Intersection Types Research Articles

Vehicle delay at the crossroads and road junctions

The main types of maneuvers on crossings and adjoints of highways in one level are studied. The probability of an unobstructed injection of a vehicle from a secondary to the main road and vice versa, taking into account the average length of the free interval between the vehicles of the main stream, is determined. The dependence of the duration of free intervals, and their number, on the intensity of traffic, the composition of the traffic flow, and the speed of vehicles, was found. A series of equations was obtained for determining the total transport delay in the performance of various types of maneuvers, depending on the type of intersection or adjacency. Vehicle delays at crossings and adjacent roads are used to economically justify changing their parameters. Therefore, the work is designed to minimize the delays of vehicles at crossings and interconnections both in one and at different levels.

Hybrid Approach for Vehicle Trajectory Prediction Using Weighted Integration of Multiple Models

Prediction of surrounding vehicles accurately is an essential prerequisite for safe autonomous driving. Trajectory prediction methods can be classified into physics-, maneuver-, or learning-based methods. Learning-based methods have been studied extensively in recent years because it effectively exploits the road information and interactions among vehicles. However, learning-based methods perform poorly in unseen environments that were not considered during training and provide unreasonable results such as inconsistent trajectories according to road geometry. In this paper, to address this problem, a hybrid model that combines a learning-based model with physics- and maneuver-based models according to their uncertainties is proposed. The deep ensemble technique is also used to estimate the uncertainty of the learning-based method. Because the deep ensemble tends to show a large variance in unseen environments, this method is used to determine whether to use a hybrid model. The proposed method is trained and validated using the Lyft l5 dataset, the real environment vehicle driving data containing several types of intersections.

Taming the Merge Operator

Abstract Calculi with disjoint intersection types support a symmetric merge operator with subtyping. The merge operator generalizes record concatenation to any type, enabling expressive forms of object composition, and simple solutions to hard modularity problems. Unfortunately, recent calculi with disjoint intersection types and the merge operator lack a (direct) operational semantics with expected properties such as determinism and subject reduction, and only account for terminating programs. This paper proposes a type-directed operational semantics (TDOS) for calculi with intersection types and a merge operator. We study two variants of calculi in the literature. The first calculus, called λ i , is a variant of a calculus presented by Oliveira et al. (2016) and closely related to another calculus by Dunfield (2014). Although Dunfield proposes a direct small-step semantics for her calculus, her semantics lacks both determinism and subject reduction. Using our TDOS, we obtain a direct semantics for λ i that has both properties. The second calculus, called λ i + , employs the well-known subtyping relation of Barendregt, Coppo and Dezani-Ciancaglini (BCD). Therefore, λ i + extends the more basic subtyping relation of λ i , and also adds support for record types and nested composition (which enables recursive composition of merged components). To fully obtain determinism, both λ i and λ i + employ a disjointness restriction proposed in the original λ i calculus. As an added benefit the TDOS approach deals with recursion in a straightforward way, unlike previous calculi with disjoint intersection types where recursion is problematic. We relate the static and dynamic semantics of λ i to the original version of the calculus and the calculus by Dunfield. Furthermore, for λ i + , we show a novel formulation of BCD subtyping, which is algorithmic, has a very simple proof of transitivity and allows for the modular addition of distributivity rules (i.e. without affecting other rules of subtyping). All results have been fully formalized in the Coq theorem prover.

ВОСПОМИНАНИЯ О ДЕДУШКАХ И БАБУШКАХ В СТРУКТУРЕ АВТОБИОГРАФИЧЕСКОГО РАССКАЗА (НА МАТЕРИАЛЕ РЕЧИ ЖИТЕЛЕЙ СИБИРСКИХ СЁЛ)

The article analyzes Siberian villagers’ memories about grandparents as an important element of the speech genre of the autobiographical story. The aim of the article is to describe the themes, types of genres and functions of memories about grandparents in the structure of autobiographical stories of residents of Siberian villages. The material of the research is 200 oral autobiographical stories recorded on the territory of Tomsk Oblast from the 1960s to 2020. It is determined that memories about grandparents perform genreforming, text-building, and didactic functions, as well as participate in the self-presentation and self-identification of the informants. Possible types of intra-genre and inter-genre intersections are analyzed. Memories, being an independent complex speech genre, can at the same time be a part of another genre – an autobiographical story, a story about a case. Participants of the speech genre (sender and receiver) are in certain kinship relationships (grandchildren and grandparents: grandmothers and grandfathers). The author of the text, referring to the history of their family and the experience of previous generations, realize a self-identification process, comprehending their belonging to the genus, family by various identification characteristics: nationality, education, upbringing, and others. The micro-themes of memories are revealed; they allow determining the most significant parameters that the author of the text uses for self-presentation, including oneself into the family history (place of residence, profession, features of character, etc.). Reference to the axiological dominants of the previous generation is one of the strategies of self-presentation and self-identification of the residents of the modern village. The stories of the informants serve as a means of creating an ideal image of their grandparents, who appear in memories as kind, gentle, literate, telling fairy tales, non-drinkers, long-living, having good health, hardworking, economical, clean, and able to feed, to treat, to teach, to educate. The grandparents’ role in preserving and transmitting cultural and moral values to the younger generation, in forming behavioral patterns (commandments, instructions), such as the need to work, not to steal, not to drink, and to believe in God, is great. Thus, memories of grandparents are one of the elements of the speech genre of the autobiographical story, which performs self-presentation, self-identification, didactic, text-building, and genre-forming functions. The informants recall the place of birth and residence, nationality, profession, character traits, appearance, and other characteristics of their grandparents.

Laser-Based Intersection-Aware Human Following With a Mobile Robot in Indoor Environments

Human following in structured indoor environments has to face the challenge of full occlusion caused by the walls when the target person makes a turn at the corridor intersections. This may result in short-term, and even permanent loss of the target from the field of view of the robot. In this paper, human following with a mobile robot in presence of potential occlusions occurring at corridor intersections is addressed. The robot detects four different types of corridor intersections using the on-board laser scanner. Then, a potential-field-based human tracker is designed by integrating the intersection information into the potential function, in order to increase the visibility of the target, while maintaining the relative distance and orientation between the target and the robot. Simultaneously, the robot builds a multihypothesis topological map of the environment based on an improved generalized Voronoi graph, where the edges represent the corridors and the vertices are the virtual meet points extracted from the intersections. In such a way, simultaneous human following and topological mapping are achieved. Simulation and experimental results show that the proposed method can largely avoid occlusion of the target and obtain good performance of human following and topological mapping.

Використання різних підходів до розв’язання логістичних задач

The article discusses the factors that influence the construction of transport interchanges and design software. It is important to remember that traffic safety is a necessary component for road traffic, so all the components listed in the article and the elements of the transport interchange of the required section must meet the general requirements. Today, the requirements for building technological solutions are constantly changing. First of all, this is facilitated by the constructive development of vehicles and, accordingly, the change of traffic regimes. The issue of designing transport interchanges is quite complex, as it is also necessary to take into account the intensive growth rate of the number of cars on the roads of our country. Traffic safety is a key issue when designing a transport interchange, so all design work must be carried out in strict compliance with regulations. The key factors to consider when designing a traffic interchange are: the speed of vehicles on adjacent roads and at exits; width of lanes for traffic and their number; the presence of slopes; the necessary capacity to meet the needs of the area. It is also important to pay close attention to the quality of the project, and subsequently to the construction of the transport interchange. There are a large number of examples that show that non-compliance with the requirements of technical documentation and quality of construction works leads to a reduction in the period of maintenance-free use of the building. Accordingly, the generally accepted method of designing a transport interchange includes the following steps: the choice of the basis of the type of intersections of transport routes; design and development of traffic diagrams, preparation of technical documentation; calculation of technical parameters of road crossings; design of auxiliary structures (drainage unit, lighting); profile design. Today, there is a large amount of software that allows you to perform the necessary calculations and build diagrams of transport interchanges. The most famous are such programs as: IndorCAD, AutoCad, MXROAD.

Основні фактори, які впливають на побудову транспортних розв’язок

The article discusses the factors influencing the construction of road junctions, and software for design. It is important to remember that for road traffic a necessary component is the safety of movement, therefore all the components that are given in the article and the elements of the traffic intersection of the required section must comply with the general requirements. Today, the requirements for building technological solutions are constantly changing. First of all, this is facilitated by the constructive development of vehicles and, in accordance with this, the change in driving modes. The design of transport interchanges is quite difficult, since it is also necessary to take into account the intensive growth rates of the number of cars on the roads of our country. Traffic safety is a key issue in the design of a traffic intersection, therefore, all design work must be carried out in strict compliance with regulatory documents. The key factors that must be taken into account when designing a traffic intersection are: the speed of vehicles on adjoining roads and at ramps; the width of the lanes for traffic and their number; the presence of slopes; bandwidth is needed to meet local needs. It is also important to pay great attention to the quality of the project, and in the future, to the construction of a transport interchange. There are a large number of examples showing that non-compliance with the requirements of technical documentation and the quality of construction work leads to a decrease in the period of maintenance-free use of a structure. According to the generally accepted methodology for designing a traffic intersection, it includes the following steps: selection of the basis for the type of intersections of transport routes; design and development of a traffic scheme, preparation of technical documentation; calculation of the technical parameters of the intersection of transport routes design of auxiliary structures (drainage unit, lighting) design of profiles. Today there is a large number of software that allows you to perform the necessary calculations and build traffic interchange schemes. The most famous programs are: IndorCAD, AutoCad, MXROAD.

Design of the City Logistics Simulation Model Using PTV VISSIM Software

Transport modelling and simulation have an irreplaceable role in transport infrastructure planning and in city logistics. Designing road networks and crossroads, analyzing traffic situations to eliminate congestion, reducing vehicle delays and increasing road safety are the subject of many scientific work. Most of them are based on the creation and analysis of microscopic models. PTV VISSIM microscopic traffic flow modelling software is mainly used to model traffic flows of a selected agglomeration to achieve a sustainable urban traffic system and a sustainable city logistics. It is possible with PTV VISSIM software to explore new management tools for logistics planning suitable for achieving the concept of the sustainable city logistics. PTV VISSIM software allows to simulate real city traffic, design efficient traffic management strategies, and test different constructions of all types of intersections. The aim of this paper is to design of the simulation model using PTV VISSIM software in the context of traffic infrastructure planning in a particular area of ​​a significant intersection in the city of Pardubice in the Czech Republic. The possible impacts of the rebuilding of the intersection and the impact of these measures on road traffic flow in city logistics in the surrounding area will be discussed.

Solvability = Typability + Inhabitation

We extend the classical notion of solvability to a lambda-calculus equipped with pattern matching. We prove that solvability can be characterized by means of typability and inhabitation in an intersection type system P based on non-idempotent types. We show first that the system P characterizes the set of terms having canonical form, i.e. that a term is typable if and only if it reduces to a canonical form. But the set of solvable terms is properly contained in the set of canonical forms. Thus, typability alone is not sufficient to characterize solvability, in contrast to the case for the lambda-calculus. We then prove that typability, together with inhabitation, provides a full characterization of solvability, in the sense that a term is solvable if and only if it is typable and the types of all its arguments are inhabited. We complete the picture by providing an algorithm for the inhabitation problem of P.

DRIVER PERFORMANCE THROUGH THE YELLOW PHASE USING VIDEO CAMERAS AT URBAN SIGNALIZED INTERSECTIONS

The main objective of this research is to examine the influencing parameters of driver performance through the yellow phase at urban signalized intersections with and without red-light running (RLR) cameras. Data were collected to include the intersection type, vehicle type, turning movement type, whether the vehicle position is in a platoon or not, presence of RLR cameras, green light flash devices, pedestrians, and pavement markings. A total of 2168 driver observations were extracted. Only 33.3% of the drivers stopped before the stop line, 59% of the drivers passed the intersection through the yellow phase, and 7% of the drivers committed RLR violations. The results showed that drivers were more likely to stop before the stop line through the yellow phase at locations with RLR cameras, green light flash devices, pavement markings, where pedestrians were present, and at a four-leg intersection. Chi-square tests indicated that all parameters had a significant impact on driver performance, except for the type of turning movement.

Evaluating Driver Behavior in Yellow Interval at Signalized Intersections

Signalized intersection is one of the most popular type of control at intersections in urban areas. Study of the elements of this type of control is vital to reduce accident rate, improve performance, and decrease delay. Yellow period is one of the parameters which has influence in performance of these type ofintersections specially accident rate. At the indication of yellow interval, when drivers approach a signalized intersection, they need either to proceed and cross the intersection or stop safely before the stop line. The objective of this study is to identify significant factors that impact driver’s decision at yellow interval in dilemma zone. Data was collected using questionnaire survey and video recording technique at two signalized intersections in Duhok city for the period of peak and off-peak hours. Assessing the effects of influential factors including vehicle speed, distance to the stop line and vehicle type on driver behavior has been achieved through observations of trends from graphs and statistical analyses using Logistic regression. Results of questionnaire survey indicate that the younger drivers of (18-30) years are more aggressive and end up running a red light. Moreover, the results of trend analysis showed that number of drivers who run the yellow decreases as the distances to stop line increases and dilemma zone at peak hours are located nearer to the stop line as compared to off peak hours. The lower green time to cycle time ratio in four leg intersection increased the probability of crossing the intersection instead to wait for another green period. Results of all three parts show that both the vehicle speed and distance to the stop line are significant factors affecting driver decision.

Resolving cargo-motor-track interactions with bifocal parallax single-particle tracking

Resolving coordinated biomolecular interactions in living cellular environments is vital for understanding the mechanisms of molecular nanomachines. The conventional approach relies on localizing and tracking target biomolecules and/or subcellular organelles labeled with imaging probes. However, it is challenging to gain information on rotational dynamics, which can be more indicative of the work done by molecular motors and their dynamic binding status. Herein, a bifocal parallax single-particle tracking method using half-plane point spread functions has been developed to resolve the full-range azimuth angle (0–360°), polar angle, and three-dimensional (3D) displacement in real time under complex living cell conditions. Using this method, quantitative rotational and translational motion of the cargo in a 3D cell cytoskeleton was obtained. Not only were well-known active intracellular transport and free diffusion observed, but new interactions (tight attachment and tethered rotation) were also discovered for better interpretation of the dynamics of cargo-motor-track interactions at various types of microtubule intersections.

Converging near-elliptic shock waves

Abstract

Distracted mobile device use among street-crossing college student pedestrians: an observational approach

Objective To estimate the incidence of mobile device use among street-crossing pedestrians and explore differences by sex and intersection type at a large public South-eastern university in the United States. Participants All instances of campus pedestrians crossing the street during the observation period (N = 4,878). Methods Video recordings of crosswalk activity at four locations were analyzed for pedestrian use of a mobile device while crossing. Results Device use while crossing was observed 1,201 (24.6%) times. Of male crossing instances, 277 (16.8%) were coded as using a device. Of female instances, 924 (28.6%) were coded as using a device. Differences in device use while crossing were found between sexes and some intersection types. Conclusions This study estimates mobile device use while crossing the street and suggests differences by sex and intersection type. Future research should focus on improving understanding of the problem and evaluation of interventions to address the issue.

Resolution as intersection subtyping via Modus Ponens

Resolution and subtyping are two common mechanisms in programming languages. Resolution is used by features such as type classes or Scala-style implicits to synthesize values automatically from contextual type information. Subtyping is commonly used to automatically convert the type of a value into another compatible type. So far the two mechanisms have been considered independently of each other. This paper shows that, with a small extension, subtyping with intersection types can subsume resolution. This has three main consequences. Firstly, resolution does not need to be implemented as a separate mechanism. Secondly, the interaction between resolution and subtyping becomes apparent. Finally, the integration of resolution into subtyping enables first-class (implicit) environments. The extension that recovers the power of resolution via subtyping is the modus ponens rule of propositional logic. While it is easily added to declarative subtyping, significant care needs to be taken to retain desirable properties, such as transitivity and decidability of algorithmic subtyping, and coherence. To materialize these ideas we develop λiMP, a calculus that extends a iprevious calculus with disjoint intersection types, and develop its metatheory in the Coq theorem prover.

TRAFFIC CONFLICT IDENTIFICATION OF E-BIKES AT SIGNALIZED INTERSECTIONS

The increase of e-bikes has raised traffic conflict concerns over past decade. Numerous conflict indicators are applied to measure traffic conflicts by detecting differences in temporal or spatial proximity between users. However, for traffic environment with plenty of e-bikes, these separate space-time approaching indicators may not be applicable. Thus, this study aims to propose a multi-variable conflict indicator and build a conflict identification method for e-bikes moving in the same direction. In particular, by analysing the conflict characteristics from e-bikes trajectories, a multi-variable conflict indicator utilizing change of forecast post encroachment time, change of relative speed and change of distance is derived. Mathematical statistics and cluster discriminant analyses are applied to identify types of conflict, including conflict existence identification and conflict severity identification. The experimental results show: in mixed traffic environments with many e-bikes, compared with time-to-collision and deceleration, accuracy of identifying e-bike conflict types based on proposed method is the highest and can reach more than 90%; that is, multi-variable indicator based on time and space are more suitable for identifying e-bike conflicts than separate space-time approaching indicators. Furthermore, setting of dividing strip between motor vehicle and non-motorized vehicle has significant influence on number and change trend of conflict types. The proposed method can not only provide a theoretical basis and technical support for automated conflict detection in mixed transportation, but also give the safety optimization sequence of e-bikes at different types of intersections.

Identifying safe intersection design through unsupervised feature extraction from satellite imagery

AbstractThe World Health Organization has listed the design of safer intersections as a key intervention to reduce global road trauma. This article presents the first study to systematically analyze the design of all intersections in a large country, based on aerial imagery and deep learning. Approximately 900,000 satellite images were downloaded for all intersections in Australia and customized computer vision techniques emphasized the road infrastructure. A deep autoencoder extracted high‐level features, including the intersection's type, size, shape, lane markings, and complexity, which were used to cluster similar designs. An Australian telematics data set linked infrastructure design to driving behaviors captured during 66 million kilometers of driving. This showed more frequent hard acceleration events (per vehicle) at four‐ than three‐way intersections, relatively low hard deceleration frequencies at T‐intersections, and consistently low average speeds on roundabouts. Overall, domain‐specific feature extraction enabled the identification of infrastructure improvements that could result in safer driving behaviors, potentially reducing road trauma.

Multi-criteria decision-based safety evaluation using microsimulation

The choice of intersection type in a road network is one of the most important decisions to be made in transportation engineering. Capacity and level of service are the two main factors considered in the type of intersection design, but safety and economy should also be taken into account when determining the intersection type since these are equally important. A number of parameters can be used to evaluate the performance of an intersection, including travel time, average delay, queue length, fuel consumption and vehicle exhaust emissions. Adding safety and construction costs to these parameters makes decision-making more difficult. In this study, the analytic hierarchy process (AHP) was used as a multi-criteria decision approach to overcome this problem. Three intersection types were modelled and tested using Vissim software in line with the above parameters. An AHP model was then generated using the Vissim results and the AHP results and applicability were analysed.

Multimodal interaction-aware motion prediction for autonomous street crossing

For mobile robots navigating on sidewalks, the ability to safely cross street intersections is essential. Most existing approaches rely on the recognition of the traffic light signal to make an informed crossing decision. Although these approaches have been crucial enablers for urban navigation, the capabilities of robots employing such approaches are still limited to navigating only on streets that contain signalized intersections. In this article, we address this challenge and propose a multimodal convolutional neural network framework to predict the safety of a street intersection for crossing. Our architecture consists of two subnetworks: an interaction-aware trajectory estimation stream (interaction-aware temporal convolutional neural network (IA-TCNN)), that predicts the future states of all observed traffic participants in the scene; and a traffic light recognition stream AtteNet. Our IA-TCNN utilizes dilated causal convolutions to model the behavior of all the observable dynamic agents in the scene without explicitly assigning priorities to the interactions among them, whereas AtteNet utilizes squeeze-excitation blocks to learn a content-aware mechanism for selecting the relevant features from the data, thereby improving the noise robustness. Learned representations from the traffic light recognition stream are fused with the estimated trajectories from the motion prediction stream to learn the crossing decision. Incorporating the uncertainty information from both modules enables our architecture to learn a likelihood function that is robust to noise and mispredictions from either subnetworks. Simultaneously, by learning to estimate motion trajectories of the surrounding traffic participants and incorporating knowledge of the traffic light signal, our network learns a robust crossing procedure that is invariant to the type of street intersection. Furthermore, we extend our previously introduced Freiburg Street Crossing dataset with sequences captured at multiple intersections of varying types, demonstrating complex interactions among the traffic participants as well as various lighting and weather conditions. We perform comprehensive experimental evaluations on public datasets as well as our Freiburg Street Crossing dataset, which demonstrate that our network achieves state-of-the-art performance for each of the subtasks, as well as for the crossing safety prediction. Moreover, we deploy the proposed architectural framework on a robotic platform and conduct real-world experiments that demonstrate the suitability of the approach for real-time deployment and robustness to various environments.

Coordinated Control Method for Trams on Urban Arterial

To improve the operation efficiency of the trams on the arterial, a green-wave coordinated control scheduling method for trams at intersections is proposed. The influence of the tram on the green wave programming model is analyzed, and the calculation formula of the intersection distance in the programming model is amended. Tram priority signal control system is introduced, including the absolute priority and the relative priority. Combined with these two priority schemes, according to the type of intersection and the time when the tram arrives at the intersection, the tram priority control strategy is designed. Then the position of the tram detector is studied. According to the regularity of tram’s operation, the appropriate interval between the departure times of trams is proposed to prevent multiple trams arriving within the same traffic signal period. Finally, the microscopic traffic simulation software VISSIM is used to establish the coordination control model of the tram line in Huaian city, in order to validate the proposed method.