No Brasil existe a perspectiva de crescimento expressivo do volume de dados a ser processado pelas prestadoras de serviços de rastreamento em decorrência do aumento natural do uso de sistemas de rastreamento e também para atender a Resolução 330 de 2009 e Deliberação 135 de 30/01/2013 do Conselho Nacional de Trânsito (CONTRAN). Este crescimento gera a necessidade da incorporação de ferramentas analíticas nos sistemas de gerenciamento do rastreamento e monitoramento de veículos e na gestão de risco, para aumentar a sua eficiência e atender o crescimento do mercado. O objetivo desta dissertação é de propor uma metodologia que permita caracterizar o comportamento de movimentação de um veículo, com a finalidade de auxiliar o processo de tomada de decisão no gerenciamento e monitoramento de veículos. A caracterização do comportamento de movimentação do veículo foi feita pela geração de um modelo analítico do comportamento de movimentação, coletando os dados pretéritos da posição espacial e temporal. Este modelo baseia-se na movimentação e considera os aspectos comportamentais espaciais e temporais de forma independente. A caracterização do comportamento gera informações para identificar o comportamento espacial e temporal do veículo monitorado para um determinado nível de confiabilidade. / In Brazil there is the prospect of growth in the volume of data to be processed by the tracking service providers due to the natural increase of the use of tracking systems and also to meet the Resolution 330 of 2009 and Resolution 135 of 01.30.2013 of the National Traffic Council (CONTRAN), due to this growth the need of incorporation of analytical tools in systems management tracking and monitoring of vehicles and risk management are created, to increase their efficiency and meet market growth. This study objective is to propose a methodology to characterize the moving vehicle behavior, in order to assist the process of decision making in management and vehicle tagging. The vehicle handling behavior will be characterized by generating an analytical model of the vehicle movement, collecting bygone data of spatial position and time. This model will consist of a motion model taking into account that the spatial and temporal aspects of behavior are taken independently. The behavior characterization generates reports able to identify the spatial and temporal behavior of the monitored vehicle for a given level of reliability.

The popularity of the wireless networks is so great that we will soon reach the point where most of the devices work based on that, but new challenges in wireless channel access will be created with these increasingly widespread wireless communications. Multi-channel CSMA protocols have been designed to enhance the throughput of the next generation wireless networks compared to single-channel protocols. However, their performance analysis still needs careful considerations. In this thesis, a set of techniques are proposed to model and analyse the CSMA protocols in terms of channel sensing and channel access. In that respect, the performance analysis of un-slotted multi-channel CSMA protocols is studied through considering the hidden terminals. In the modelling phase, important parameters such as shadowing and path loss impairments are being considered. Following that, due to the high importance of spectrum sensing in CSMA protocols, the Double-Threshold Energy Detector (DTED) is thoroughly investigated in this thesis. An iterative algorithm is also proposed to determine optimum values of detection parameters in a sensing-throughput problem formulation. Vehicle-to-Roadside (V2R) communication, as a part of Intelligent Transportation System (ITS), over multi-channel wireless networks is also modelled and analysed in this thesis. In this respect, through proposing a novel mathematical model, the connectivity level which an arbitrary vehicle experiences during its packet transmission with a RSU is also investigated.

The aim of this thesis is to propose methods for obtaining the additional vehicle parameters from the real-world traffic situations images and including existing information of the license plate and localization of the vehicle in the scene. The task is to use an existing installation of the camera systems based on data obtained from these devices to propose a new method of extraction of other vehicle's parameters. Solutions can be divided into two groups: 1. Methods for obtaining the features and methods of data evaluation which will lead to a vehicle's type identification based on a single image of the vehicle. 2. Methods for obtaining data of the vehicle's shape based on image sequence of passing vehicle.

Ces travaux de thèse sont réalisés au sein de l’équipe STI du laboratoire LITIS, en collaboration avec le centre de robotique CAOR de l’école des mines de Paris et l’INRIA Rocquencourt dont ils ont utilisé la plateforme du prototype LARA composée de véhicules instrumentés. L’objectif est de contribuer à la localisation des véhicules intelligents équipés de récepteurs GPS (Global Positionning System), de systèmes de vision et du matériel de communication permettant la coopération entre ces véhicules. En milieu urbain, les performances du GPS sont fortement dégradées. La réception du signal GPS souffre de masquages ou de mauvaises configurations géométriques des satellites. De plus, la qualité du signal peut être corrompue à cause du phénomène de multi-trajets lié à la réflexion du signal sur les bâtiments, tunnels... Alors la robustesse, la précision et la disponibilité de l’estimation de la position peut décroître significativement. D’où la nécessité d’une source d’information complémentaire pour compenser les faiblesses du récepteur GPS. L’originalité de nos travaux consiste à utiliser les données exploitées par notre système de vision. Le système de vision utilisé est basé sur une caméra (monovision). Il permet la détection robuste des obstacles sur la route, ainsi que la détection de la pluie. Le calcul de la distance de l’obstacle à notre véhicule est réalisé à l’aide du modèle sténopé et l’hypothèse de la route plane. Les véhicules utilisant des systèmes de communication sans fil basé sur la norme 802.11g+ coopèrent entre eux en échangeant leurs coordonnées GPS si elles sont disponibles. Cette coopération permet de connaître la position des véhicules qui nous entourent. Le système de communication est aussi utilisé pour l’alerte météorologique V2I ou V2V en utilisant la détection de la pluie réalisée en collaboration avec Valeo. Pour réaliser le positionnement relatif fiable, nous avons mis en oeuvre un algorithme de suivi basé sur le filtrage particulaire. Cette méthode permet de fusionner les données en utilisant les techniques probabilistes lors des différentes étapes du filtre. Finalement, une validation expérimentale en temps réel sur les véhicules du prototype LARA a été réalisée sur différents scénarios. / This thesis work realised at the STI team of the LITIS Laboratory, in collaboration with the Center of Robotics CAOR at the Ecole des Mines of Paris and the INRIA Rocquencourt, and tested on the prototype LARA. The aim is to better positionning of intelligent vehicles equipped with GPS, vision systems and communication devices used for cooperation between vehicles. In urban areas, The usage of GPS is not always ideal because of the poorness of the satellite coverage. Sometimes, the GPS signal may be also corrupted by multipath reflections due to tunnels, high buildings, electronic interferences etc. So, in order to accurate the vehicle positioning in the navigation application, the GPS data will be enhanced with vision data using communication between vehicles. The vision system is based on a monocular real-time vision-based vehicle detection. We can calculate the distance between vehicles using the pinhole model. We developped a rain detection system using the same camera. The inter-vehicle cooperation is made possible thanks to the revolution in the wireless mobile ad hoc network. Localization information can be exchanged between the vehicles through a wireless communication devices. The creation of the system will adopt the Monte Carlo Method or what we call a particle filter for the treatment of the GPS data and vision data. An experimental study of this system is performed on our fleet of experimental communicating vehicles LARA.

Transportation is one of the most vital services in modern society. It makes most of the other functions of society possible. Real transportation systems are so large and complex that in order to build the science of transportation systems it will be necessary to work in many areas, such as: Modeling, Optimization and Simulation. We are interested in solutions for the so-called fleet-sizing-and-allocation problem (FSAP). Fleet sizing and allocation problems are one of the most interesting and hard to solve logistic problems. A fleet sizing and allocation problem consists of two interdependent parts. The fleet sizing problem is to determine a number of transportation units that optimally balances service requirements against the cost of purchasing and maintaining the transportation units. The allocation problem is dealing with the repositioning of transportation units to serve future transportation demand. To make the fleet sizing and allocation problem a little bit more tractable we concentrate on logistic systems with a special hub-and-spoke structure. We start with a very simple fleet sizing of one-to-one case. This case will cause us to focus attention on several key issues in fleet sizing. Afterwards, the generalization of the one-to-one system is the one-to-many system. As a simple example can serve the continuous time situation where a single origin delivers items to many destinations. For the case that items are produced in a deterministic production cycle and transportation times are stochastic. We also studied a hub-and-spoke problem with continuous time and stochastic demand. To solve this problem, based on Marginal Analysis, we applied queueing theory methods. The investigation of the fleet-sizing-and-allocation problem for hub-and-spoke systems is started for a single-period, deterministic-demand model. In that the model hub has to decide how to use a given number of TU’s to satisfy a known (deterministic) demand in the spokes. We consider two cases: 1. Renting of additional TU’s from outside the system is not possible, 2. Renting of additional TU’s from outside the system is possible. For each case, based on Marginal Analysis, we developed a simple algorithm, which gives us the cost-minimal allocation. Since the multi-period, deterministic demand problem is NP-hard we suggest to use Genetic Algorithms. Some building elements for these are described. For the most general situation we also suggest to use simulation optimization. To realize the simulation optimization approach we could use the software tool “Calculation Assessment Optimization System” (CAOS). The idea of CAOS is to provide a software system, which separates the optimization process from the optimization problem. To solve an optimization problem the user of CAOS has to build up a model of the system to which the problem is related. Furthermore he has to define the decision parameters and their domain. Finally, we used CAOS for two classes of hub-and-spoke system: 1. A single hub with four spokes, 2. A single hub with fifty spokes. We applied four optimizers – a Genetic Algorithm, Tabu Search, Hybrid Parallel and Hybrid Serial with two distributions (Normal Distribution and Exponential Distribution) for a customer interarrival times and their demand.

New cooperative intelligent transportation system (C-ITS) applications become enabled thanks to advances in communication technologies between vehicles(V2V) and with the infrastructure (V2I). Communicating vehicles share information with each other and cooperate, which results in improved safety, fuel economy, and traffic efficiency. An example of a C-ITS application is platooning, which comprises a string of vehicles that travel together with short inter-vehicle distances (IVDs). Any solution related to C-ITS must comply with high safety requirements in order to pass standardization and be commercially deployed. Furthermore, trusted safety levels should be assured even for critical scenarios. This thesis studies the conditions that guarantee safety in emergency braking scenarios for heterogeneous platooning, or string-like, formations of vehicles. In such scenarios, the vehicle at the head of the string emergency brakes and all following vehicles have to automatically react in time to avoid rear-end collisions. The reaction time can be significantly decreased with vehicle-to-vehicle (V2V) communication usage since the leader can explicitly inform other platooning members about the critical braking. The safety analysis conducted in the thesis yields computationally efficient methods and algorithms for calculating minimum inter-vehicle distances that allow avoiding rear-end collisions with a predefined high guarantee. These IVDs are theoretically obtained for an open-loop and a closed-loop configurations. The former implies that follower drives with a constant velocity until braking starts, whereas in the latter, an adaptive cruise control (ACC) with a constant-distance policy serves as a controller. In addition, further optimization of inter-vehicle distances in the platoon is carried out under an assumption of centralized control. Such an approach allows achieving better fuel consumption and road utilization. The performed analytical comparison suggests that our proposed V2V communication based solution is superior to classical automated systems, such as automatic emergency braking system (AEBS), which utilizes only onboard sensors and no communication. Wireless communication, enabling to know the intentions of other vehicles almost immediately, allows for smaller IVDs whilst guaranteeing the same level of safety. Overall, the presented thesis highlights the importance of C-ITS and, specifically, V2V in the prevention of rear-end collisions in emergency scenarios. Future work directions include an extension of the obtained results by considering more advanced models of vehicles, environment, and communication settings; and applying the proposed algorithms of safety guaranteeing to other controllers, such as ACC with a constant time headway policy.

The Thesis shows the perspectives of involving renewable energy resources into the energy balance of Russia, namely the use of wind energy for the purpose of energy supply for the objects of the Russian Gas transportation system. The methodology of the wind energy technical potential calculation is designed and the wind energy technical potential assessment for onshore and offshore zones of Russia is presented. The analysis of Russian Gas transportation system in terms of energy consumption is carried out when comparing the map of wind resources in Russia with the map of Russian Gas transportation system and the perspective of wind turbines installation is shown in order to offset energy consumption of the selected object of the Gas transportation system. The decision-making algorithm for wind turbines selection is developed for installation on the wind farm. Also indicators of investment attractiveness of the project of using wind turbines for compression stations energy supply were calculated.

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科学研究費補助金 研究種目:基盤研究(C) 課題番号:16520484 研究代表者:林 上 研究期間:2004-2005年度

My diploma thesis deals with a connection of Videňská street to the future residential district situated between Přízřenice and Modřice. The level of this thesis is a technical study. The main topic of the thesis is a design of an interchange on the Vídeňská and Moravanská streets. The thesis is focused on a technical verification of variable ramps’ connections from Vídeňská street to Moravanská street. Another important point of the thesis is an improvement of security quality of cycle traffic and a creation of a traffic junction of the city transportation system in this area. The SWOT analysis was applied to evaluation and selection the most advantageous variant of the variants. Depending on SWOT analysis, the thesis is focused on more detailed design of the most advantageous variant.