From a Competition for Self-Driving Miniature Cars to a Standardized Experimental Platform: Concept, Models, Architecture, and Evaluation

Context: Competitions for self-driving cars facilitated the development and research in the domain of autonomous vehicles towards potential solutions for the future mobility. Objective: Miniature vehicles can bridge the gap between simulation-based evaluations of algorithms relying on simplified models, and those time-consuming vehicle tests on real-scale proving grounds. Method: This article combines findings from a systematic literature review, an in-depth analysis of results and technical concepts from contestants in a competition for self-driving miniature cars, and experiences of participating in the 2013 competition for self-driving cars. Results: A simulation-based development platform for real-scale vehicles has been adapted to support the development of a self-driving miniature car. Furthermore, a standardized platform was designed and realized to enable research and experiments in the context of future mobility solutions. Conclusion: A clear separation between algorithm conceptualization and validation in a model-based simulation environment enabled efficient and riskless experiments and validation. The design of a reusable, low-cost, and energy-efficient hardware architecture utilizing a standardized software/hardware interface enables experiments, which would otherwise require resources like a large real-scale test track.Comment: 17 pages, 19 figues, 2 table

Adapting Crash Modification Factors for the Connected and Autonomous Vehicle Environment

The Crash Modification Factor (CMF) clearinghouse can be used to estimate benefits for specific highway safety countermeasures. It assists safety professionals in the allocation of investments. The clearinghouse contains over 7000 entries of which only 446 are categorized as intelligent transportation systems or advanced technology, but none directly address connected or autonomous vehicles (CAVs). Further, the effectiveness of highway safety countermeasures is assumed to remain constant over time, an assumption that is particularly problematic as new technologies are introduced. For example, for the existing fleet of human-driven vehicles, installation of rumble strip can potentially reduce “run-off-road” crashes by 40%. If specific CAV technologies, e.g., lane-tracking, can work without rumble strips, and say, half of all cars are so equipped, only half of the fleet will benefit, reducing the benefits of rumble strips by a commensurate amount. Benefits of the two improvements, e.g., rumble strips and automated vehicles, should not be double-counted. As there will still be human-driven and/or non-connected vehicles in the fleet, conventional countermeasures are still necessary, although returns on conventional safety investments may be significantly overestimated. This is important as safety investments should be optimized and geared to future, not past fleets. Moreover, as CMFs are based on historical events, the types of crashes experienced by human-driven, un-connected cars are likely to be much different in the future. This research presents methods to estimate the safety benefits that autonomous vehicles have to offer and the changes needed in CMFs as a result of their adoption. This will primarily be achieved by modifying and enhancing a tool co-developed by the Fellow that estimates the safety benefits of different levels of autonomy. This tool, ddSAFCAT, estimates CAV safety benefits using real-world data for crashes, market penetration, and effectiveness

Transportation System Performance Measures Using Internet of Things Data

The transportation system is undergoing a rapid change with innovative and promising technologies that provide real-time data for a variety of applications. As we transition into a technology-driven era and Internet of Things (IoT) applications, where everything is connected via a network of smart sensors and cloud computing, there will be an increasing amount of real-time data that will allow a better understanding of the transportation system. Devices emerging as a part of this connected environment can provide new and valuable data sources in a variety of transportation areas including safety, mobility, operations and intelligent transportation systems. Agencies and transportation professionals require effective performance measures and visualization tools to mine this big data to make design, operation, maintenance and investment decisions to improve the overall system performance. This dissertation discusses the development and demonstration of performance measures that leverage data from these emerging IoT devices to support analysis and guide investment decisions. Selected case studies are presented that demonstrate the impact of these new data sources on design, operation, and maintenance decisions. Performance measures such as vibration, noise levels and retroreflectivity were used to conduct a comprehensive assessment of different rumble strip configurations in the roadway and aviation environment. The results indicated that the 12 in sinusoidal wavelength satisfied the National Cooperative Highway Research Program (NCHRP) recommendations and reduced the noise exposure to adjacent homeowners. The application of low-cost rumble strips to mitigate runway incursions at general aviation airports was evaluated using the accelerations on the airframe. Although aircraft are designed for significant g-forces on landing, the results of analyzing accelerometers installed on airframes showed that long-term deployment of rumble strips is a concern for aircraft manufacturers as repeated traversal on the rumble strips may lead to excessive airframe fatigue. A suite of web dashboards and performance measures were developed to evaluate the impact of signal upgrades, signal retiming and maintenance activities on 138 arterials in the Commonwealth of Pennsylvania. For five corridors analyzed before and after an upgrade, the study found a reduction of 1.2 million veh-hours of delay, 10,000 tons of CO2 and an economic benefit of $32 million. Several billion dollars per year is expended upon security checkpoint screening at airports. Using wait time data from consumer electronic devices over a one-year period, performance dashboards identified periods of the day with high median wait times. The performance measures outlined in this study provided scalable techniques to analyze operating irregularities and identify opportunities for improving service. Reliability and median wait times were also used as performance measures to compare the standard and expedited security screening. The results found that the expedited screening was highly reliable than the standard screening and had a median wait time savings of 5.5 minutes. Bike sharing programs are an eco-friendly mode of transportation gaining immense popularity all over the world. Several performance measures are discussed which analyze the usage patterns, user behaviors and effect of weather on a bike sharing program initiated at Purdue University. Of the 1626 registered users, nearly 20% of them had at least one rental and around 6% had more than 100 rentals, with four of them being greater than 500 rentals. Bikes were rented at all hours of the day, but usage peaked between 11:00 and 19:00 on average. On a yearly basis, the rentals peaked in the fall semester, especially during September, but fell off in October and November with colder weather. Preliminary results from the study also identified some operating anomalies, which allowed the stakeholders to implement appropriate policy revisions. There are a number of outlier filtering algorithms proposed in the literature, however, their performance has never been evaluated. A curated travel time dataset was developed from real-world data, and consisted of 31,621 data points with 243 confirmed outliers. This dataset was used to evaluate the efficiency of three common outlier filtering algorithms, median absolute deviation, modified z-score and, box and whisker plots. The modified Z-score had the best performance with successful removal of 70% of the confirmed outliers and incorrect removal of only 5% of the true samples. The accuracy of vehicle to infrastructure (V2I) communication is an important metric for connected vehicle applications. Traffic signal state indication is an early development in the V2I communication that allows connected vehicles to display the current traffic signal status on the driver dashboard as the vehicle approaches an intersection. The study evaluated the accuracy of this prediction with on-field data and results showed a degraded performance during phase omits and force-offs. Performance measures such as, the probability of expected phase splits and the probability of expected green for a phase, are discussed to enhance the accuracy of the prediction algorithm. These measures account for the stochastic variations due to detectors actuations and will allow manufacturers and vendors to improve their algorithm. The application of these performance measures across three transportation modes and the transportation focus areas of safety, mobility and operations will provide a framework for agencies and transportation professionals to assess the performance of system components and support investment decisions

Economic and Environmental Benefits of a Reduced Roadside Mowing Program for Kentucky Highways

A growing number of state departments of transportation (DOTs) are introducing conservation mowing programs that aim to reduce the frequency of roadside mowing while expanding the footprint of pollinator habitat. Wanting to get a better handle on the utility conservation mowing, the Kentucky Transportation Cabinet (KYTC) funded this study to explore the economic and environmental benefits that accrue from mowing less often. This report presents a synthesis of best conservation mowing practices based on a review of landscape management policies, programs, and procedures in use at 15 state DOTs. Most agencies divide the roadside into discrete management zones. While they continue to mow regularly in the areas closest to roadways (extending roughly 15 feet or so from the edge of the shoulder), beyond this mowing is done less often and is combined with selective herbicide use to facilitate plant species favored by pollinators. Regardless of the mowing strategy adopted, vehicle safety must be preserved by maintaining adequate clear zones and sight distances. An economic analysis of different mowing strategies found that KYTC can save between $9 million and$24 million over a five-year period through mowing cutbacks. Eliminating a single litter cycle can generate an additional $5 million in savings over the same period. To facilitate communication with the public, a proof-of-concept marketing document is put forward which explains to the driving public how KYTC is adjusting its landscape management practices. Dubbed Kentucky’s Buzzing!, the goal is to provide the public with readily understood explanations of why pollinators matter and how the Cabinet can improve their fortunes through conservation mowing

The Wisconsin H-Alpha Mapper Northern Sky Survey

The Wisconsin H-Alpha Mapper (WHAM) has surveyed the distribution and kinematics of ionized gas in the Galaxy above declination -30 degrees. The WHAM Northern Sky Survey (WHAM-NSS) has an angular resolution of one degree and provides the first absolutely-calibrated, kinematically-resolved map of the H-Alpha emission from the Warm Ionized Medium (WIM) within ~ +/-100 km/s of the Local Standard of Rest. Leveraging WHAM's 12 km/s spectral resolution, we have modeled and removed atmospheric emission and zodiacal absorption features from each of the 37,565 spectra. The resulting H-Alpha profiles reveal ionized gas detected in nearly every direction on the sky with a sensitivity of 0.15 R (3 sigma). Complex distributions of ionized gas are revealed in the nearby spiral arms up to 1-2 kpc away from the Galactic plane. Toward the inner Galaxy, the WHAM-NSS provides information about the WIM out to the tangent point down to a few degrees from the plane. Ionized gas is also detected toward many intermediate velocity clouds at high latitudes. Several new H II regions are revealed around early B-stars and evolved stellar cores (sdB/O). This work presents the details of the instrument, the survey, and the data reduction techniques. The WHAM-NSS is also presented and analyzed for its gross properties. Finally, some general conclusions are presented about the nature of the WIM as revealed by the WHAM-NSS.Comment: 42 pages, 14 figures (Fig 6-9 & 14 are full color); accepted for publication in 2003, ApJ, 149; Original quality figures (as well as data for the survey) are available at http://www.astro.wisc.edu/wham

Housing and Mobility Toolkit for San Mateo County

Since the end of the Great Recession, San Mateo County has attracted new workers at a record rate without building anywhere near enough housing. This jobs-housing imbalance drives the cost of housing up and forces many moderate and lower-income employees and their families out of the County. A lack of access to quality affordable housing in the County and the entire Bay Area along with limited transportation options means that an increased number of employees drive in and out of the County every workday. The resultant congestion, gridlock, and long commutes along with other negative environmental, social, and economic impacts create a major concern for communities in the County and beyond. Clearly, this problem has two distinct but interrelated dimensions: housing development and transportation planning. A select group of Mineta Transportation Institute (MTI) Research Associates worked closely with representatives from the San Mateo County Home for All initiative to help address this challenge by developing a toolkit of successful case studies with a holistic approach to housing development and transportation planning

The role of tenure in the management of trees at the community level: theoretical and empirical analyses from Uganda and Malawi

This paper examines the effects of tenure on tree management at a community level. First, several important conceptual issues arising from this particular meso-level focus are discussed. Second, a description of the key tenure and tree management issues in Uganda and Malawi is presented. In each case, data representing changes in land use and tree cover between the 1960-70s and 1990s are analyzed. In both countries, there has been significant conversion of land from woodlands to agriculture. Tree cover has been more or less maintained over time in Uganda but has decreased in Malawi. Lastly, the paper explores the relationships between tenure and tree management using econometric techniques. Tenure is found to be linked to land-use and tree-cover change in both countries, though it is not necessarily the most important factor (e.g., population pressure is the key driving force for land-use change). In Uganda, conversion of land was more rapid under the customary tenure system and tree cover on nonagricultural land better maintained under the mailo system. In Malawi there was more rapid land-use conversion and tree cover depletion where there were more changes to traditional tenure systems taking place.