Three-dimensional Road Research Articles

Curved-ribbon-based track modelling for minimum lap-time optimisation

Three-dimensional road models for vehicular minimum-lap-time manoeuvring are typically based on curvilinear coordinates and generalizations of the Frenet–Serret formulae. These models describe the road as a parametrized ‘ribbon’, which can be described in terms of three curvature variables. In this abstraction the road is assumed laterally flat. While this class of road models is appropriate in many situations, this is not always the case. In this research we extend the laterally-flat ribbon-type road model to include lateral curvature. This accommodates the case in which the road camber can change laterally across the track. Lateral-position-dependent camber is introduced as a generalisation that is required for some race tracks. A race track model with lateral curvature is constructed using high-resolution LiDAR measurement data. These ideas are demonstrated on a NASCAR raceway, which is characterized by large changes in lateral camber angle (approx 10^circ) on some parts of the track. A free-trajectory optimization is employed to solve a minimum-lap-time optimal control problem. The calculations highlight the practically observed importance of lateral camber variations.

Road Pavement Information Modeling through Maintenance Scenario Evaluation

Road maintenance operations involve the preservation of the optimal functionality of the pavement. Sometimes the rehabilitation of the pavement layout does not have long lasting effects due to a lack of compliance with the constraints imposed by the technical specifications for the design of materials. The purpose of this paper is to present an efficient BIM tool to help in road maintenance operations through the management of data arising from laboratory testing of road pavement bituminous materials required for the quality control of mixtures. The database associated to the BIM model is a collection of three years of data derived from laboratory investigation on bituminous mixtures’ samples adopted for the maintenance of four main roads located in southern Italy. An algorithm that interacts with the three-dimensional road model has been implemented in order to give road administrations an easy-to-read alert signal for the road pavement structure of the road network that may present the most critical conditions due to poor mechanical and physical features.

Minimum-lap-time optimisation and simulation

The paper begins with a survey of advances in state-of-the-art minimum-time simulation for road vehicles. The techniques covered include both quasi-steady-state and transient vehicle models, which are combined with trajectories that are either pre-assigned or free to be optimised. The fundamentals of nonlinear optimal control are summarised. These fundamentals are the basis of most of the vehicular optimal control methodologies and solution procedures reported in the literature. The key features of three-dimensional road modelling, vehicle positioning and vehicle modelling are also summarised with a focus on recent developments. Both cars and motorcycles are considered.

Can Three-Dimensional Rotational Angiography Road Map be used for Individualized Guidance of Uterine Artery Catheterization as in Intracranial Arteries Intervention?

It is widely accepted that Uterine Artery (UA) Embolization (UAE) is an effective, minimally invasive therapeutic strategy for symptomatic uterine fibroids and PPH of various causes along with conventional surgical treatment of hysterectomy and myomectomy. Also it is an effective interventional procedure for the treatment of uterine vascular malformations, pregnancy incisions, denomyosis and cervical cancer with bleeding.

Study on Application of Solar Energy in Highway

In recent years, the construction of large-scale electromechanical facilities and smart roads in the highway network has not only improved the level of operation safety but also generated a huge demand for electric energy, the highway transportation industry has become one of the key energy consumption industries second only to industry and construction. Solar energy has become a kind of green energy that has attracted more and more attention among various new energy sources due to its energy-saving, clean, zero-emission, wide-ranging and safe characteristics. This paper analyzes the distribution of solar photovoltaic resources in China’s highway network; puts forward the solar energy three-dimensional clean energy supply network technology which is suitable for highway scene, fully relying on and optimize the use of road network linear areas such as road surface space, three-dimensional space along the road to develop solar photovoltaic resources. Solar-powered roads, solar photovoltaic slopes, photovoltaic sound barriers, photovoltaic isolation barriers, etc. can be developed along the line, so as to build a three-dimensional road solar clean energy network that combines “points, lines and sections”, so that green and clean energy can be provided to a large number of electricity facilities and equipment along the highway, as well as to surrounding cities and villages, making the highway become the transport network carrying the flow of people and logistics, vehicle-road cooperative intelligent information network and clean energy supply network.

A Research on the Japanese Three-Dimensional Road System for Three-Dimensional Development of Road Space

A Research on the Japanese Three-Dimensional Road System for Three-Dimensional Development of Road Space

Integrating three-dimensional road design and pavement structure analysis based on BIM

While many studies have investigated the application of BIM in helping the integration of architectural, construction or manufacturing projects, however, it has been barely used in road engineering due to the lack of pavement structure analysis in the present Road-BIM products. The aim of this research is to develop a framework for the integration of BIM and structure verification to improve the application of BIM in road engineering and thus reduce the mistake and repetition in pavement design. Relying on the capabilities of Dynamo, a three-dimensional road model with pavement controllable parameters was first established. Successful implementation of this step can facilitate the designer with more flexible and convenient needs in design process. Secondly, a subroutine is developed based on Python to combine Dynamo with the Mechanistic-Empirical Pavement Design Guide (MEPDG) which provides the pavement structure analysis. As a response to long-term development between BIM and road engineering, this paper contributes by offering innovative and practical solutions for integration of road design and pavement analysis, which effectively solves the long-existing defect that the pavement structure cannot be analyzed in the environment of BIM, and thus, will significantly promote the further application of BIM technology in the road industry.

Heating performance enhancement for a road unit by using sectorial-finned pipe

This study proposes a sectorial-finned pipe in the hydronic road heating system with a three-dimensional road model to enhance the road heating performance. Three primary fin parameters, including sectorial fin angle, height, and spacing, were analyzed. The range analysis and ANOVA (analysis of variance) of the final average road surface temperature (Tasf), the maximum temperature difference of road surface (Tds), and the overall utility (Ut) were conducted through the orthogonal test method. The results showed that compared with the bare pipe, Tasf and Tds of the finned pipe increased by 0.63–1.37 K and 0.27–0.66 K, respectively, and ts0 of the finned pipe decreased by 0.22–0.44 h when the fin parameters were changed in specific ranges at the average air temperature of 258.15 K. The fin angle of 210° had the most suitable performances for road heating in terms of the thermal and economic targets. The range analysis revealed that the ranks of influence degree for Tasf, Tds, and Ut were height > spacing > angle, height > spacing > angle, and angle > spacing > height, respectively. ANOVA indicated that the parameters of height, spacing, and angle contributed Tasf in proportions of 80.56%, 10.25%, and 9.19%, those contributed Tds in proportions of 98.58%, 1.29%, and 0.13%, and those contributed Ut in proportions of 60.06%, 36.20%, and 3.74%, respectively. The optimum parameter combination for Ut was 210°, 20 mm, and 45 mm for the fin angle, height, and spacing, respectively. The results can provide a good guide for the design of sectorial-finned pipes in the hydronic road heating system.

AUTOMATIC ROAD STRUCTURE DETECTION AND VECTORIZATION USING MLS POINT CLOUDS

Abstract. Accurate three-dimensional road structures and models are of great significance to intelligent transportation applications, such as vehicle navigation, inventory evaluation, construction quality control, self-driving vehicles and so on. This paper proposes an efficient and robust method to automatically extract structured road curbs from mobile laser scanning (MLS) data. The proposed method mainly consists of three steps: efficient supervoxel generation, road curbs detection and driving free space estimation. First, supervoxels are generated by assigning ground points with similar geometrical characteristics into the same group. Second, supervoxels with higher local projection density and height difference are identified and clustered as initial road curbs, which are continuous vertical curb facets. The continuous facades consisting of lots of scanned points on the road shoulder can be modeled as multi-dimensional boundary models depending on the requirements of the application, such as vector lines with or without height, micro-facades, etc. Finally, driving free space is obtained due to the road limits can be defined by road boundary in most scenarios. The proposed method is tested on two complex datasets acquired by an Alpha3D mobile laser scanning system from the urban area of Shanghai, China. Experimental results show that the road boundaries and driving free space can be accurately and efficiently extracted, which also demonstrates the superiority of the proposed method.

APPLICATION RESEARCH OF LOD TECHNOLOGY AND THE SHORTEST PATH ALGORITHM IN TRAFIC GEOGRAPHIC INFORMATION SYSTEM

Abstract. 3D visualization theory and technology has become a new research topic in the field of GIS and digital mapping. Based on a brief analysis of the development status of 3D GIS at home and abroad, this paper introduces the key technologies such as LOD technology and shortest path algorithm commonly used in traffic 3D GIS. The three-dimensional visualization technology in the application of traffic in the field of three-dimensional road network generation, vehicle navigation, simulation driving, etc., the analysis and summary of the vehicle collision model based on driving vehicles to detect road conditions and issue vehicle driving operation instructions, to some extent The simulated driving of the vehicle is realized. Based on the actual 3D geographic information platform, the fusion processing and 3D display of different precision terrain data are realized, and the function modules such as vehicle navigation and simulation driving are developed. The initial practice of LOD technology and shortest path algorithm in traffic 3D information system application was carried out.

Launching dynamic analysis for tank on the move based on dynamic simulation

Achieving high firing accuracy of tank on the move is challenging. For improving firing accuracy, better understanding launching dynamic behavior of tank firing on the move is required. This study established a rigid-flexible coupling dynamic model of tank firing on the move. Thereinto, the barrel flexibility was considered based on the FFlex body technology, and the contact-impact algorithm was used to describe the projectile-barrel interaction. With the sinusoid superposition method, a three-dimensional road surface spectrum file considering the coherence of left and right tracks was created. Based on the results obtained in simulation, this study discussed the dynamic behaviors of a tank gun system such as the barrel curvature and the influence of projectile-barrel interaction on firing accuracy of tank firing on the move, in which the factors including projectile type, driving speed and road roughness were taken into consideration. The results indicated that the barrel curvature and the muzzle vibration do not increase simply with the increase of road roughness and driving speed as common sense.

利用激光雷达点云生成城市级三维道路地图

利用激光雷达点云生成城市级三维道路地图

ROAD SURFACE DETECTION FROM MOBILE LIDAR DATA

Abstract. The accurate three-dimensional road surface information is highly useful for health assessment and maintenance of roads. It is basic information for further analysis in several applications including road surface settlement, pavement condition assessment and slope collapse. Mobile LiDAR system (MLS) is frequently used now a days to collect detail road surface and its surrounding information in terms three-dimensional (3D) point cloud. Extraction of road surface from volumetric point cloud data is still in infancy stage because of heavy data processing requirement and the complexity in the road environment. The extraction of roads especially rural road, where road-curb is not present is very tedious job especially in Indian roadway settings. Only a few studies are available, and none for Indian roads, in the literature for rural road detection. The limitations of existing studies are in terms of their lower accuracy, very slow speed of data processing and detection of other objects having similar characteristics as the road surface. A fast and accurate method is proposed for LiDAR data points of road surface detection, keeping in mind the essence of road surface extraction especially for Indian rural roads. The Mobile LiDAR data in XYZI format is used as input in the proposed method. First square gridding is performed and ground points are roughly extracted. Then planar surface detection using mathematical framework of principal component analysis (PCA) is performed and further road surface points are detected using similarity in intensity and height difference of road surface pointe in their neighbourhood.A case study was performed on the MLS data points captured along wide-street (two-lane road without curb) of 156 m length along rural roadway site in the outskirt of Bengaluru city (South-West of India). The proposed algorithm was implemented on the MLS data of test site and its performance was evaluated it terms of recall, precision and overall accuracy that were 95.27%, 98.85% and 94.23%, respectively. The algorithm was found computationally time efficient. A 7.6 million MLS data points of size 27.1 MB from test site were processed in 24 minutes using the available computational resources. The proposed method is found to work even for worst case scenarios, i.e., complex road environments and rural roads, where road boundary is not clear and generally merged with road-side features.

Rollover threshold investigation of a heavy-duty vehicle during cornering based on multi-body dynamics

The objective of this article is to investigate the rollover threshold of a heavy-duty vehicle during cornering. Based on the multi-body dynamics theory, a high-fidelity model is established, which takes account of the chassis flexibility, the suspension nonlinear characteristics, the tire handling model, and Ackermann steering strategy. Furthermore, by the inverse fast Fourier transform method, a three-dimensional stochastic road in space domain is employed in the model to improve the accuracy. A full-size heavy-duty vehicle test was carried out to validate the model. Based on the validated model, the rollover stability and rollover threshold of the heavy-duty vehicle during cornering are investigated. Lateral acceleration, yaw rate, roll angle, and vehicle torsional deflection in different cornering conditions are analyzed. The rollover threshold is summarized by the response surface methodology for the safe cornering purpose. The result shows the practical meaning of improving transportation safety of heavy-duty vehicles and also provides useful insights for developing the rollover warning system.

A Study on the Improvement Plan of the Urban Area Using the Three-Dimensional Road System -Focus on Shinbashi·Toranomon area in Japan-

A Study on the Improvement Plan of the Urban Area Using the Three-Dimensional Road System -Focus on Shinbashi·Toranomon area in Japan-

Development of a Change Detection Method with Low-Performance Point Cloud Data for Updating Three-Dimensional Road Maps

Three-dimensional (3D) road maps have garnered significant attention recently because of applications such as autonomous driving. For 3D road maps to remain accurate and up-to-date, an appropriate updating method is crucial. However, there are currently no updating methods with both satisfactorily high frequency and accuracy. An effective strategy would be to frequently acquire point clouds from regular vehicles, and then take detailed measurements only where necessary. However, there are three challenges when using data from regular vehicles. First, the accuracy and density of the points are comparatively low. Second, the measurement ranges vary for different measurements. Third, tentative changes such as pedestrians must be discriminated from real changes. The method proposed in this paper consists of registration and change detection methods. We first prepare the synthetic data obtained from regular vehicles using mobile mapping system data as a base reference. We then apply our proposed change detection method, in which the occupancy grid method is integrated with Dempster–Shafer theory to deal with occlusions and tentative changes. The results show that the proposed method can detect road environment changes, and it is easy to find changed parts through visualization. The work contributes towards sustainable updates and applications of 3D road maps.

ISED: Constructing a high-resolution elevation road dataset from massive, low-quality in-situ observations derived from geosocial fitness tracking data

Gaining access to inexpensive, high-resolution, up-to-date, three-dimensional road network data is a top priority beyond research, as such data would fuel applications in industry, governments, and the broader public alike. Road network data are openly available via user-generated content such as OpenStreetMap (OSM) but lack the resolution required for many tasks, e.g., emergency management. More importantly, however, few publicly available data offer information on elevation and slope. For most parts of the world, up-to-date digital elevation products with a resolution of less than 10 meters are a distant dream and, if available, those datasets have to be matched to the road network through an error-prone process. In this paper we present a radically different approach by deriving road network elevation data from massive amounts of in-situ observations extracted from user-contributed data from an online social fitness tracking application. While each individual observation may be of low-quality in terms of resolution and accuracy, taken together they form an accurate, high-resolution, up-to-date, three-dimensional road network that excels where other technologies such as LiDAR fail, e.g., in case of overpasses, overhangs, and so forth. In fact, the 1m spatial resolution dataset created in this research based on 350 million individual 3D location fixes has an RMSE of approximately 3.11m compared to a LiDAR-based ground-truth and can be used to enhance existing road network datasets where individual elevation fixes differ by up to 60m. In contrast, using interpolated data from the National Elevation Dataset (NED) results in 4.75m RMSE compared to the base line. We utilize Linked Data technologies to integrate the proposed high-resolution dataset with OpenStreetMap road geometries without requiring any changes to the OSM data model.

Influence of Road Excitation and Steering Wheel Input on Vehicle System Dynamic Responses

Considering the importance of increasing driving safety, the study of safety is a popular and critical topic of research in the vehicle industry. Vehicle roll behavior with sudden steering input is a main source of untripped rollover. However, previous research has seldom considered road excitation and its coupled effect on vehicle lateral response when focusing on lateral and vertical dynamics. To address this issue, a novel method was used to evaluate effects of varying road level and steering wheel input on vehicle roll behavior. Then, a 9 degree of freedom (9-DOF) full-car roll nonlinear model including vertical and lateral dynamics was developed to study vehicle roll dynamics with or without of road excitation. Based on a 6-DOF half-car roll model and 9-DOF full-car nonlinear model, relationship between three-dimensional (3-D) road excitation and various steering wheel inputs on vehicle roll performance was studied. Finally, an E-Class (SUV) level car model in CARSIM® was used, as a benchmark, with and without road input conditions. Both half-car and full-car models were analyzed under steering wheel inputs of 5°, 10° and 15°. Simulation results showed that the half-car model considering road input was found to have a maximum accuracy of 65%. Whereas, the full-car model had a minimum accuracy of 85%, which was significantly higher compared to the half-car model under the same scenario.

An Artificial Intelligence-Based Vehicular System Simulator

This paper presents a vehicular system simulator, which enables the human player to race a car against three system-controlled cars in a three-dimensional road system. The objective of the vehicular system simulator is not to support defeating the opponent in a car race, but to provide the player with a challenging and enjoyable racing experience. Therefore, it is important that the system simulates human driving behavior and adopts cognitive computing. The paper discusses development of the vehicular system simulator using the artificial intelligence (AI) techniques that are supported in the game engine of Unity. The design and implementation of the vehicular system simulator are presented. The discussion includes some possible extensions of the current version of the system so that it can be adapted to be a simulation system for education purposes

Low-Cost and Accurate 3D Road Modeling Using Mobile Phone

This paper studies the feasibility of using mobile phone to achieve low-cost and accurate three-dimensional (3D) road modeling, which provides nutritious supplement to current digital map. Instead of using expensive tools, our method only needs a mobile phone fixed on a moving vehicle. Road surface variation, reflected by vehicle dynamic state, is captured by sensors in the mobile phone.The road in 3D is reproduced by combining sensing data from accelerometer, magnetometer, gyroscope, and GPS trace. Several compensation and calibration techniques are developed to improve modeling accuracy based on the systematic study of sensor error properties. A learning step is used to automatically unify the user dependent factors to avoid manual adjustment. We evaluate our method on a 2 km real road. Compared with the field measured baseline, it successfully generates a fine-grained 3D road model with maximum height error less than 4 m and 90 degree slope angle error less than 2 degrees.