of Autonomous Vehicles (AV) have drastically evolved the industry’s qualification requirements. AVs incorporate complex perception and control systems. Teaching the associated skills that are necessary for the analysis of such systems becomes a very difficult process and existing solutions do not facilitate learning. In this study, our efforts are devoted to proposingan open-source scale model vehicle platform that is designed for teaching the fundamental concepts of autonomous vehicles technologies that are adapted to undergraduate and technical students. The proposed platform is as realistic as possible in order to present and address all of the fundamental concepts that are associated with AV. It includes all on-board components of a stand-alone system, including low and high level functions. Such functionalities are detailed and a proof of concept prototype is presented. A set of experiments is carried out, and the results obtained using this prototype validate the usability of the model for the analysis of time- and energy-constrained systems, as well as distributed embedded perception systems.

scholarly journals The Effects of Mobility as a Service and Autonomous Vehicles on People’s Willingness to Own a Car in the Future

2021 ◽  
Vol 13 (4) ◽  
pp. 1962
Author(s):  
Timo Liljamo ◽  
Heikki Liimatainen ◽  
Markus Pöllänen ◽  
Riku Viri
Keyword(s):  
Public Transport ◽  
Autonomous Vehicles ◽  
Travel Behaviour ◽  
Car Ownership ◽  
Key Factors ◽  
Sustainable Mobility ◽  
Factors Affecting ◽  
Mobility Service ◽  
The Future ◽  
Mobility Behaviour

Car ownership is one of the key factors affecting travel behaviour and thus also essential in terms of sustainable mobility. This study examines car ownership and how people’s willingness to own a car may change in the future, when considering the effects of public transport, Mobility as a Service (MaaS) and automated vehicles (AVs). Results of two citizen surveys conducted with representative samples (NAV-survey = 2036; NMaaS-survey = 1176) of Finns aged 18–64 are presented. The results show that 39% of respondents would not want or need to own a car if public transport connections were good enough, 58% if the described mobility service was available and 65% if all vehicles in traffic were automated. Hence, car ownership can decrease as a result of the implementation of AVs and MaaS, and higher public transport quality of service. Current mobility behaviour has a strong correlation to car ownership, as respondents who use public transport frequently feel less of a will or need to own a car than others. Generally, women and younger people feel less of a will or need to own a car, but factors such as educational level and residential location seem to have a relatively low effect.

scholarly journals Exploring the Distribution of Traffic Flow for Shared Human and Autonomous Vehicle Roads

Energies ◽  
2021 ◽  
Vol 14 (12) ◽  
pp. 3425
Author(s):  
Huanping Li ◽  
Jian Wang ◽  
Guopeng Bai ◽  
Xiaowei Hu
Keyword(s):  
Traffic Flow ◽  
Autonomous Vehicles ◽  
Flow Model ◽  
Road Traffic ◽  
Autonomous Vehicle ◽  
Transformation Model ◽  
Hydrodynamic Theory ◽  
Traffic Flow Model ◽  
Traffic System ◽  
The Stability

In order to explore the changes that autonomous vehicles would bring to the current traffic system, we analyze the car-following behavior of different traffic scenarios based on an anti-collision theory and establish a traffic flow model with an arbitrary proportion (p) of autonomous vehicles. Using calculus and difference methods, a speed transformation model is established which could make the autonomous/human-driven vehicles maintain synchronized speed changes. Based on multi-hydrodynamic theory, a mixed traffic flow model capable of numerical calculation is established to predict the changes in traffic flow under different proportions of autonomous vehicles, then obtain the redistribution characteristics of traffic flow. Results show that the reaction time of autonomous vehicles has a decisive influence on traffic capacity; the q-k curve for mixed human/autonomous traffic remains in the region between the q-k curves for 100% human and 100% autonomous traffic; the participation of autonomous vehicles won’t bring essential changes to road traffic parameters; the speed-following transformation model minimizes the safety distance and provides a reference for the bottom program design of autonomous vehicles. In general, the research could not only optimize the stability of transportation system operation but also save road resources.

scholarly journals Autonomous Navigation of a Team of Unmanned Surface Vehicles for Intercepting Intruders on a Region Boundary

Sensors ◽  
2021 ◽  
Vol 21 (1) ◽  
pp. 297
Author(s):  
Ali Marzoughi ◽  
Andrey V. Savkin
Keyword(s):  
Motion Control ◽  
Autonomous Vehicles ◽  
Autonomous Navigation ◽  
Control Algorithm ◽  
Autonomous Vehicle ◽  
Sufficient Conditions ◽  
Real Life ◽  
Unmanned Surface Vehicles ◽  
Necessary And Sufficient ◽  
See Region

We study problems of intercepting single and multiple invasive intruders on a boundary of a planar region by employing a team of autonomous unmanned surface vehicles. First, the problem of intercepting a single intruder has been studied and then the proposed strategy has been applied to intercepting multiple intruders on the region boundary. Based on the proposed decentralised motion control algorithm and decision making strategy, each autonomous vehicle intercepts any intruder, which tends to leave the region by detecting the most vulnerable point of the boundary. An efficient and simple mathematical rules based control algorithm for navigating the autonomous vehicles on the boundary of the see region is developed. The proposed algorithm is computationally simple and easily implementable in real life intruder interception applications. In this paper, we obtain necessary and sufficient conditions for the existence of a real-time solution to the considered problem of intruder interception. The effectiveness of the proposed method is confirmed by computer simulations with both single and multiple intruders.

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