Model of the wheel motion state under path constraints based on the Darboux frame in 3D space

2018 ◽  
Vol 35 (8) ◽  
pp. 2883-2903 ◽  
Author(s):  
He Zhang ◽  
Shaowei Yang ◽  
Zhengfeng Ma
Keyword(s):  
Rigid Body Dynamics ◽  
Geometric Design ◽  
Road Surface ◽  
Surface Model ◽  
Content Type ◽  
Rolling Velocity ◽  
The Road ◽  
Geometry Design ◽  
Road Geometry ◽  
Darboux Frame

Purpose Existing three-dimensional (3D) road-surface models use approximation methods such as a set of discrete triangular patches and cannot accurately describe changes in the geometrically designed elements along the road. This paper aims to construct a 3D road-surface model with combinations of geometric design invariants and apply the proposed model to analyse the state of motion of a wheel’s centre. Design/methodology/approach In this paper, the 3D road surface is modelled as a continuous function with combinations of geometric design invariants. By introducing the theories of differential geometries and rigid body dynamics, a wheel-road model wherein a wheel fixed to a Darboux frame moves along a curved road surface is constructed, and the wheel time-dependent properties of the velocity, angular velocity and acceleration at an arbitrary point of the surface are described using road geometry design invariants. Findings This paper adopts the Darboux frame to study the instantaneous spin-rolling motion of a wheel. It is found that the magnitudes of the spin-rolling velocity, the acceleration and the geometric invariants of the road surface, including the geodesic curvature, the normal curvature and the geodesic torsion, determine the instantaneous states of motion of a wheel. Originality/value This work provides a theoretical foundation for future studies of wheel motion states, such as the relationship between road geometry design invariants and driving safety, vehicle lane changing and other vehicle microbehaviours. New insights are gained in the areas of road safety and vehicles incorporating artificial intelligence.

Decision Analysis of Lane Change Based on Fuzzy Logic

2013 ◽  
Vol 419 ◽  
pp. 790-794 ◽  
Author(s):  
Wen Shi ◽  
Ya Ping Zhang
Keyword(s):  
Fuzzy Logic ◽  
Change Process ◽  
Road Surface ◽  
Driver Model ◽  
Steering Wheel ◽  
Surface Model ◽  
Lane Change ◽  
The Road ◽  
Fuzzy Logic Analysis ◽  
Test Result

Aiming at the complexity of lane change process, fuzzy logic analysis method was proposed to analyzing this behavior. By assaying the multi lane change scene that the drivers may choose, influencing factors were quantified. Each indicator factor after quantified was treated as model input. PID models of driver, vehicle and road surface were established in Simulink condition. The road surface model controls whether the lane change process will be conducted, and the driver model will export angle of steering wheel to deciding the efficiency of lane change process. Real road test was conducted and the test result shows that information between human and vehicle can be fused sufficiently.

scholarly journals Comparison of algorithms for road surface temperature prediction

2018 ◽  
Vol 2 (3) ◽  
pp. 212-224
Author(s):  
Bo Liu ◽  
Libin Shen ◽  
Huanling You ◽  
Yan Dong ◽  
Jianqiang Li ◽  
...  
Keyword(s):  
Surface Temperature ◽  
Prediction Method ◽  
Temperature Data ◽  
Road Surface ◽  
Machine Learning Algorithms ◽  
Gradient Boosting ◽  
Data Set ◽  
Content Type ◽  
The Road ◽  
Road Surface Temperature

Purpose The influence of road surface temperature (RST) on vehicles is becoming more and more obvious. Accurate predication of RST is distinctly meaningful. At present, however, the prediction accuracy of RST is not satisfied with physical methods or statistical learning methods. To find an effective prediction method, this paper selects five representative algorithms to predict the road surface temperature separately. Design/methodology/approach Multiple linear regressions, least absolute shrinkage and selection operator, random forest and gradient boosting regression tree (GBRT) and neural network are chosen to be representative predictors. Findings The experimental results show that for temperature data set of this experiment, the prediction effect of GBRT in the ensemble algorithm is the best compared with the other four algorithms. Originality/value This paper compares different kinds of machine learning algorithms, observes the road surface temperature data from different angles, and finds the most suitable prediction method.

scholarly journals ROAD EXTRACTION AND VECTORIZATION FROM AERIAL IMAGE DATA

2020 ◽  
Vol XLIII-B2-2020 ◽  
pp. 1323-1327
Author(s):  
L. Zhu ◽  
Y. Li ◽  
H. Shimamura
Keyword(s):  
Road Network ◽  
Image Data ◽  
Road Surface ◽  
Aerial Image ◽  
Surface Model ◽  
Center Line ◽  
Road Extraction ◽  
The Road ◽  
Road Map ◽  
Road Network Extraction

Abstract. The objective of this study is the automatic extraction of the road network in a scene of the urban area from high resolution aerial image data. Our approach includes two stages aiming to solve two important issues respectively, i.e., an effective road extraction pipeline, and a precise vectorized road map. In the first stage, we proposed a so-called all element road model which describes a multiple-level structure of the basic road elements, i.e. intersection, central line, side lines, and road plane based on their spatial relations. An advanced road network extraction scheme was proposed to address the issues of tedious steps on segmentation, recognition and grouping, using the digital surface model (DSM) only. The key feature of the proposed approach was the cross validation of the road basic elements, which was applied all the way through the entire procedure of road extraction. In the second stage, the regularized road map was produced where center line and side lines subject to parallel and even layout rules. It gives more accurate and reliable map by utilizing both the height information of the DSM and the color information of the ortho image. Road surface was extracted from the image by region growing. Then, a regularized center line was modeled by linear regression using all the pixels of the road surface. The road width was estimated and two road side lines were modeled as the straight lines parallel with the center line. Finally, the road model was built up in terms of vectorized points and lines. The experimental results showed that the proposed approach performed satisfactorily in our test site.

Quantitative visualization of physical barriers for vulnerable pedestrians based on photogrammetry

2022 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Koki Taniguchi ◽  
Satoshi Kubota ◽  
Yoshihiro Yasumuro
Keyword(s):  
Effective Means ◽  
Three Dimensional ◽  
Road Surface ◽  
Geographical Information ◽  
Web Based ◽  
Content Type ◽  
Wheelchair Users ◽  
Digital Twin ◽  
The Road ◽  
Physical Barriers

Purpose The purpose of this study is to propose a method for vulnerable pedestrians to visualize potential obstacles on sidewalks. In recent years, the number of vulnerable pedestrians has been increasing as Japanese society has aged. The number of wheelchair users is also expected to increase in the future. Currently, barrier-free maps and street-view applications can be used by wheelchair users to check possible routes and the surroundings of their destinations in advance. However, identifying physical barriers that pose a threat to vulnerable pedestrians en route is often difficult. Design/methodology/approach This study uses photogrammetry to create a digital twin of the three-dimensional (3D) geometry of the existing walking space by collecting photographic images taken on sidewalks. This approach allows for the creation of high-resolution digital elevation models of the entire physical sidewalk surface from which physical barriers such as local gradients and height differences can be detected by uniform image filtering. The method can be used with a Web-based data visualization tool in a geographical information system, permitting first-person views of the ground and accurate geolocation of the barriers on the map. Findings The findings of this study showed that capturing the road surface with a small wide-angle camera while walking is sufficient for recording subtle 3D undulations in the road surface. The method used for capturing data and the precision of the 3D restoration results are described. Originality/value The proposed approach demonstrates the significant benefits of creating a digital twin of walking space using photogrammetry as a cost-effective means of balancing the acquisition of 3D data that is sufficiently accurate to show the detailed geometric features needed to navigate a walking space safely. Further, the findings showed how information can be provided directly to users through two-dimensional (2D) and 3D Web-based visualizations.

scholarly journals APPLICATION OF TERRESTRIAL LASER SCANNING FOR ASSESSMENT OF ASPHALT PAVEMENT LAYING QUALITY

2021 ◽  
Vol 1 ◽  
pp. 75-84
Author(s):  
Maxim A. Altyntsev ◽  
Marina A. Altyntseva
Keyword(s):  
Laser Scanning ◽  
Point Clouds ◽  
Road Surface ◽  
Surface Model ◽  
Technical Equipment ◽  
Digital Cameras ◽  
The Road ◽  
Road Pavement ◽  
Short Period ◽  
Processing Techniques

Various technical equipment are used for surveying the condition of the road surface. One of the most modern methods for assessing the state of roads is mobile laser scanning (MLS), which allows obtaining a point model of road surface with high density accuracy and in a short period of time. After generating a digital surface model (DSM) from an array of laser points, we can identify various defects of the roadway and evaluate its flatness. A prerequisite for obtaining reliable survey results is increased accuracy of the pre-processed point cloud. During pre-processing 2D scanners and digital cameras are calibrated, point clouds are adjusted and filtered. The necessity for increased accuracy of pre-processing results for the purpose of generating the DSM imposes certain requirements on data processing techniques. For this purpose, additional study of the MLS data accuracy should often be carried out. The results of preliminary processed MLS data in order to generate high-accuracy DSM of road pavement are discussed.

scholarly journals IMPACT OF MOBILE LASER SCANNING DATA PRELIMINARY PROCESSING RESULTS ON ACCURACY OF GENERATING DIGITAL MODELS OF ROAD PAVEMENT

2020 ◽  
Vol 1 (1) ◽  
pp. 74-85
Author(s):  
Maxim A. Altyntsev ◽  
Karkokli Hamid Saber
Keyword(s):  
Laser Scanning ◽  
Point Clouds ◽  
Road Surface ◽  
Surface Model ◽  
Technical Equipment ◽  
Digital Cameras ◽  
The Road ◽  
Road Pavement ◽  
Short Period ◽  
Processing Techniques

Various technical equipment is used for surveying the condition of the road surface. One of the most modern methods for assessing the state of roads is mobile laser scanning (MLS), which allows obtaining a point model of road surface with high density accuracy and within a short period of time. After generating a digital surface model (DSM) from an array of laser points, we can identify various defects of the roadway and evaluate its flatness. A prerequisite for obtaining reliable survey results is increased accuracy of the pre-processed point cloud. During the pre-processing 2D scanners and digital cameras are calibrated, point clouds are adjusted and filtered. The necessity for increased accuracy of pre-processing results for the purpose of generating the DSM imposes certain requirements on data processing techniques. For this purpose, additional study of the MLS data accuracy should be often carried out. The results of preliminary processed MLS data in order to generate high-accuracy DSM of road pavement are discussed.

Integration of a Road Surface Model into NWS Operations

2013 ◽  
Vol 94 (10) ◽  
pp. 1495-1500 ◽  
Author(s):  
Jonathan J. Rutz ◽  
Chris V. Gibson
Keyword(s):  
Environmental Factors ◽  
High Impact ◽  
Road Surface ◽  
Surface Model ◽  
Winter Weather ◽  
Surface Conditions ◽  
Societal Factors ◽  
The Road ◽  
Complex Interactions ◽  
Wide Range

Today's winter weather headlines are based on the meteorological strength of an event with the assumption that stronger events produce larger public impacts. In reality, public impacts involve many factors, such as whether or not snow will accumulate on roads and affect traffic. Along with numerous environmental factors, decisions are further complicated by societal factors (e.g., timing of the commute). The National Weather Service (NWS) Strategic Plan calls for increased emphasis on decision support services (DSS) to our partners, especially during high-impact events. However, determining when events will produce high-impact conditions often remains a challenge. While forecasters should be aware of the relevant societal factors, they also need objective tools capable of integrating over the wide range of environmental factors that intersect in producing high-impact weather. This is particularly true in the case of road surface conditions, where complex interactions between temperature, moisture, and the road surface play a key role in determining what hazards might develop during wintry weather. Initial verification suggests that output from the Model of the Environment and Temperature of Roads (METRo) can provide useful information with regard to the timing and severity of hazardous road surface conditions, allowing NWS forecasters to more effectively highlight the impacts associated with impending meteorological events. This information enhances the DSS that the NWS is able to provide to government partners, local emergency management, and the public during high-impact winter weather events.

Tire-Road Interactions — Harmony or Conflict?

1989 ◽  
Vol 17 (1) ◽  
pp. 66-84
Author(s):  
A. R. Williams
Keyword(s):  
Rolling Resistance ◽  
Major Effect ◽  
Road Surface ◽  
Interactive Effects ◽  
Central Theme ◽  
Water Drainage ◽  
The Road ◽  
Truck Tires ◽  
Road Surfaces ◽  
Tire Wear

Abstract This is a summary of work by the author and his colleagues, as well as by others reported in the literature, that demonstrate a need for considering a vehicle, its tires, and the road surface as a system. The central theme is interaction at the footprint, especially that of truck tires. Individual and interactive effects of road and tires are considered under the major topics of road aggregate (macroscopic and microscopic properties), development of a novel road surface, safety, noise, rolling resistance, riding comfort, water drainage by both road and tire, development of tire tread compounds and a proving ground, and influence of tire wear on wet traction. A general conclusion is that road surfaces have both the major effect and the greater potential for improvement.

Safety at Curves and Road Geometry Standards in Some European Countries

1996 ◽  
Vol 1523 (1) ◽  
pp. 99-106 ◽  
Author(s):  
Thierry Brenac
Keyword(s):  
Urban Areas ◽  
National Standards ◽  
European Countries ◽  
Design Standards ◽  
The Road ◽  
Horizontal Curves ◽  
Road Design ◽  
Road Geometry ◽  
Design Speed ◽  
Curve Geometry

This paper deals with safety at horizontal curves on two-lane roads outside urban areas and the way the road design standards of different European countries account for this safety aspect. After a review of some research results, the main aspects of curve geometry and the curve's place in the horizontal alignment are analyzed. The main conclusions are that the traditional design speed approach is insufficient and that formal complementary rules in road design standards, especially to improve compatibility between successive elements of the alignment, must be introduced. If such complementary rules already exist in some national standards, they are neither frequent nor homogeneous throughout the different countries, and it seems that they are not based on sufficiently developed knowledge.

scholarly journals The Effects of Roadside Woody Vegetation on the Surface Temperature of Cycle Paths

Land ◽  
2021 ◽  
Vol 10 (5) ◽  
pp. 483
Author(s):  
Nikola Žižlavská ◽  
Tomáš Mikita ◽  
Zdeněk Patočka
Keyword(s):  
Solar Radiation ◽  
Surface Temperature ◽  
Well Being ◽  
Road Surface ◽  
Woody Vegetation ◽  
Surface Model ◽  
Main Hypothesis ◽  
Roadside Vegetation ◽  
Different Types ◽  
Aerial Vehicle

The article is on the effects of woody vegetation growing on the roadside on the temperature of the surface of cycle paths. The main hypothesis of the study is that vegetation has the effect of lowering the temperature of the surroundings in its shadow and thus improves the comfort of users of cycle paths in the summer months. The second hypothesis is to find out which type of road surface is most suitable for the thermal well-being of users. This goal was achieved by measuring the temperature of selected locations on cycle paths with different types of construction surfaces with nearby woody vegetation using a contactless thermometer over several days at regular intervals. The positions of the selected locations were measured using GNSS and the whole locality of interest was photographed using an unmanned aerial vehicle (UAV), or drone, and subsequently a digital surface model (DSM) of the area was created using a Structure from Motion (SfM) algorithm. This model served for the calculation of incident solar radiation during the selected days using the Solar Area Graphics tool with ArcGIS software. Subsequently, the effect of the shade of the surrounding vegetation on the temperature during the day was analysed and statistically evaluated. The results are presented in many graphs and their interpretation used to evaluate the effects of nearby woody vegetation and the type of road surface on the surrounding air temperature and the comfort of users of these routes. The results demonstrate the benefits of using UAVs for the purpose of modelling the course of solar radiation during the day, showing the effect of roadside vegetation on reducing the surface temperature of the earth’s surface and thus confirming the need for planting and maintaining such vegetation.

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