Maps are important for both human and robot navigation. Given a route, drivingassistance systems consult maps to guide human drivers to their destinations. Similarly, topological maps of a road network provide a robotic vehicle with information about where it can drive and what driving behaviors it should use. By providing the necessary information about the driving environment, maps simplify both manual and autonomous driving. The majority of existing cartographic databases are built, using manual surveys and operator interactions, to primarily assist human navigation. Hence, the resolution of existing maps is insufficient for use in robotics applications. Also, the coverage of these maps fails to extend to places where robotics applications require detailed geometric information. To augment the resolution and coverage of existing maps, this thesis investigates computer vision algorithms to automatically build lane-level detailed maps of highways and parking lots by analyzing publicly available cartographic resources, such as orthoimagery. Our map-building methods recognize image patterns and objects that are tightly coupled with the structure of the underlying road network by 1) identifying, without human intervention, locally consistent image cues and 2) linking them based on the obtained local evidence and prior information about roadways. We demonstrate the accuracy of our bootstrapping approach in building lane-level detailed roadwaymaps through experiments. Due to expected abnormal events on highways such as roadwork, the geometry and traffic rules of highways that appear on maps can occasionally change. This thesis also addresses the problem of updating the resulting maps with temporary changes by analyzing perspective imagery acquired from a vision sensor installed on a vehicle. To robustly recognize highway work zones, our sign recognizer focuses on handling variations of signs’ colors and shapes. Sign recognition errors, which are inevitable, can cause our system to misread temporary highway changes. To handle potential errors, our method utilizes the temporal redundancy of sign occurrences and their corresponding classification decisions. We demonstrate the effectiveness and robustness of our approach highway workzone recognition through testing with video data recorded under various weather conditions. Two major results of this thesis work are 1) algorithms that analyze orthoimages to produce lane-level detailed maps of highways and parking lots and 2) on-vehicle computer vision algorithms that are able to recognize temporary changes on highways. Our maps can provide detailed information about a route, in advance, to either a human driver or a self-driving vehicle. While driving on highways, our roadway-assessing algorithms enable the vehicle to update the resulting maps with temporary changes to the route.

Orientador: Cassio Eduardo Lima de Paiva / Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Civil, Arquitetura e Urbanismo / Made available in DSpace on 2018-08-06T16:48:11Z (GMT). No. of bitstreams: 1 Berti_Carolina_M.pdf: 4127695 bytes, checksum: f8e52fd73231b7c47f0a12b5c7e759cc (MD5) Previous issue date: 2005 / Resumo: Esta pesquisa procurou estabelecer uma correlação entre os valores de capacidade de suporte resultantes dos ensaios CBR (Califórnia Bearing Ratio) versus DCP (Dynamic Cone Penetrometer), realizados com o solo proveniente de vias não-pavimentadas dentro do Campus da UNICAMP, situado em Campinas, São Paulo. O Cone de Penetração Dinâmica (DCP) é caracterizado como um equipamento simples, portátil e de baixo custo, cujo ensaio revela ser praticamente não-destrutivo. Com ele é possível determinar o perfil de resistência de camadas de solo compactadas ou em seu estado natural, controlar a execução de obras viárias e avaliar estruturas de pavimentos. Uma investigação do solo através de ensaios DCP e CBR conduziu ao desenvolvimento de modelos de regressão, correlacionando a capacidade de suporte obtida através de ensaios ¿in situ¿ com o auxílio do DCP, e ensaios de laboratório utilizando o ensaio de CBR e DCP. Através das informações contidas na literatura técnica, dos procedimentos experimentais efetuados e das análises de regressão realizadas, ficou evidenciado o relacionamento entre o DCP e o CBR, validando as correlações estabelecidas e propondo modelos próprios, aumentando a confiabilidade dos resultados dos ensaios DCP para avaliação da capacidade de suporte de solos / Abstract: This research establishes a correlation among the strength or supporting values of the tests: CBR (California Bearing Ratio) versus DCP (Dynamic Cone Penetrometer), accomplished with the soil originating from no-paved roads inside of the Campus of UNICAMP. The Cone of Dynamic Penetration (DCP) it is characterized as an equipment simple, portable and of low cost, whose tests reveals to be practically no-destructive. DCP test determines the profile of resistance of soil layers compacted or in your natural state, to control the execution of road buildings and to evaluate structures of pavements. An investigation of the soil through DCP and CBR tests led to the development of regression models, correlating the strength measures obtained through in-situ tests with the aid of DCP and laboratory tests using the CBR and DCP. Through the information contained in the technical literature, of the made experimental procedures and of the regression analyses accomplished, the relationship was evidenced between DCP and CBR, validating the established correlations and proposing own models, increasing the reliability of the results of the DCP tests for determining strength values of soils / Mestrado / Transportes / Mestre em Engenharia Civil

The subject of my diploma thesis is to design the intersection of roads I/44 and II/453 in urban area of Jeseník. Part of the proposal is to address traffic and pedestrian connection to the adjacent tertiary roads.

Master's thesis will deal with the second phase of shifting I/9 Dubice - Dolni Libchava passing west of the Ceska Lipa with an approximate length of 3 km stretch. Estimated start-up of this section is in 2014. This project should build on in the future by-pass Ceska Lipa and Novy Bor, which is currently without funds for implementation by 2025. Traffic load after completion of the by-pass should be approximately 16500 vehicles / 24 hours in 2030. The section is designed in the category S 9.5 with optional solving two major intersections. This thesis will focus on reducing the cost of construction of the section.

The diploma thesis is focused on insufficient capacity problem of roundabout I/35, I/57 and II/150 in the Valašské Meziříčí town. It is based on engineering survey according to which three possible models are designed. Capacity assesment is made on each of these models. Throug the evaluation is selected the most suitable design of turbo roundabout type "knee", which is technically processed and substantiated by text and drawing documentation.

The subject of my Master’s thesis is the variant redevelopment of intersections I/56 and II/469 in Hlučín. Both interesections are situated nearby bus terminal. Extent of adjustment obstructs the object of former granary. There are checked spatial options for adjusting both existing intersections to the roundabouts. In the frame of variants, there is a different manner of solution of structural layout of both intersections, possibility of connection of bus terminal and transfer of pedestrian traffic across designed intersections. Part of Master’s thesis is traffic survey and capacity analysis of designed intersections.

The aim of my master´s thesis is to design documentation, at the level of study, for roundabout. The area of interest is defined by the crossroad of Lounská, Americká, Bílinská streets and the conection of existing road I/13 . This is the crossroad of local roads, which are functional group C-serving with the serving function. The aim of conversion of existing crossroad on the roundabout is to calm and clarify the traffic in the locality. There are also designed comunications for pedestrians in the locality. The study is solved in two variant of conection to existing road I/13.

Die vorliegende Dissertationsschrift widmet sich der Beschreibung des Geschwindigkeits-verhaltens von Kraftfahrern auf innerörtlichen Straßen sowie dessen Auswirkungen auf die Verkehrssicherheit. Grundlage bilden manuelle und automatische Querschnittsmessungen von Einzelgeschwindigkeiten in Hauptverkehrs- und Erschließungs¬straßen mit zulässigen Höchstgeschwindigkeiten von 50 bzw. 30 km/h. Die Beschreibung von Wunschgeschwindigkeiten über unterschiedliche Abgrenzungen freifahrender Fahrzeuge, deren Geschwindigkeiten die Grundlage für die folgenden Modelle bilden, sowie die Überprüfung der Übertragbarkeit von Querschnittsmessungen auf die Strecke und die Analyse von Geschwindigkeitsganglinien dienen der Einordnung der in dieser Untersuchung vorgelegten Ergebnisse. Ziel des ersten Teils der Arbeit ist die Beschreibung möglicher Einflussfaktoren aus der Gestaltung, dem Betrieb sowie der Lage im Netz und dem Umfeld einer Straße auf die Wahl der Geschwindigkeit von Pkw-Fahrern. Erste Ansätze werden aus dem Vergleich von fahrtrichtungsbezogenen Geschwindigkeiten an einem Querschnitt mit asymmetrischer Gestaltung abgeleitet. Auf Basis querschnittsbezogener mittlerer und v85-Geschwindigkeiten werden verschiedene multiple Regressionsmodelle aufgestellt und miteinander verglichen. Die Modelle basieren auf Messungen im Straßennetz Dresdens und werden anhand von Messungen aus anderen deutschen Städten validiert. Signifikante Einflussgrößen ergeben sich aus den Bereichen Verkehrsbedeutung, Querschnittsgestaltung, Umfeldnutzung und Fahrbahnoberfläche eines Straßenquerschnitts. Die Einflussgrößen sowie deren Abhängigkeiten untereinander werden diskutiert und Potenziale für Maßnahmen zur Geschwindigkeitsreduzierung aufgezeigt. Im zweiten Teil der Arbeit werden für Tempo-50-Straßen verallgemeinerte lineare Modelle zur Beschreibung des Einflusses der Geschwindigkeit auf die Verkehrssicherheit abgeleitet. Für unterschiedliche Unfallkollektive bezüglich räumlicher Abgrenzung, Unfallschwere und Verkehrsbeteiligung wird der Geschwindigkeitseinfluss auf die Unfallzahl anhand einer Potenzfunktion (Power-Modell) unter Kontrolle der Randbedingungen Verkehrsaufkommen des motorisierten Individual-verkehrs und Umfeldnutzung beschrieben. Die Zahl der Unfälle mit Personenschaden steigt progressiv mit der mittleren Geschwindigkeit und degressiv mit dem DTV an. / Driving speeds of personal vehicles on urban roads are analyzed and their influence on traffic safety is modeled. The speed data is measured at cross sections on major and minor roads with speed limits of 50 and 30 km/h. Different kinds of classification of free-flow-vehicles were analyzed for the description of the desired speed of a driver. Also local speeds along road sections as well as time variation curves of driving speeds are documented in order to interpret and classify the provided findings. The first part of this work deals with the prediction of local driving speeds based on parameters of the roadway environment determining road design as well as the land-use next to the road. One first simple approach is to compare both driving directions at non-symmetric cross sections. Then several multiple regression models for mean speeds and 85-percentiles of the speed distribution are estimated and compared with each other. The models are based on the road network of the city of Dresden and are validated with speed measurements in other German cities. Road classification, cross section characteristics, land-use and the road surface condition are found to be significant parameters that correlate with driving speed. The possible influences on the choice of speed and their interdependencies as well as their practical relevance are discussed. In the second part of this work the influence of speeds on the occurrence of traffic accidents is estimated using Generalized Linear Models. This is done for different accident groups under consideration of the annual daily traffic and a parameter that describes the length and type of land-use of the adjacent buildings next to the road section. The relationship between speed and accident counts can be described using a power function. Accident numbers rise progressively with increasing speeds and rise in a declining manner with increasing amount of traffic.

The thesis deals with design of the tram power collecting route and the tram track of the route no. 3 in reconstruction area recently called “Zbrojovka Brno”. Connection to the present infrastructure is also considered. Housing, resting, administration sectors and tram stops are designed for easy availability in the new area. Because the railroad bounds the area on the East and will be extended in the future, joining the tram transport with integrated transport system in Židenice is possible. Design includes the new bridge across Svitava river and connection with surrounding areas. If we divide individual car transport (IAD) from the tram route, the trolley car transportation is designed in place IAD.

Network screening and countermeasure selection are two crucial steps in the highway improvement process. In network screening, potential improvement locations are ranked and prioritized based on a specific method with a set of criteria. The most common practice by transportation agencies has been to use a simple scoring method, which, in general, weighs and scores each criterion and then ranks the locations based on their relative overall scoring. The method does not deal well with criteria that are qualitative in nature, nor does it account for the impacts of correlation among the criteria. The introduction of Analytic Hierarchy Process (AHP) provides agencies with a method to include both quantitative and qualitative criteria. However, it does not address the issue on correlation. This dissertation explores the use of both Analytic Network Process (ANP) and Fuzzy Analytic Network Process (FANP) for their potential capabilities to address both issues. Using urban four-lane divided highways in Florida for bicycle safety improvements, both ANP and FANP were shown to provide more reasonable rankings than AHP, with FANP providing the best results among the methods. After the locations are ranked and prioritized for improvements, the next step is to evaluate the potential countermeasures for improvements at the selected top-ranked locations. In this step, the standard practice has been to use Crash Modification Factors (CMFs) to quantify the potential impacts from implementing specific countermeasures. In this research, CMFs for bicycle crashes on urban facilities in Florida were developed using the Generalized Linear Model approach with a Zero-Inflated Negative Binomial (ZINB) distribution. The CMFs were tested for their spatial and temporal transferability and the results show only limited transferability both spatially and temporally. The CMFs show that, in general, wider lanes, lower speed limits, and presence of vegetation in the median reduce bicycle crashes, while presence of sidewalk and sidewalk barrier increase bicycle crashes. The research further considered bicycle exposure using the bicycle activity data from the Strava smartphone application. It was found that increased bicycle activity reduces bicycle crash probabilities on segments but increases bicycle crash probabilities at signalized intersections. Also, presence of bus stops and use of permissive signal phasing at intersections were found to increase bicycle crash probabilities.