研究者詳細 - 中村　英樹

Investigating the Efficiency and Safety of Signalized Intersections Under Mixed Flow Conditions of Autonomous and Human-Driven Vehicles

Pan Ang, Zhang Xin, Nakamura Hideki, Alhajyaseen Wael

ARABIAN JOURNAL FOR SCIENCE AND ENGINEERING 45 巻 ( 10 ) 頁： 8607 - 8618 2020年10月

記述言語：日本語掲載種別：研究論文（学術雑誌）出版者・発行元：Arabian Journal for Science and Engineering

Field experiments of autonomous driving systems have already been started in several countries around the world. However, investigations on the performance of signalized intersections under the mixed flow condition of autonomous vehicle (AV) and human-driven vehicle (HDV) are still very limited, especially in terms of considering the interaction between vehicles. This study aims at developing a methodology to evaluate the efficiency and safety performance of signalized intersections under the conditions of AV mixed flows. If AVs are set aggressively such as small critical gap acceptance thresholds, approach capacity of signalized intersections may increase. However, the aggressive driving maneuver and the misjudgment by human drivers to AV may lead to some potential safety risks. On the other hand, if AVs are set conservatively to ensure large safety margins, for example by setting large critical gap thresholds or a longer following headway, a significant drop in the capacity is expected while the safety improvements may not be insured since extra delays will be imposed on HDVs which may induce risky behavior. This study finds that AVs with either excessively aggressive or conservative settings will lead to waste of capacity or potential safety hazard. AVs with aggressive settings will enable them to accept a short gap or lag, while AVs with conservative settings will increase the waiting time of the following HDVs, which may induce aggressive driving behavior. Both types of AV settings may contribute to safety risks represented by short time-to-collision and short post encroachment time.

DOI： 10.1007/s13369-020-04810-1

Initial comparative analysis of international practice in road traffic signal control

Tang K.

Global Practices on Road Traffic Signal Control: Fixed-Time Control at Isolated Intersections 頁： 285 - 310 2019年1月

Principles of road traffic signal control

Boltze M.

Global Practices on Road Traffic Signal Control: Fixed-Time Control at Isolated Intersections 頁： 7 - 17 2019年1月

Japan

Nakamura H.

Global Practices on Road Traffic Signal Control: Fixed-Time Control at Isolated Intersections 頁： 163 - 184 2019年1月

An Analysis of Heavy Vehicle Impact on Roundabout Entry Capacity in Japan

Kang Nan, Nakamura Hideki

INTERNATIONAL SYMPOSIUM ON ENHANCING HIGHWAY PERFORMANCE (ISEHP), (7TH INTERNATIONAL SYMPOSIUM ON HIGHWAY CAPACITY AND QUALITY OF SERVICE, 3RD INTERNATIONAL SYMPOSIUM ON FREEWAY AND TOLLWAY OPERATIONS) 15 巻頁： 308 - 318 2016年

記述言語：日本語出版者・発行元：Transportation Research Procedia

Impact of heavy vehicles on roundabout entry capacity is generally considered through a heavy vehicle adjustment factor fHV which is calculated by heavy vehicle percentage and passenger car equivalent (PCE hereafter) value. The PCE value of trucks is generally set as 2.0 and estimated based on several considerations such as entry capacity and move-up time. All of these considerations are influenced by local driver behavior and geometry conditions. Thus, this paper aims to estimate entry capacity considering the characteristics of heavy vehicle behavior in Japan by microscopic simulation. Then based on the simulation results, the PCE value is also examined. Through the simulation study it is found that entry capacity is reduced when heavy vehicle percentage increases. Moreover, estimated PCE results show that the PCE value of entry flow increases when circulating flow increases but decreases when circulating flow is in high level. Also it is found that PCE of entry flow is lower than that of circulating flow which has priority at roundabouts.

DOI： 10.1016/j.trpro.2016.06.026

Functionally Hierarchical Road Classification Considering the Area Characteristics for the Performance-oriented Road Planning

Goto Azusa, Nakamura Hideki

記述言語：日本語出版者・発行元：Transportation Research Procedia

This study aims to find out the necessary target travel speeds of roads in functionally hierarchical network which can achieve the target travel times for connecting centers with five different functions, considering the distribution of centers in the subjective area. In this paper, hierarchical road classification scenarios which consists of target travel speeds and road spacings are developed for differentiating road functions. Then travel times under the certain scenario are numerically calculated by an approximate method. Here, the calculation is based on a combination of hypothetical grid network and the actual motorway network. Finally, an application study of Tokaido region in Japan and southwest region in Germany demonstrated the impact of hierarchical road classification scenario on the achievement of the target travel time between centers in different categories.

DOI： 10.1016/j.trpro.2016.06.061

An Estimation Method of Roundabout Entry Capacity Considering Pedestrian Impact

Kang Nan, Nakamura Hideki

9TH INTERNATIONAL CONFERENCE ON TRAFFIC AND TRANSPORTATION STUDIES (ICTTS 2014) 138 巻頁： 460 - 469 2014年

A Modified Social Force Model for Pedestrian Behavior Simulation at Signalized Crosswalks

Zeng Weiliang, Nakamura Hideki, Chen Peng

9TH INTERNATIONAL CONFERENCE ON TRAFFIC AND TRANSPORTATION STUDIES (ICTTS 2014) 138 巻頁： 521 - 530 2014年

Lane Utilization Analysis of Shared Left-turn Lane Based on Saturation Flow Rate Modeling

Chen Peng, Nakamura Hideki, Asano Miho

8TH INTERNATIONAL CONFERENCE ON TRAFFIC AND TRANSPORTATION STUDIES (ICTTS) 43 巻頁： 178 - 191 2012年

道路利用特性指標を用いた道路ネットワークの機能階層性の評価手法

関原敏裕, 柿元祐史, 中村英樹, 井料美帆, 張馨

交通工学論文集 9 巻 ( 2 ) 頁： A_69 - A_78 2023年2月

記述言語：日本語出版者・発行元：一般社団法人交通工学研究会

道路ネットワークが概成したわが国において、依然として発生している道路交通問題の解決策の一つとして、機能階層型道路ネットワークの考え方が重要である。本研究では、道路ネットワークがどの程度機能階層的に利用されるかを評価する方法について提案する。3つの階層を設定した仮想道路ネットワークにおいて、自由走行時を対象とした最短経路探索を行い、トリップ長と階層利用に基づく道路利用特性指標を算出する。この指標値から想定される道路ネットワークの利用状態を基に、その機能階層性を4段階で評価する方法を提案した。そして、岐阜南部と静岡西部の道路ネットワークを対象としてケーススタディを行った。その結果、現状では機能階層性に関する評価は低く、これを向上するためには、中位階層の道路整備が必要であることが明らかとなった。

DOI： 10.14954/jste.9.2_a_69

道路ネットワークの機能階層性と道路構造条件との関連分析

富永真弘, 柿元祐史, 中村英樹, 関原敏裕

交通工学論文集 9 巻 ( 2 ) 頁： A_35 - A_43 2023年2月

記述言語：日本語出版者・発行元：一般社団法人交通工学研究会

これまでの堅実な整備により日本の道路ネットワークは概成しつつあるが、道路ネットワークを構成する各道路の交通機能の性能の考慮が必ずしも十分でなく、幹線道路での低い旅行速度や生活道路での抜け道利用といった問題が残されている。このため、各道路が目指すべき交通機能に応じて階層的に利用されているかといった機能階層性の観点から、道路ネットワークを見直す必要がある。そこで本研究は、道路計画設計の専門家に対するアンケート調査によって、機能階層性に影響を与える要因を明らかにすることを目的とする。調査の結果、機能階層性にはトリップ長、旅行速度に関する条件が相互に影響することを確認し、それらの組合せによって機能階層性を評価する必要性を明らかにした。

DOI： 10.14954/jste.9.2_a_35

国内外の幹線道路における閑散時旅行速度差の要因分析

稲本雄一, 張馨, 中村英樹

交通工学研究発表会論文集 43 巻 ( 0 ) 頁： 403 - 410 2023年

記述言語：日本語出版者・発行元：一般社団法人交通工学研究会

近年、日本の道路ネットワークは概成しつつあるものの、道路の旅行速度は諸外国に対して低い水準にあると言われている。このため、交通量の影響が小さい状態での旅行速度を国内外で比較し、旅行速度差の要因となっている道路構造、交通運用を明らかにすることは重要である。昨今ではGoogle Mapsによる位置情報や航空写真の収集と公開により、世界各国の旅行速度や道路構造を簡便に把握できるようになりつつある。そこで本稿では、Google Mapsを用いて、日本、アメリカ、ドイツの閑散時旅行速度を比較し、それらの差の要因を分析することを目的とする。分析の結果、日本の閑散時旅行速度はアメリカやドイツに対して低く、その要因として、信号交差点密度の差や規制速度の設定基準の違いが挙げられることを定量的に明らかにした。

DOI： 10.14954/jsteproceeding.43.0_403

Defensive or competitive Autonomous Vehicles: Which one interacts safely and efficiently with pedestrians?

Zhu H., Alhajyaseen W., Iryo-Asano M., Nakamura H., Dias C.

Physica A: Statistical Mechanics and its Applications 606 巻 2022年11月

出版者・発行元：Physica A: Statistical Mechanics and its Applications

The emergence of Autonomous Vehicles (AVs) could provoke unexpected challenges in urban traffic environments. One such crucial challenge is the conflicts between pedestrians and AVs, particularly on unsignalized mid-block crosswalks (UMC), where pedestrians are exposed to the AV flow. This study investigates the efficiency and safety performance of a UMC in the presence of both AVs and pedestrians considering the diversities in their behaviors. Through empirical analyses, two pedestrians’ crossing decision models are built and four groups of speed profiles are classified. Meanwhile, based on previous literature, defensive and competitive driving strategies are assumed for AVs. The simulation is implemented on an agent-based framework that can dynamically reproduce the kinematic interactions between pedestrians and vehicles. Results indicated that with a reasonable safety margin (2.5 s), percentages of low post encroachment time events for competitive AVs with different pedestrian types are smaller than defensive AVs with differences of 0.2% to 2.9%. The average delays of competitive AVs for all pedestrian types are smaller than defensive AVs with a maximum estimated difference of 39 s. Moreover, the analysis showed that lowering the speed limit may reduce the crash rate of competitive AV up to 0%. It is also found that the pedestrians who make reckless crossing decisions and change their speed drastically during the crossing process are more likely to incur crashes with competitive AVs. Therefore, if pedestrian behaviors can be regulated reasonably, competitive AVs with appropriate parameter settings are most suitable for UMC in the future.

DOI： 10.1016/j.physa.2022.128083

Can automated driving prevent crashes with distracted Pedestrians? An exploration of motion planning at unsignalized Mid-block crosswalks

Zhu H., Han T., Alhajyaseen W.K.M., Iryo-Asano M., Nakamura H.

Accident Analysis and Prevention 173 巻頁： 106711 2022年8月

記述言語：英語出版者・発行元：Accident Analysis and Prevention

Pedestrian distraction may provoke severe difficulties in automated vehicle (AV) control, which may significantly affect the safety performance of AVs, especially at unsignalized mid-block crosswalks (UMCs). However, there is no available motion-planning model for AVs that considers the effect of pedestrian distraction on UMCs. This study aims to explore innovative approaches for safe and reasonable automated driving in response to distracted pedestrians with various speed profiles at UMCs. Based on two common model design concepts, two new models are established for AVs: a rule-based model that solves motion plans through a fixed calculation procedure incorporating several optimization models, and a learning-based model that replaces the deterministic optimization process with policy-gradient reinforcement learning. The developed models were assessed through simulation experiments in which pedestrian speed profiles were defined using empirical data from field surveys. The results reveal that the learning-based model has outstanding safety performance, whereas the rule-based model leads to remarkable safety problems. For distracted pedestrians with significant crossing-speed changes, rule-based AVs lead to a 5.1% probability of serious conflict and a 1.4% crash probability. The learning-based model is oversensitive to risk and always induces high braking rates, which results in unnecessary efficiency loss. To overcome this, a hybrid model based on the learning-based model was developed, which introduces a rule-based acceleration value to regularize the action space of the proposed learning-based model. The results indicate that the hybrid approach outperforms the other two models in preventing crash hazards from distracted pedestrians by employing appropriate braking behaviors. The high safety performance of the hybrid models can be attributed to the spontaneous slowing down of the vehicle that initiates before detecting pedestrians on UMCs. Although such a cautious driving pattern leads to extra delay, the time cost of the hybrid model is acceptable considering the significant improvements in ensuring pedestrian safety.

DOI： 10.1016/j.aap.2022.106711

Investigating driver reactions to movements of autonomous vehicle in permitted right turn through driving simulator experiments

PubMed

Zhu H., Zhu S., Iryo-Asano M., Nakamura H.

Transportation Research Part F: Traffic Psychology and Behaviour 89 巻頁： 385 - 398 2022年8月

出版者・発行元：Transportation Research Part F: Traffic Psychology and Behaviour

Traffic safety has always been a hot topic for human-driven (HDV) and autonomous vehicles (AV) mixed flow. The conflict between permitted right-turn vehicles (PRT) and opposing through vehicles (TH) at signalized intersections (left-handed traffic) is extraordinarily critical. AVs with aggressive behaviors are able to accept short gap time without losing safety. However, such a turning maneuver may lead to dangerous feelings and cause unexpected reactions of approaching drivers. This study aims to investigate and model drivers’ reactions in TH movements to PRT AVs considering the trust degree of drivers to AVs. Questionnaire surveys and driving simulator experiments were conducted for 41 participants. Results reveal that the right turn timing of PRT AV will significantly influence drivers’ reactions. Basically, TH drivers will brake with a high probability under the situation of small expected post encroachment time (PET). It is also found that female drivers and drivers with low trust in AVs are more vigilant to PRT AVs than other drivers. Based on this finding a two-layer model for reproducing TH drivers’ reactions to PRT AVs is proposed. The first layer is to determine the braking decision and the second layer is to calculate the parameters of braking behaviors (brake lag, braking time, and speed drop). The significance and coefficients variables in these models proved that the trust in AV will influence drivers’ decisions and braking behaviors (brake lag and braking time). The more the drivers trust AVs, the smaller the expected PET to AVs they can accept for passing without braking, and the more gently they will brake (longer brake lag and shorter braking time) due to the cutting in of PRT AVs. This effect will become significant after drivers have experienced several interactions with AVs.

DOI： 10.1016/j.trf.2022.06.018

A novel hierarchical cooperative merging control model of connected and automated vehicles featuring flexible merging positions in system optimization

Tang Z., Zhu H., Zhang X., Iryo-Asano M., Nakamura H.

Transportation Research Part C: Emerging Technologies 138 巻 2022年5月

出版者・発行元：Transportation Research Part C: Emerging Technologies

Merging sections on freeways are typical bottlenecks for traffic efficiency and safety. The connected and automated vehicles (CAV) technology has great capability in improving traffic performance of merging bottlenecks. Current approaches of system optimal cooperative merging control assume single fixed merging point (CMC-SMP) for on-ramp vehicles to reduce the complexity of their models. Non-fixed merging positions have the potential to further improve merging operations but may lead to the computational explosion. To solve this core contradiction, this study proposes a novel hierarchical system optimal cooperative merging control model considering flexible merging positions (CMC-FMP) to realize safe and efficient merging processes. The upper-level – the tactical planning model is formulated as a non-convex mixed integer quadratically constrained programming, aiming at minimal total travel time in the control zone. It optimizes not only the merging sequence but also vehicles’ critical states in merging processes, such as the state of on-ramp vehicles when they merge. The lower-level - the motion planning model generates feasible trajectories and the next step actions for every vehicle. A Monte Carlo Tree Search-based decomposition algorithm (MCTS-DA) is further designed to improve the computational efficiency of the tactical planning model. Meanwhile, solutions of MCTS-DA are proved to have good optimality compared to the direct solving method. A batch-based scheme is developed to realize real-time control. The results reveal that the average delays of CMC-FMP are remarkably lower than those of CMC-SMP. Especially in low on-ramp ratio scenarios, the difference in improvement can reach 64%. Furthermore, the sensitivity analysis indicates that large safe merging margins and short merging sections are disadvantageous for traffic efficiency for the merging flow controlled by CMC-FMP.

DOI： 10.1016/j.trc.2022.103650

実証実験による瓢箪型ラウンドアバウト幾何構造の検討

奥城洋, 吉岡慶祐, 石黒雄紀, 中根武志, 松岡寿章, 首藤貴子, 張馨, 中村英樹, 阿部義典, 神戸信人, 下川澄雄

交通工学論文集 8 巻 ( 4 ) 頁： B_18 - B_25 2022年4月

記述言語：日本語出版者・発行元：一般社団法人交通工学研究会

愛知県豊橋市牧野町における県道と市道の 4 枝無信号交差点は，総流入交通量が約 15,000 台/日と比較的多いが無信号で運用されている．そして，市道が鋭角の食い違い交差となっていることなど，交通安全上の課題を抱えている．その対策案として，瓢箪型ラウンドアバウトの導入が計画されているものの，国内では市街地における導入事例がなく，また，ラウンドアバウトマニュアルにおいても正円でないラウンドアバウトの幾何構造に関する設計の考え方などは記載がない状況である．そこで本研究では，実験フィールドに実物大の仮設ラウンドアバウトを設置し，実証実験を通して瓢箪型ラウンドアバウトの形状を検討した．本稿では，各種実験の概要と分析結果，および望ましいラウンドアバウト形状の検討結果について報告する．

DOI： 10.14954/jste.8.4_b_18

Efficiency and Safety Evaluation of Left-turn Vehicles and Crossing Pedestrians in Signalized Intersections under the Autonomous Vehicle Mixed Flow Condition

Pan, A; Zhang, X; Iryo-Asano, M; Nakamura, H

INTERNATIONAL JOURNAL OF INTELLIGENT TRANSPORTATION SYSTEMS RESEARCH 20 巻 ( 1 ) 頁： 103 - 116 2022年4月

記述言語：日本語出版者・発行元：International Journal of Intelligent Transportation Systems Research

Field experiments of autonomous vehicles (AVs) have been conducted in many countries. However, efficiency evaluation of AV mixed flow and safety evaluation of conflicts between AVs and pedestrians in the real-world case are still limited. This study aims at evaluating the efficiency and safety of left-turn (LT) vehicles and pedestrians in signalized intersections, under the condition of AV mixed flow, by developing a simulation model. Post Encroachment Time (PET) and LT capacity were obtained. Further, gap/lag acceptance behavior and reaction time of LT vehicles were found to be critical parameters that affect efficiency and safety evaluations.

DOI： 10.1007/s13177-021-00276-z

An international comparative study on driving attitudes and behaviors based on questionnaire surveys

Suzuki K., Tang K., Alhajyaseen W., Suzuki K., Nakamura H.

IATSS Research 46 巻 ( 1 ) 頁： 26 - 35 2022年4月

出版者・発行元：IATSS Research

Road traffic crashes (RTCs) are influenced by a driver's awareness and attitude toward road safety, as well as the socio-economic status, infrastructure development level, traffic status, social system, and traffic safety culture of the area to which the driver belongs. In this study, based on the results of a questionnaire survey conducted in seven countries, the characteristics of each country concerning tolerance for traffic violations, dangerous driving, and acceptance for road safety measures were studied. It was suggested that a high tolerance for traffic violations and dangerous driving might affect traffic violations and RTCs in each country. Additionally, to reduce the tolerance for traffic violations and dangerous driving, the promotion of road safety education, especially among young and male drivers, and stricter regulations and enforcement were suggested.

DOI： 10.1016/j.iatssr.2021.10.002