<p>  </p> <p>For decades, agencies have collected infrastructure condition assessment data using dedicated equipment that require substantial capital investments and staff time to operate/drive. However, these techniques are challenging to scale network wide. The United States has over 8 million lane miles of roadways which generate almost 3 trillion vehicle miles annually.  Connected vehicles can now provide real-time data on a wide range of parameters such as vehicle speed, location, lane markings, and 3 axis acceleration. This dissertation develops techniques to validate, utilize and leverage connected vehicle data for infrastructure assessment and monitoring.  </p> <p><br></p> <p>Opportunities to employ connected vehicle data were examined in the following areas: quality of lane marking edge lines, width of lanes (particularly temporary lanes in construction zones), and pavement roughness. Quality of lane markings was evaluated using embedded lane keep assist data and equipment. In 2020 and 2021 over 5000 miles of pavement markings were evaluated on Indiana interstates. Comparisons between 2020 and 2021 data showed detection increase from 80.2% to 92.3%.  Although there are no industry standards for lane keep assist data, this study demonstrated both the importance and utility of partnering with the automotive industry to develop shared vision on acceptable lane quality. </p> <p><br></p> <p>A follow-up quantitative study was performed using a LiDAR vehicle to compare LiDAR values with those that are obtained from traditional retroreflectivity measurements used for contract acceptance and maintenance decisions. A comparison of LiDAR intensity to retroreflectivity (the industry standard) on 70 miles of US-52 and US-41 in Indiana was assessed and a linear regression found that the intensity values are comparable to retroreflectivity readings with an R2 of 0.87 and 0.63 for right edge and center skip lines respectively. These results suggest that LiDAR is a viable tool for monitoring of retroreflectivity of pavement markings that are strongly correlated with existing standards, but scale much better than traditional retroreflectivity measurement techniques.</p> <p><br></p> <p>The LiDAR data also provided the opportunity to evaluate how well modern vehicles measure lane width. This dissertation reports on over 200 miles of roadway and when compared to LiDAR and field measurements had a root mean square error of 0.24 feet. This data is valuable for agencies to quickly identify system wide where lane widths fall below acceptable design standards, typically 11-feet. </p> <p> </p> <p>The final connected vehicle data set evaluated was pavement roughness and compared with traditional dedicated vehicles collecting international roughness index (IRI) data. The study evaluated a 20-mile segment in 2022, and showed a linear regression between these data sets had an R2 of over 0.7, suggesting that connected vehicle roughness data can be utilized for network level monitoring of pavement quality. Scalability of these techniques is also illustrated with graphics characterizing IRI values obtained from almost 6 million records to evaluate improvements in Indiana construction zones and over 5,800 miles of I-80 in April of 2022 and October 2022.</p> <p><br></p> <p>Although connected vehicle data for infrastructure assessment is still in its infancy, these case studies demonstrate significant opportunities for public agencies to collect selected system wide infrastructure condition in near real-time, and in many cases at a lower cost than traditional techniques. </p>

In the United States, speeding is considered to be a contributing factor in about 30 percent of fatal crashes (US DOT, 2000). In an attempt to reduce speeds on roadway segments where speed is considered to be a safety concern, various low cost countermeasures have been investigated. Such countermeasures include pavement markings that give a psychological appearance of narrowing and/or increasing speed have been considered as a relatively low-cost treatment. Perceptual cues are one potential method of influencing motorists to slow down, and ultimately, to save lives. These perceptual techniques might be useful at lowering speeds in a variety of driving situations such as work zones, curves, roundabouts, and toll plazas. Evaluations are required in order to determine the effectiveness of these various treatments at reducing speeds. This research project explored several possible perceptual countermeasures to try on the approaches to curves for reducing speeds. It was ultimately decided to evaluate the effects of peripheral transverse lines in reducing speeds. Although there have been some limited evaluations of peripheral transverse markings in previous studies, no significant field evaluation has been performed and a recommended design for the markings has not been discussed. The projected results of the research effort is to determine pavement marking treatments with a high probability of success at reducing speeds, develop and design peripheral transverse markings based on site considerations, determine the effectiveness of the markings in the field, determine optimal pavement marking design using a driving simulator, and use a controlled research environment to finalize the design. This dissertation contributes to the body of knowledge on speed reduction research through the development of low cost speed reduction strategies, the design of peripheral transverse lines for varying geometric conditions, evaluation of these treatments in the field, in the simulator, and on a controlled roadway, and to finally compare the benefits of each of the evaluation approaches. In the field, peripheral transverse lines spaced at a frequency of 4 bars per second were evaluated in New York, Mississippi, and Texas. The markings were applied on approaches to curves in both rural and urban environments on both multi-lane and two-lane roadways. The authors concluded that overall, the pavement markings reduced speeds up to 59% compared to the baseline in the short term and 24% in the long term on overall vehicle speeds. When evaluating design alternatives of peripheral transverse markings, a follow-up study was performed and compared baseline conditions to markings spaced at a constant interval, exponentially closer, at two bars per second, and at four bars per second. The peripheral transverse lines were effective in reducing centerline encroachment; however, the results were inconclusive as to which particular marking spacing pattern was most effective. There was a large amount of variability in driving speeds using the driving simulator which made it ineffective at comparing designs. The third evaluation was performed at the Virginia Tech Smart Road in which reductions in speed were compared to the baseline at two locations. While one curve had large preview distances and no effect due to the treatments, speed reductions on a freeway ramp type of curve resulted in a speed reduction 42% greater than the reduction in the baseline condition. There are several advantages and disadvantages to evaluations in the field, simulator, and at a controlled research setting which are summarized in this dissertation. Overall, all three have potential of looking at different elements, but it was determined that variability when measuring speed in the driving simulator makes it more challenging as a tool for measuring speed reductions. / Ph. D.

A qualidade dos sistemas de sinalização viária é avaliada, tradicionalmente, com base nas características físicas de seus elementos, bem como na durabilidade e conservação dos materiais que os compõem. Em alguns casos, a verificação do atendimento aos critérios técnicos de projeto é também considerada. Depreende-se, daí, que a avaliação estrutural dos elementos de sinalização seja integralmente contemplada por meio dessas avaliações. Por outro lado, a eficácia da sinalização não é necessariamente garantida pela integridade física ou estrutural dos elementos. Por se tratar de um sistema de comunicação com o usuário, que transmite informações que influenciarão as ações dos motoristas na tarefa de guiar o veículo no trânsito, é necessário, também, avaliar o desempenho funcional dos elementos de sinalização. Em outras palavras, o funcionamento e a eficiência da sinalização são tão importantes quanto a situação de seu estado físico. Esta pesquisa descreve aspectos a serem considerados na avaliação de desempenho funcional dos sinais de trânsito com base na observação no campo e na abordagem dos fatores que afetam as medidas de desempenho, conduzindo, em rodovias federais brasileiras concedidas à iniciativa privada, dois experimentos ainda pouco conhecidos no país. O primeiro experimento avaliou o desempenho de um conjunto de placas de sinalização de regulamentação de velocidade máxima permitida, aplicadas em configurações diversas. As medidas de desempenho escolhidas foram a distância de detecção e a distância de legibilidade da sinalização, que foram medidas por meio de observadores em curso na rodovia, em condições reais de operação. O segundo experimento avaliou o desempenho de um conjunto de demarcações no pavimento de uma rodovia também em condições reais de operação. A medida de desempenho foi a retorrefletividade da sinalização horizontal sob tráfego real. A pesquisa inova ao utilizar o conceito de planejamento de experimentos, otimizando o modelo estatístico a ser estimado com menos execuções experimentais. / The quality of the traffic signs systems is traditionally assessed based on physical characteristics of their elements, as well as the durability and conservation of materials they are made of. In some cases, the verification of compliance with the technical criteria for design is also considered. Therefore, it appears that the structural assessment of sign elements is fully covered by these evaluations. Moreover, the effectiveness of traffic signs is not necessarily guaranteed by physical or structural health of the elements. Once the traffic signs comprise a system of communication with the users, which gives information that will influence the actions of the drivers on the task of guiding the vehicle in traffic flow, it is also necessary to evaluate the functional performance of the traffic signs. In other words, the operation and efficiency of traffic signs are as important as their physical condition. This research describes some aspects to take into account in the evaluation of performance of traffic signs based on observation in the field and in the approach of the factors affecting performance measures, carrying out in Brazilian federal highways under concession to the private sector two experiments still little known in this country. The first experiment evaluated the performance of a set of speed limit signs applied in different configurations. The chosen performance measures were the detection distance and the legibility distance of the signs, which were measured by subjects driving on open road under real operating conditions. The second experiment evaluated the performance of a set of pavement markings also on open road under real operating conditions. The performance measure was the retroreflectivity of the pavement markings under real traffic. The survey breaks new ground by using the concept of optimal design of experiments, optimizing the statistical model to be estimated with fewer experimental runs.

A prey animal can use different strategies to avoid becoming eaten by predators. One such widely recognised strategy is the use of body colouration to decrease the risk of becoming detected, i.e. cryptic colouration. The principles of crypsis that I have studied are background matching, disruptive colouration and distractive markings. Further, I also studied the concealing effect of the visual background habitats. I used artificial prey items and backgrounds, and blue tits (Cyanistes caeruleus) as predators, to investigate prey concealment. In Paper I, I tested if high-contrast markings in prey coloration or in the background would result in a distracting effect. I found that such markings did increase prey search time, even when the prey markings were lighter or darker than the background. In Paper II, I studied the use of chromatic cues by predators when searching for prey. The birds easily detected prey that chromatically deviated from its background. Interestingly, background-matching prey was more difficult to detect when the colour scheme had low ultraviolet and high shortwave reflectance compared to when the reflectance bands were even. In Paper III, I studied optimisation of achromatic contrast within prey colour pattern and also the effect of shape diversity of background pattern elements on prey detection. I found that all prey types were more difficult to detect on the diverse background, but the level of contrast within prey pattern did not influence search times. In Paper IV, I further investigated how a prey should optimise its patterning with respect to background matching. I found that prey with repeated pattern elements was equally hard to detect as prey with more variable pattern. However, prey with a spatially regular pattern (aligned pattern elements) was easier to detect than prey with a spatially irregular pattern. In this paper I also found that high complexity of element shapes in the background, made the search task more difficult. / At the time of the doctoral defense, the following papers were unpublished and had a status as follows: Paper 1: Manuscript. Paper 2: Accepted

A qualidade dos sistemas de sinalização viária é avaliada, tradicionalmente, com base nas características físicas de seus elementos, bem como na durabilidade e conservação dos materiais que os compõem. Em alguns casos, a verificação do atendimento aos critérios técnicos de projeto é também considerada. Depreende-se, daí, que a avaliação estrutural dos elementos de sinalização seja integralmente contemplada por meio dessas avaliações. Por outro lado, a eficácia da sinalização não é necessariamente garantida pela integridade física ou estrutural dos elementos. Por se tratar de um sistema de comunicação com o usuário, que transmite informações que influenciarão as ações dos motoristas na tarefa de guiar o veículo no trânsito, é necessário, também, avaliar o desempenho funcional dos elementos de sinalização. Em outras palavras, o funcionamento e a eficiência da sinalização são tão importantes quanto a situação de seu estado físico. Esta pesquisa descreve aspectos a serem considerados na avaliação de desempenho funcional dos sinais de trânsito com base na observação no campo e na abordagem dos fatores que afetam as medidas de desempenho, conduzindo, em rodovias federais brasileiras concedidas à iniciativa privada, dois experimentos ainda pouco conhecidos no país. O primeiro experimento avaliou o desempenho de um conjunto de placas de sinalização de regulamentação de velocidade máxima permitida, aplicadas em configurações diversas. As medidas de desempenho escolhidas foram a distância de detecção e a distância de legibilidade da sinalização, que foram medidas por meio de observadores em curso na rodovia, em condições reais de operação. O segundo experimento avaliou o desempenho de um conjunto de demarcações no pavimento de uma rodovia também em condições reais de operação. A medida de desempenho foi a retorrefletividade da sinalização horizontal sob tráfego real. A pesquisa inova ao utilizar o conceito de planejamento de experimentos, otimizando o modelo estatístico a ser estimado com menos execuções experimentais. / The quality of the traffic signs systems is traditionally assessed based on physical characteristics of their elements, as well as the durability and conservation of materials they are made of. In some cases, the verification of compliance with the technical criteria for design is also considered. Therefore, it appears that the structural assessment of sign elements is fully covered by these evaluations. Moreover, the effectiveness of traffic signs is not necessarily guaranteed by physical or structural health of the elements. Once the traffic signs comprise a system of communication with the users, which gives information that will influence the actions of the drivers on the task of guiding the vehicle in traffic flow, it is also necessary to evaluate the functional performance of the traffic signs. In other words, the operation and efficiency of traffic signs are as important as their physical condition. This research describes some aspects to take into account in the evaluation of performance of traffic signs based on observation in the field and in the approach of the factors affecting performance measures, carrying out in Brazilian federal highways under concession to the private sector two experiments still little known in this country. The first experiment evaluated the performance of a set of speed limit signs applied in different configurations. The chosen performance measures were the detection distance and the legibility distance of the signs, which were measured by subjects driving on open road under real operating conditions. The second experiment evaluated the performance of a set of pavement markings also on open road under real operating conditions. The performance measure was the retroreflectivity of the pavement markings under real traffic. The survey breaks new ground by using the concept of optimal design of experiments, optimizing the statistical model to be estimated with fewer experimental runs.

Abstract There are a lot of ecocertifications in Sweden for a variety of different categories; for example the Swan, which is a label for both hotels and products; KRAV, a label for farms and what farms pro- duce; Nature’s Best, a label for tourist adventures; the Sápmi Experience, a newly developed label for Sámi tourism, and The Green Key, a certification offered by Håll Sverige Rent for hostels, ho- tels, mountain cabins and camping grounds. Nature’s Best and the Green Key I have chosen as the focus for this paper, because they are the most relevant for my research. I will also give some atten- tion to Sápmi Experience because it is an interesting development in indigenous tourism. In the World Heritage area of Laponia, where I conducted fieldwork, there are several actors that have in- terest in the ecotourism business. Some of the actors are Sámi, the indigenous people whose princi- pal livelihood in Laponia is reindeer herding, and some are non-Sámi, like the Swedish Tourist As- sociation (STF) or other small-scale businesses. Some of them have the Nature’s Best label on their adventures, some do not. I find the Sámi culture and way of life very interesting, and since they are a big part of the World Heritage area Laponia landscape and an indigenous people, it was natural for me include them in this thesis. In this thesis I want to address the questions of for whom and why there are ecocertifications and quality markings. Are they for tourists, for traveling agencies, for people living in popular tourist areas, or perhaps for the environment?

Dot peen markings are used by Scania Ferruform to maintain a traceability of their products throughout the manufacturing. Quality inspection of the markings are performed to ensure that they are added correctly and readable. This is, however, done manually by workers, which they are looking to change. Machine vision, in combination with machine learning, could prove helpful in automating this process, which is where this thesis comes in. Images of two types of dot peen markings were gathered using different experimental setups and equipment. Amazon Rekognition and MVTec Halcon were both used to predict the characters of the images, in order to determine if the two systems could be used to demonstrate that the quality inspection can be automated. To improve the result, the images were also processed with varied techniques. The pretrained version of Amazon Rekognition and MVTec Halcon, with unprocessed image, performed the best. They both predicted all the characters correctly, and showed a high confidence in their predictions, with an average confidence of 96.41% and 99.87% respectively. When processing the images before predicting the confidence of the systems decreased and predictions were also made incorrectly. Custom training a model also showed a poor result, with the best combination of average precision and overall recall being at 0.733 and 0.561 respectively.

This thesis aims to create a system using colour markings for Volvo’s autonomous wheel loaders which determines their restricted area and operation using sensors available on the machine. The wheel loader shall be able to interpret and distinguish different colours of spray paint, and depending on the colour, act accordingly. Six different colours are evaluated across two different colour types to find the most suitable ones for the system. Multiple tests are presented throughout the thesis to find the approach with the most optimal performance that meets the system's requirements. The system is evaluated in various weather conditions to determine how the weather affects the performance of the system. The thesis also compares two different line-following approaches, where one is based on edge detection using Canny Edge and Hough transform, and the other uses histogram analysis and sliding window search, to distinguish and track the colour markings. While the wheel loader is in operation, it collects GPS coordinates to create a map of the path taken by the wheel loader and the location of various tasks. The evaluation shows that red, green and blue in fluorescent colour type are the most suitable colours for such a system. The line-following algorithm that utilises perspective warp, histogram and a sliding window search was the most prominent for accurate line detection and tracking. Furthermore, the evaluation showed that the performance of the system was affected depending on the weather condition.

This project is an in-depth investigation on the impact of lighting, marking and paint schemes on the operational aspects of police vehicles. This investigation consisted of two phases that ultimately consisted of four experiments. An array of lighting and marking schemes were implemented on police vehicles in a variety of jurisdictions for evaluation. The study then investigated the change in the visibility of police officers, the public reaction to these schemes, and the operational impacts of these systems. The first phase of the project was a naturalistic observation study where the goal was to better understand how traffic behaved around traffic stops. Test vehicles were positioned in simulated traffic stops and patrol locations to determine how traffic behavior was affected by various configurations of police lighting and markings. Camera and radar systems were used to measure the changes in driver speed and when drivers responded to the move over law. Based on the results of the naturalistic studies, the impact of the lighting system on officer visibility was investigated in a controlled human factors test where the ability of a driver to see a police officer outside of their vehicle was measured in the presence of the lighting systems. The purpose of this interjected effort was to verify that the experimental schemes would not increase risk to law enforcement despite data from the first phase indicating the vehicles were more visible. A second part to that study evaluated conventional methods of bolstering an officer's visibility outside of their vehicle at night. The second phase took the findings of the first phase and implemented changes to several police vehicles from local and state agencies to be in operation for at least 18 months. This was to assess the rate of near-misses and crash rate to relate the vehicle changes to law enforcement safety. Additionally, rates of citations were assessed, and surveys offered an opportunity for law enforcement to provide their own feedback on the implementations. The lighting systems evaluated included a completely blue lighting system, an enhanced all blue lighting system with twice the light output, a red and blue system, and a single flashing blue beacon. In terms of markings, retroreflective markings along the side of the vehicle, a retroreflective contour line, chevrons on the rear of the vehicle and unmarked vehicles were evaluated. Finally, a variety of vehicle colors were used to investigate the impact of the base vehicle paint color. The results indicate that both the red and blue lighting system and the high output blue lighting system increase the distance at which drivers moved over significantly. In general, at least 95% of traffic attempted to merge away from an actively lighted police vehicle, when possible. In terms of the speed change, drivers began reducing their speed by approximately 600 m from the police vehicle. Similarly, the addition of retroreflectivity to the rear of the vehicle showed an additional benefit for causing drivers to move over sooner. However, these benefits came at a cost to the officer's visibility. When outside of their vehicle, the high output blue system significantly reduced officer detectability while the red and blue configuration only impacted detection distance by 3 meters. The investigation did find that these impacts could be overcome with retroreflective vests worn by the officers. In the second phase, a preference revealed by officers favored the red-blue configuration. They stated that this configuration provided greater comfort for them and less glare to approaching drivers. The study also revealed that the alternative configurations did not impact the operational activities of police authority. / Doctor of Philosophy / This project evaluated how lighting, marking and paint schemes on police vehicles affected their visibility and how traffic responded to them. An observational study positioned police vehicles with alternative lighting and markings in simulated traffic stops and patrol locations to evaluate traffic behavior. Camera and radar systems were used to measure the changes in driver speed and when drivers responded to the Move Over law. A second study evaluated how the lighting systems on a police car affect the visibility of an officer at night in a traffic stop scenario. A followup experiment looked into methods for bolstering the visibility of officers at night through conventional implementations such as body worn LED lighting, the use of a retroreflective vest, or by using lighting on the police vehicle's light bar to increase illumination of the police officer. A third study took the findings of the previous experiments and outfitted 64 Virginia State Police vehicles for 18 months. Another 64 Virginia State Police vehicles participated in a control condition where no changes were made to their vehicles. Data collected included the rate of near-misses or crashes and the rates of written citations. Surveys were administered to each participating officer regarding their perception of safety and comfort and allowed their open feedback and suggestions. The lighting systems evaluated included a completely blue lighting system, an enhanced all blue lighting system with twice the light output, a red and blue system, and a single flashing blue beacon. In terms of markings, retroreflective markings along the side of the vehicle, a retroreflective contour line, chevrons on the rear of the vehicle, and unmarked vehicles were evaluated. Finally, a variety of vehicle colors were used to investigate the impact of the base vehicle paint color. The results indicate that both the red and blue lighting system and the high output blue lighting system increase the distance at which drivers moved over significantly. In general, at least 95% of traffic attempted to merge away from an actively lighted police vehicle, when possible. In terms of the speed change, drivers began reducing their speed by approximately 600 m from the police vehicle. Similarly, the addition of retroreflectivity to the rear of the vehicle showed an additional benefit for causing drivers to move over sooner. However, these benefits came at a cost to the officer's visibility. When outside of their vehicle, the high output blue system significantly reduced officer detectability while the red and blue configuration only impacted detection distance by 3 meters. The investigation did find that these impacts could be overcome with retroreflective vests worn by the officers. In the second phase, a preference revealed by officers favored the red-blue configuration. They stated that this configuration provided greater comfort for them and less glare to approaching drivers. The study also revealed that the alternative configurations did not impact the rate of citations.

<p>A complete prototype system for measuring vehicle lateral position has been set up during the course of this master’s thesis project. In the development of the software, images acquired from a back-ward looking video camera mounted on the roof of the vehicle were used. </p><p>The problem of using computer vision to measure lateral position can be divided into road marking detection and lateral position extraction. Since the strongest characteristic of a road marking image are the edges of the road markings, the road marking detection step is based on edge detection. For the detection of the straight edge lines a Hough based method was chosen. Due to peak spreading in Hough space, the difficulty of detecting the correct peak in Hough space was encountered. A flexible Hough peak detection algorithm was developed based on an adaptive window that takes peak spreading into account. The road marking candidate found by the system is verified before the lateral position data is generated. A good performance of the road marking tracking algorithm was obtained by exploiting temporal correlation to update a search region within the image. A camera calibration made the extraction of real-world lateral position information and yaw angle data possible. </p><p>This vision-based method proved to be very accurate. The standard deviation of the error in the position detection is 0.012 m within an operating range of ±2 m from the image centre. During continuous road markings the rate of valid data is on average 96 %, whereas it drops to around 56 % for sections with intermittent road markings. The system performs well during lane change manoeuvres, which is an indication that the system tracks the correct road marking. This prototype system is a robust and automatic measurement system, which will benefit VTI in its many driving behaviour research programs.</p>