Routing in Mixed Transportation Systems for Mobility Equity

This letter proposes a routing framework in mixed transportation systems for improving mobility equity. We present a strategic routing game that governs interactions between compliant and noncompliant vehicles, where noncompliant vehicles are modeled with cognitive hierarchy theory. Then, we introduce a mobility equity metric (MEM) to quantify the accessibility and fairness in the transportation network. We integrate the MEM into the routing framework to optimize it with adjustable weights for different transportation modes. The proposed approach bridges the gap between technological advancements and societal goals in mixed transportation systems to enhance efficiency and equity. We provide numerical examples and analysis of the results.Comment: 6 pages, 5 figure

Belief State Planning for Autonomous Driving: Planning with Interaction, Uncertain Prediction and Uncertain Perception

This thesis presents a behavior planning algorithm for automated driving in urban environments with an uncertain and dynamic nature. The uncertainty in the environment arises by the fact that the intentions as well as the future trajectories of the surrounding drivers cannot be measured directly but can only be estimated in a probabilistic fashion. Even the perception of objects is uncertain due to sensor noise or possible occlusions. When driving in such environments, the autonomous car must predict the behavior of the other drivers and plan safe, comfortable and legal trajectories. Planning such trajectories requires robust decision making when several high-level options are available for the autonomous car. Current planning algorithms for automated driving split the problem into different subproblems, ranging from discrete, high-level decision making to prediction and continuous trajectory planning. This separation of one problem into several subproblems, combined with rule-based decision making, leads to sub-optimal behavior. This thesis presents a global, closed-loop formulation for the motion planning problem which intertwines action selection and corresponding prediction of the other agents in one optimization problem. The global formulation allows the planning algorithm to make the decision for certain high-level options implicitly. Furthermore, the closed-loop manner of the algorithm optimizes the solution for various, future scenarios concerning the future behavior of the other agents. Formulating prediction and planning as an intertwined problem allows for modeling interaction, i.e. the future reaction of the other drivers to the behavior of the autonomous car. The problem is modeled as a partially observable Markov decision process (POMDP) with a discrete action and a continuous state and observation space. The solution to the POMDP is a policy over belief states, which contains different reactive plans for possible future scenarios. Surrounding drivers are modeled with interactive, probabilistic agent models to account for their prediction uncertainty. The field of view of the autonomous car is simulated ahead over the whole planning horizon during the optimization of the policy. Simulating the possible, corresponding, future observations allows the algorithm to select actions that actively reduce the uncertainty of the world state. Depending on the scenario, the behavior of the autonomous car is optimized in (combined lateral and) longitudinal direction. The algorithm is formulated in a generic way and solved online, which allows for applying the algorithm on various road layouts and scenarios. While such a generic problem formulation is intractable to solve exactly, this thesis demonstrates how a sufficiently good approximation to the optimal policy can be found online. The problem is solved by combining state of the art Monte Carlo tree search algorithms with near-optimal, domain specific roll-outs. The algorithm is evaluated in scenarios such as the crossing of intersections under unknown intentions of other crossing vehicles, interactive lane changes in narrow gaps and decision making at intersections with large occluded areas. It is shown that the behavior of the closed-loop planner is less conservative than comparable open-loop planners. More precisely, it is even demonstrated that the policy enables the autonomous car to drive in a similar way as an omniscient planner with full knowledge of the scene. It is also demonstrated how the autonomous car executes actions to actively gather more information about the surrounding and to reduce the uncertainty of its belief state

Belief State Planning for Autonomous Driving: Planning with Interaction, Uncertain Prediction and Uncertain Perception

This work presents a behavior planning algorithm for automated driving in urban environments with an uncertain and dynamic nature. The algorithm allows to consider the prediction uncertainty (e.g. different intentions), perception uncertainty (e.g. occlusions) as well as the uncertain interactive behavior of the other agents explicitly. Simulating the most likely future scenarios allows to find an optimal policy online that enables non-conservative planning under uncertainty

A Q-learning foresighted approach to ego-efficient lane changes of connected and automated vehicles on freeways

Summarization: Lane changes are a vital part of vehicle motions on roads, affecting surrounding vehicles locally and traffic flow collectively. In the context of connected and automated vehicles (CAVs), this paper is concerned with the impacts of smart lane changes of CAVs on their own travel performance as well as on the entire traffic flow with the increase of the market penetration rate (MPR). On the basis of intensive microscopic traffic simulation and reinforcement learning technique, an ego-efficient lane-changing strategy was first developed in this work to enable foresighted lane changing decisions for CAVs to improve their travel efficiency. The overall impacts of such smart lane changes on traffic flow of both CAVs and human-driven vehicles were then examined on the same simulation platform, which reflects a real freeway infrastructure with real demands. It was found that smart lane changes were beneficial for both CAVs and the entire traffic flow, if MPR was not more than 60%.Presented on

Housing quality and lost (public) space in Croatia

IN ENGLISH: In the post-socialist period and within the current social transition context, urban and rural Croatia has, just like other transition countries, experienced many changes in the social structure and space. One example is the housing quality which is a replica of the situation in the Croatian society and has also undergone some major changes. Socially oriented housing construction co-financed by the state and the cities is in an unfavourable position compared to private housing construction. In the last twenty years the amount of the social housing construction has been only a minor part of the total contruction work in the country. For instance, out of nine newly planned residential housing developments in Zagreb, the capital city, only three have been completed and the work on the rest of them has stopped and is unlikely to continue. Private construction work prevails especially on the edge of the city and is characterised by high density housing. This type of housing construction doesn't benefit the majority of citizens in search of accommodation (price per square meter is too high, low-quality building). There is also a big problem of the community facilities (primary and secondary infrastructure, schools, kindergartens, playgrounds, green areas, sidewalks, public transport etc.). The existing globalisation-transition circumstances of the Croatian society corroborate the fact which experts of various profiles often point out: ignoring the process of (urban) planning will irreparably damage the space. The city transformation shows the absence of comprehensive urban planning which results in an ever increasing number of random buildings which do not fit in the surroundings. This leads up to yet another important issue – the shrinking and, in some cases, disappearance of public space which becomes the “lost space“. In recent years there has been a lot of building in the city core and on the edge which does not quite fit in the existing urban structure, image or the skyline of the city. The current situation in the process of planning can be characterized as a conflict and imbalance between the powerful actors (mostly political and economic) and less powerful actors (mostly professional and civil). The actors who have the political power and influence and the ones who possess the capital are forming an “alliance” between two important layers of the social structure. The lack of civil and professional actors, “lost spatial actors”, and therefore of civic aggregation is also present and that is also the cause of public space “disappearance” and undermined process of public participation. --------------- IN CROATIAN: U postsocijalističkom razdoblju i trenutnom tranzicijskom kontekstu urbana i ruralna Hrvatska su, kao i ostale tranzicijske zemlje, doživjele mnoge promjene u društvenoj strukturi i samom prostoru. Na primjeru kvalitete stanovanja kao replike stanja u hrvatskom društvu mogu se vidjeti značajne promjene. Društveno usmjerena stambena izgradnja sufinancirana od strane države i gradova je stoga rjeđa i u nepovoljnijoj je situaciji prema privatnoj stanogradnji. Zadnjih dvadeset godina udjel socijalne stambene gradnje je zanemariv u ukupnoj izgradnji na razini zemlje. Primjerice, od devet planiranih stambenih naselja izgrađenih po modelu POS-a u Zagrebu samo su tri i završena. Na ostalima je proces gradnje zastao i ne čini se da će se privesti kraju. Privatna je gradnje prisutnija, posebno na rubovima grada, a obilježava je visoka gustoća gradnje. Ovakav tip gradnje ne odgovara većini stanovnika koji su u procesu potražnje stambene nekretnine (visoka cijena kvadratnog metra, a slaba kvaliteta gradnje). Postoji također i problem nedostatne opremljenosti susjedstva (primarna i sekundarna infrastruktura, škole, vrtići, igrališta, zelene površine, pješačke staze, javni transport itd.). Navedene globalizacijsko-tranzicijske okolnosti hrvatskog društva potvrđuju ono što eksperti različitih profila ističu, a to je da će ignoriranje procesa (urbanog) planiranja nepovratno uništiti prostor gradova. Ovakve transformacije pokazuju nedostatak sustavnog urbanog planiranja što rezultira sve većim brojem zgrada koje se ne uklapaju u neposrednu okolinu. To nadalje dovodi do drugog važnog aspekta – smanjivanja i u nekim slučajevima, nestanka javnog prostora koji postaje „izgubljeni prostor“. Posljednjih je godina izgrađen velik broj zgrada, i u središtu i na rubovima grada, koje se ne uklapaju u postojeću urbanu strukturu, izgled ili vizuru grada. Ovakvu situaciju obilježavaju sukob i neravnoteža između moćnijih društvenih aktera (većinom političkih i ekonomskih) i onih manje moćnih (većinom profesionalnih i civilnih). Politički i ekonomski akteri se često povezuju u „savez“ dvaju najjačih u društvenoj strukturi. S druge strane nedostatak utjecaja civilnih i profesionalnih aktera kao „izgubljenih prostornih aktera“ dovodi do „nestanka“ javnih prostora te smanjenja važnosti procesa participacije (sudjelovanja javnosti)