Vehicles, Volume 8, Issue 3 (March 2026) – 25 articles

On heavily traveled highway corridors, traffic congestion, lane merges, toll facilities, and complex interchanges frequently trigger sudden and aggressive deceleration, commonly referred to as harsh braking (HB). Such maneuvers reflect near-miss driving conditions that may precede crashes. Traditional traffic safety analyses rely primarily on historical crash records, a reactive approach that limits agencies’ ability to identify and address emerging risks in a timely manner. Because HB events are continuously captured by connected-vehicle telematics, they provide an opportunity to evaluate roadway safety risk more proactively. This study investigates the applicability of harsh braking events as a surrogate indicator of crash risk on New Jersey interstate highways. The analysis uses more than 8.5 million connected-vehicle telemetry records from Drivewyze and approximately 45,000 police-reported crashes collected between July and December 2024. HB events were identified using a deceleration threshold of 6 ft/s² (approximately 0.2 g) and spatially matched to one-mile highway segments along with crash data. Spatial analysis shows that both HB events and crashes are highly concentrated along major corridors, including I-95, I-80, I-78, and I-287, with notable clustering near toll plazas and complex interchange areas. Temporal patterns indicate that harsh braking activity increases substantially during late fall, likely reflecting seasonal congestion and adverse weather conditions. To quantify the relationship between HB events and crash frequency, Negative Binomial (NB) and Zero-Inflated Negative Binomial (ZINB) regression models were estimated at the segment level. Results reveal a positive and statistically significant association between HB events and crash counts. In the preferred ZINB model, each additional HB event is associated with approximately a one percent increase in expected crash frequency. While the effect of individual events is small, repeated harsh braking activity corresponds to a meaningful increase in crash risk; for example, an increase of 10 HB events corresponds to an expected crash frequency of about 10% higher. Overall, the findings suggest that connected-vehicle HB data can complement traditional crash records by providing early indications of elevated risk. Incorporating HB monitoring into highway safety programs may support proactive identification of hazardous locations and more timely deployment of targeted countermeasures. Full article

Public bus systems are vital to achieving sustainable urban mobility in developing countries; yet, the quality of bus stops, a critical interface between users and transit services, remains widely overlooked. This study evaluates bus stop quality in Sulaymaniyah, Iraq, from bus users’ perspectives by integrating importance–performance analysis (IPA) and the customer satisfaction index (CSI) with level of conformity analysis (CR) using extensive, real-world survey data. The objective was to identify priority areas to help improve the quality of public bus stop provision in the city and ensure the most efficient allocation of resources by focusing on the quality attributes that matter most to bus users. The results highlight six critical service quality attributes that require immediate improvement due to their high importance to users and low service quality performance: (i) safety barriers to prevent traffic accidents while waiting at bus stops; (ii) accessibility of bus stops for elderly and disabled users; (iii) availability of signage and timetables/maps; (iv) overall bus stop quality; (v) narrow bus stop platforms; and (vi) waiting time at bus stops. Addressing these gaps is essential to enhance user satisfaction and ensure that users have a safer, more inclusive, and reliable PT experience. This study offers evidence-based recommendations to enhance bus stop design and service quality, thus contributing to improved user satisfaction and increased ridership. More broadly, the results can be applied to other rapidly urbanizing developing cities seeking to provide equitable, safe, and user-centered bus transit systems. Full article

Environmental regulations, rapid technological advancements, and evolving mobility trends have led to a significant transformation of the automotive industry in recent years. The adoption of battery-electric vehicles (BEVs) has been accelerated by these developments, which are becoming increasingly efficient and widely deployed. Evaluating BEV energy consumption and performance is essential for optimizing energy efficiency, extending driving range, and developing effective control strategies under real-world operating conditions. The analysis is based on the WLTP Class 3 driving cycle, in which the vehicle operating points are projected onto the motor efficiency map to evaluate the influence of real-world operating conditions on overall propulsion efficiency. Two operating scenarios are considered: with regenerative braking and without regenerative braking. The inverter and battery are modeled using quasi-static energy-based representations to ensure system-level energetic consistency while maintaining computational efficiency. The results show that rotor topology significantly influences vehicle-level energy consumption. The dual-layer IPM configuration reduces net WLTP energy demand by approximately 9% and increases the estimated driving range from about 489 km to 535 km compared to the single-layer V-shaped configuration. Variations in rotor topology led to different efficiency distributions, which leads to systematic differences in battery energy demand and achievable driving range. The results highlight the importance of aligning traction motor design with realistic operating-point distributions rather than optimizing solely for peak efficiency or marginal improvements in regenerative braking performance. Full article

To satisfy the requirements of voltage support and fault-current limitation for electric-vehicle (EV) charging stations connected to weak distribution networks, an increasing number of charging infrastructures are adopting grid-forming (GFM) converters and vehicle-to-grid (V2G) control strategies. Under AC short-circuit faults and voltage-sag conditions, limiting the fault current injected by the converter is essential to reduce overcurrent risk to power semiconductor devices. For this, an adaptive virtual-impedance-based low-voltage ride-through (LVRT) method is proposed for GFM converters in EV charging stations. First, an overcurrent grading criterion is constructed based on real-time current measurements. In the moderate-overcurrent region, an adaptive virtual reactance is introduced to achieve soft current limiting. In the severe-overcurrent region, hard current limiting is implemented by further increasing the virtual reactance and blocking overcurrent bridge arm. In addition, a virtual-reactance recovery mechanism is designed to ensure smooth post-fault restoration. Based on an RCP + HIL platform, experiments are conducted to validate the proposed fault current-limiting method. Experiment results demonstrate that the proposed method can rapidly suppress fault current, maintain voltage-support capability, and shorten post-fault restoration time. Full article

Accurate short-term traffic delay prediction is essential for effective intersection management and real-time traffic control. Although deep learning models have shown strong predictive capabilities in traffic forecasting, the influence of input feature configuration on prediction performance remains insufficiently understood. This study investigates how different feature groups affect short-term delay prediction at an urban roundabout using high-resolution, approach-level traffic data collected at one-minute intervals. Five feature scenarios are evaluated, ranging from temporal indicators only (S0) to a comprehensive feature set combining historical delay, operational traffic indicators, demand measurements, and temporal context (S4). Two recurrent neural network architectures, Gated Recurrent Unit (GRU) and Long Short-Term Memory (LSTM), are examined under two forecasting horizons (1-min and 5-min ahead). To ensure robustness, each configuration is trained through repeated runs and evaluated using statistical significance analysis. Results show that the temporal-only baseline produces the largest prediction errors (MAE ≈ 22.5 s), while scenarios incorporating operational traffic indicators significantly improve prediction accuracy. The full feature configuration (S4) achieves the best performance for the 1-min horizon, reaching MAE values of 17.24 s and 17.22 s for GRU and LSTM, respectively. For the 5-min horizon, prediction errors increase and performance differences between feature scenarios become smaller. Additional experiments across multiple approaches confirm the general consistency of the proposed framework, while hyperparameter sensitivity analysis indicates limited dependence on model capacity. Overall, the findings highlight the importance of operational traffic indicators—particularly queue dynamics and stop patterns—for reliable short-term delay forecasting and provide practical guidance for designing efficient real-time traffic prediction systems. Full article

In wireless power transfer (WPT) systems, magnetically coupled wireless power transfer has become a major research focus due to its advantages such as long transmission distance, strong tolerance to misalignment, and high power transfer capability. It is also widely applied in vehicle wireless power transfer systems. From the perspective of practical engineering applications, this paper investigates the problem of system parameter variations caused by changes in inductance and load, in combination with magnetically coupled structures. During actual system operation, misalignment of the coupling mechanism leads to variations in mutual inductance, while the load resistance may also fluctuate. These parameter changes result in alterations to the overall output characteristics of the system, which are detrimental to stable system operation. Moreover, adopting a dual-side communication control strategy is susceptible to interference from the system’s power circuitry. To address these issues, this paper proposes a novel state variable modeling method and designs a state observer based on the extended Kalman filter (EKF) algorithm to estimate the secondary-side parameters, thereby enabling observation of the voltage across the load at the receiver side. The state observer is configured with two operating modes to monitor variations in mutual inductance and load resistance. The observer outputs are compared with the actual load-side voltage, and the effectiveness of the proposed state observer is verified. Full article

Peak-hour congestion in metro systems poses significant challenges to operational reliability and passenger experience. This study investigates a coordinated operational strategy that integrates passenger flow control, reservation-based entry, and skip-stop train operations to alleviate congestion in high-density metro corridors. A mathematical optimization model is formulated to jointly capture passenger demand, station crowding, and train capacity constraints, and is solved using an adaptive large neighborhood search algorithm. Numerical experiments based on a real-world metro line demonstrate that the proposed framework can effectively reduce passenger waiting time and improve the balance of passenger distribution across stations under peak-hour conditions. The results indicate that coordinating multiple operational measures yields better performance than applying individual strategies in isolation, highlighting the practical value of the proposed approach for congested metro systems. Full article

This study evaluates the feasibility of using two affordable thermal cameras (UNI-T UTi260M and UTi260T), which are not designed as automotive sensors, for observing pedestrians and warm objects during night-time driving under low-illumination conditions. The experimental setup includes mounting the camera on the vehicle body (e.g., side mirror area/roof), recording road scenes in urban and rural environments, and selecting representative frames for qualitative and quantitative analysis. The study assesses: (i) observable pedestrian detectability in unlit road sections and under oncoming headlight glare, where visible cameras often lose contrast; (ii) the influence of low ambient temperature and strong cold wind on image appearance (including “whitening”/contrast shifts); and (iii) workflow differences, where UTi260M relies on a smartphone application for streaming/recording, while UTi260T supports PC-based image analysis and temperature-profile visualization. In addition, a calibration-based geometric method is proposed for approximate pedestrian distance estimation from single frames using silhouette pixel height and a regression model based on 1$/h_{px}$, valid for a specific mounting configuration and a known subject height. Results indicate that both cameras can highlight warm objects relative to the background and support visual pedestrian identification at low illumination, including in the presence of oncoming headlights, with UTi260M showing more stable behavior in parts of the tests. This work is a feasibility study and does not claim Advanced Driver Assist Systems (ADAS) functionality; it outlines limitations, repeatability considerations, and a minimal set of metrics and procedures for future extension. All quantitative indicators derived from exported frames are explicitly treated as image-level proxy metrics, not as physical sensor characteristics. Full article

Plug-in hybrid electric vehicles (PHEVs) are expected to reduce fleet CO₂ emissions, but real-world operation often differs markedly from type-approval values. Using European OBFCM data for 457,555 PHEVs (2021–2023) from 14 manufacturers, we quantify the “test-to-reality” CO₂ gap and assess whether traction battery capacity contains an independent signal or mainly reflects vehicle segmentation and in-use behavior. Battery capacity shows only limited standalone explanatory power, while controlling for segment, monitoring year, and manufacturer and incorporating OBFCM-derived usage indicators greatly improves model fit and substantially reduces the apparent battery–gap relationship. We further find strong heterogeneity across vehicle segments, indicating that battery size is not a universal lever of real-world PHEV CO₂ performance. Overall, the results support interpreting battery capacity primarily as a proxy for market positioning and real-world usage (notably charging/engine-dominant operation), highlighting the need to complement type-approval metrics with usage-sensitive indicators when evaluating PHEV compliance in practice. Full article

The COVID-19 pandemic and the resulting mobility restrictions significantly disrupted urban traffic patterns. This study quantitatively assesses the impact of these restrictions on vehicle flow at a signalized central intersection in Cluj-Napoca, Romania, through an integrated methodology combining continuous radar-based traffic measurements and AI (Artificial Intelligence)-assisted video analysis. Traffic data were collected before the pandemic (November 2019) and during the lockdown period (April 2020), enabling a comparative evaluation of flow characteristics and vehicle arrival patterns. Under constrained observational conditions, vehicle arrivals were modeled using a probabilistic framework grounded in Poisson distribution. The findings indicate a dramatic contraction of mobility demand, with traffic volumes declining in 2020 to 9.55% of pre-pandemic levels. The probabilistic assessment highlights the predominance of free-flow regimes under reduced demand and confirms the adequacy of the Poisson model in low-density traffic scenarios. The obtained results contribute to a better understanding of urban traffic dynamics under extreme mobility disruptions and provide a transferable methodological framework for probabilistic traffic modeling, resilience-oriented urban mobility planning, and data-driven traffic management. Full article

Mandatory lane-changing in complex driving scenarios poses significant challenges for autonomous driving systems due to complex vehicle interactions and strict safety requirements. Existing methods often rely on handcrafted rules or extensive expert demonstrations, which increase data collection costs and provide limited safety guarantees during learning. To address these issues, this paper proposes a rule-guided reinforcement learning framework for lane-changing policy optimization. A lightweight rule-based controller is employed to generate initial experience, guiding the training of an improved Distributional Soft Actor–Critic with Three Refinements (DSAC-T), while a safety-aware constraint controller filters high-risk actions to ensure stable and safe learning. The proposed method is evaluated in Regular Lane Change and Lane Merging scenarios under mixed traffic composed of aggressive and conservative vehicles within a simulation environment. Simulation results show that although lane-changing success rates decrease as traffic aggressiveness increases, the proposed method consistently outperforms SAC and TD3. Notably, under highly aggressive traffic conditions with an aggressiveness ratio of 0.7, the proposed approach improves the success rate by 17.13% compared to SAC and by 10.49% compared to TD3, demonstrating superior robustness and safety in complex, high-conflict lane-changing scenarios. The present study is conducted solely in simulation and requires further validation before application to real-world traffic environments. Full article

To address the core challenges of low energy utilization efficiency and limited range in front-wheel-drive electric vehicles (FWD EVs), this study proposes a dynamic series braking energy recovery strategy featuring adaptive braking force distribution and multi-factor correction. A comprehensive simulation model integrating five core modules—Cycle, Driver, Controller, Vehicle, and Display—was developed using Matlab/Simulink, combining the dynamic series recovery strategy with traditional parallel recovery strategies. Model reliability was validated through chassis dynamometer test data (maximum error ≤ 3.2%), followed by simulation comparisons under CLTC conditions. Results demonstrate that compared to parallel strategies, the dynamic series approach increases range by 25.8% (from 318 km to 400 km). Key innovations include real-time adaptive front axle braking coefficients based on braking intensity and a correction mechanism integrating vehicle speed and state of charge (SOC), achieving a balance between recovery efficiency, braking stability, and battery protection. This study provides actionable design guidance for FWD EV powertrain optimization while establishing a validated regenerative braking simulation framework. Full article

Car following is a common and important behavior in vehicle traffic flow, and the fluctuation of car-following behavior caused by the change in weather environment has also become one of the main causes of traffic accidents. To solve this problem, a driving scene on urban roads was built through the driving simulation platform, and the driving simulator was used to carry out the vehicle-following test. The operating behavior parameters of the test drivers, such as steering wheel angle, headway, throttle opening, standard deviation of vehicle speed, acceleration, collision times, and so on, were collected and studied. The results showed that there were significant differences (p < 0.05) in indicators such as steering wheel angle, headway, acceleration, and standard deviation of speed under adverse weather conditions. The bad weather caused the line of sight to be blocked, which the driver compensated for by strengthening the trimming of the steering wheel angle, leading to the deterioration of the vehicle lateral stability. Moreover, safety studies have shown that the minimum driving interval occurred in foggy weather, while the maximum occurred in snowy weather. In addition, the standard deviation of vehicle speed and acceleration fluctuations have been reduced to ensure driving safety in adverse weather conditions. The driving experience of the drivers has a significant impact on the number of collisions, as novice drivers had a higher probability of collision. Full article

Ensuring the safety of Autonomous Driving Systems (ADS) at urban intersections remains challenging due to complex interactions between vehicles and traffic management infrastructure. This study validates an ADS equipped with connected perception using Infrastructure-to-Vehicle (I2V) communication within a combined virtual and hybrid testing approach. The validation follows the overall structure and methodology of the SUNRISE Safety Assurance Framework (SAF), which is applied in detail where required by the scope of the study. Five representative urban intersection scenarios, covering both nominal driving conditions and safety-critical edge cases, are evaluated using virtual simulations in MATLAB/Simulink (2014b) and hybrid experiments integrating OMNeT++ (5.7.1)/Veins (5.2)/SUMO (1.12.0) with real-world components. Key Performance Indicators (KPIs) related to safety, decision-making, longitudinal control, passenger comfort, and V2X communication performance are analyzed. The results show strong consistency between virtual and hybrid testing, with ego vehicle speed deviations below 2 km/h and trigger distance differences under 3 m. V2X communication achieves a near-perfect Cooperative Awareness Message (CAM) delivery ratio, with an average latency of approximately 142 ms. While this latency remains within the tolerance of the deployed ADS, the overall end-to-end delay highlights opportunities for further optimization. The study demonstrates how the SUNRISE SAF can effectively structure ADS validation, identifies critical scenarios such as right-of-way violations by non-priority obstacles, and provides insights into improving connectivity handling and low-speed braking behavior for Cooperative, Connected, and Automated Mobility (CCAM) systems in urban environments. Full article

This study investigates amplified hydraulic braking systems employed in high-performance motorsport applications, utilizing wedge mechanisms for self-energization. An analytical expression for the gain coefficient is derived from a simplified equilibrium analysis of the wedge-shaped pad, capturing the nonlinear dependency on both wedge angle and effective mean disc-pad friction. A previously validated coupled thermoelastic model for carbon-carbon (C/C) braking systems—developed in Dymola and Modelica using the finite volume method (FVM) and an analytical local friction formulation—is here adapted to wedge-amplified braking systems, with the aim of providing performance assessment during the design phase of new calipers at reduced computational cost compared to coupled thermoelastic finite element method (FEM) models. Several caliper configurations featuring different wedge angles are tested experimentally on a dynamometer. A reduction in the effective friction coefficient at high mean effective contact pressure—induced by pronounced wedge angles and reduced pad areas—is observed. To validate the thermoelastic model, simulated braking torque and disc surface temperature are compared against bench data. The model shows satisfactory predictive capability under various operating conditions and test cycles, with mean error indices on peak torque prediction below $5\%$ for the majority of the simulated cases. Finally, the validated model is used to virtually assess the performance of a new caliper prototype prior to its manufacturing and testing. Full article

Sliding contact wear at the pantograph–catenary interface directly impacts the current collection performance and power supply reliability of electrified railways. Addressing the challenges in multi-environmental wear studies—namely, fragmented modeling chains, inconsistent parameter calibrations, and prohibitive computational costs that hinder horizontal comparisons—this study develops an equivalent parameterized modeling framework tailored for engineering assessment. The framework encapsulates environmental effects as equivalent load increments and interface coefficient corrections, facilitating efficient multi-scenario parameter scanning within a 3D contact model. Findings reveal that environmental factors drive wear through a distinct “pressure-wear” nonlinear decoupling mechanism. In sandy environments, abrasive-mediated micro-cutting dominates, leading to a monotonic surge in wear depth as sand concentration increases, despite a buffered contact pressure response. In icing conditions, the synergy of low-temperature brittleness and geometric impact renders hotspot wear highly sensitive to temperature fluctuations. For salt spray conditions, the environmental impact is represented via equivalent corrections to the interfacial parameters; within this equivalent framework, the results suggest that salt spray intensity has a more pronounced effect on wear accumulation than humidity alone. This work reveals the divergence of dominant damage pathways across environments, offering a quantitative basis for the differentiated maintenance and remaining life estimation of pantograph–catenary systems in extreme climates. Full article

The location of the rider centre of mass (CoM) is especially relevant in bicycles and motorcycles due to the large human-to-vehicle mass ratio. This work illustrates two alternative methods for the experimental identification of the longitudinal and lateral coordinates of the rider CoM position as a function of the posture. The first method uses a set of load cells and provides accurate and reliable results. However, riders’ must firmly hold their configuration for the time necessary to stabilise the force measurements, which may be uncomfortable in configurations such as lean-out. The second method utilises an optical system which captures the rider attitude. This information is then used to feed a multibody model, which is used to estimate the CoM coordinates. Full article

Braking drag is a typical fault of brake systems, and clarifying the correlation mechanism between vehicular working conditions and braking drag is critical for brake design improvement. Based on fluid mechanics and contact mechanics, this paper establishes a dynamic model for braking drag mechanism analysis, combined with the return mechanism and force-bearing state of brake pistons. Firstly, a commercial vehicle brake system dynamic model is built via Amesim, and piston sliding resistance is identified as the key factor leading to insufficient piston retraction through user operational data analysis. Subsequently, a fluid-structure interaction-based dynamic coupling model of drag mechanism is established, typical braking conditions are extracted via K-means clustering, and piston friction, displacement and drag torque are solved with the system model outputs as inputs. Finally, drag-prone working conditions are determined, and the disc brake drag mechanism is revealed. The results show that piston sliding resistance is the primary factor in braking drag; medium-low speed prolonged braking has high drag susceptibility; and the seal contact area is in mixed lubrication, with contact pressure and friction dominated by asperity shear stress. This work enables accurate identification of drag-prone conditions, providing guidance for brake system optimization. Full article

Dynamic Message Signs (DMSs) play a critical role in conveying real-time traffic information to drivers; however, their effectiveness heavily relies on how messages are structured and displayed, particularly regarding phasing duration and content length. This study examines the influence of these two factors on driver readability, comprehension, and gaze behavior using an advanced virtual reality (VR) driving simulator. Controlled experiments simulated four DMS scenarios, combining two phasing intervals (2.5 and 4 s) with short and long message formats, adhering to Michigan Department of Transportation (MDOT) guidelines. The experiment integrated eye-tracking technology to measure fixation duration and frequency, while statistical methods, including survival analysis and LASSO regression, were employed to identify significant predictors of message readability. Results revealed that shorter messages with shorter phasing intervals led to the highest comprehension rates and reduced cognitive strain. Furthermore, individual characteristics such as gender, driving speed, and highway driving experience significantly affected how drivers engaged with DMS messages. These findings contribute to the development of more effective DMS deployment strategies and provide practical design recommendations to enhance traffic safety and information delivery on high-speed roadways. Full article

Owing to their high-altitude vantage point and maneuverability, unmanned aerial vehicles (UAVs) have emerged as an effective technical solution for real-time parking detection in expressway scenarios. Using UAV cruise-perspective images, this paper proposes an unauthorized parking detection method by analyzing the time-series variations in the relative distances between the moving vehicle and static structure as a reference. Firstly, vehicle and static structure targets are recognized and tracked by the DeepSort, and a Vehicle–Structure (V-S) distance matrix is further constructed to describe their frame-wise relative positions in the pixel coordinate system. Then, to eliminate the radial scale errors caused by perspective distortion, a scale factor (SF) index is introduced to correct the original V-S matrix and provide a more accurate spatiotemporal representation. Finally, the stationarity of the distance series in the V-S matrix is tested using the Augmented Dickey–Fuller (ADF) test, and a parking detection method is proposed by introducing the parking support ratio (PSR) to establish a multi-structure joint decision scheme. Experimental results show that the corrected V-S matrix can faithfully describe the spatial positional relationship between road vehicles and static structures. With the optimal PSR threshold ${\psi }_0$ and time window T, the proposed method achieves better overall parking-detection performance in terms of accuracy, precision, recall, and F1-score in comparison with a traditional speed threshold approach. Full article

Traffic congestion not only severely impacts residents’ daily travel quality and increases travel costs, but also triggers traffic accidents, causes environmental pollution, and leads to resource waste. There is a practical need to implement engineering measures simultaneously across multiple intersections to mitigate urban road traffic congestion, which necessitates in-depth research into selecting critical intersection clusters. Based on existing research, the relationship between vehicle emissions and the degree of saturation was derived. The network efficiency evaluation metric was refined using the degree of saturation, and a model linking vehicle emissions to network efficiency was established. A validation experiment was designed using the core road network of Xining City, Qinghai Province, as an example. The results indicate that vehicular exhaust emissions per kilometer are proportional to the saturation degree metric value. The network efficiency metric is inversely proportional to the network’s overall (or average) saturation degree. Vehicular exhaust emissions exhibit an inverse relationship with network efficiency. As the road traffic operational state shifts from congestion to free-flow conditions, for every 1-unit increase in network efficiency value, the average exhaust emissions per vehicle per kilometer decrease by 3.976 kg. Different congestion mitigation node selection schemes correspond to varying total emission reductions during the morning peak. When ranked by the magnitude of increase in network efficiency (from the largest increase to the smallest), the corresponding total morning peak emission reductions gradually decrease in a stepwise manner. According to the $C_{60}^2$ and $C_{60}^3$ experimental results, compared to the worst node cluster selection scheme, the optimal node cluster selection scheme can reduce vehicular exhaust emissions by 4441 kg and 6616 kg, respectively. These findings provide valuable theoretical and practical insights for implementing energy-saving and emission reduction strategies in urban traffic management. Full article

The development of AI-driven automated driving functions requires vast amounts of diverse, high-quality data to ensure road safety and reliability. However, both the manual collection of real-world data and creation of 3D environments are costly, time-consuming, and hard to scale. Most automatic environment generation methods still rely heavily on manual effort, and only a few are tailored for Advanced Driver Assistance Systems (ADAS) and Automated Driving Systems (ADS) training and validation. We propose an automated generative framework that learns ground-truth features to reconstruct 3D environments from a road definition and two simple parameters for country and area type. Environment generation is structured into three modules—map-based data generation, semantic city generation, and final detailing. The overall framework is validated by training a perception network on a mixed set of real and synthetic data, validating it solely on real data, and comparing performance to assess the practical value of the environments we generated. By constructing a Pareto front over combinations of training set sizes and real-to-synthetic data ratios, we show that our synthetic data can replace up to $85\%$ of real data without significant quality degradation. Our results demonstrate how multi-layered environment generation frameworks enable flexible and scalable data generation for perception tasks while incorporating ground-truth 3D environment data. This reduces reliance on costly field data and supports automated rapid scenario exploration for finding safety-critical edge cases. Full article

Dangerous goods transport (DGT) is of strategic importance for any economy, and the structure of the fuel and energy industry includes a number of systems and facilities qualified as “critical infrastructure” (CI). Given the current geopolitical situation, sabotage, hybrid or even terrorist activities in the area of logistics and transport pose an increasing threat. At the same time, next to the economic sector, liquid fuels are of great importance to citizens, which is why the transport of this group of goods should be given special importance, ensuring appropriate efficiency and safety parameters, taking into account the risk of intentional, destructive human interference. A significant source of data in the road transport of dangerous goods is the spatial data infrastructure (SDI); digital interactive platforms (DIP) are important here. This scientific research work concerns the application of DIP and related information technologies (IT) in road transport—smart mobility (SM). The main objective of the scientific research work is to develop proposals for effective tools to minimize the overall risk, using publicly available digital interactive platforms. In the implementation of the topic, the following methods were integrated: OKR (Objectives and Key Results), SMART (Specific, Measurable, Achievable, Relevant, Time-bound) and CS (Case Study). The main problem was identified and the main goal of the work was achieved. The results made it possible to present effective risk minimization tools in DGT using DIP. The elaboration was prepared under the research subvention of the AGH University of Krakow, No. 16.16.150.545 in 2026. Full article

Heavy-haul railways are important for bulk freight transport, and improving their transport capacity is essential for railway operators to enhance operational efficiency. This study develops an integer linear programming model for train formation planning that maximizes transport capacity, incorporating key practical constraints such as section headway, station capacity, and locomotive matching. This study makes two main contributions: (1) explicit formulation of transport-capacity maximization as the primary objective; and (2) incorporation of specific train formation rules through linear resource-flow coefficients that characterize the combination and decomposition operations. The model is applied to the Shuozhou–Huanghua Railway in a case study. Experimental results show that the optimized train formation plan increases total freight volume from 2810.4 thousand tons to 3080.0 thousand tons, representing a capacity improvement of approximately 9.6%. This result is achieved by adjusting the mix of train tonnage levels, increasing combination operations for medium-capacity trains, and reallocating locomotive types in accordance with traction requirements. The study demonstrates that a capacity-oriented optimization framework can effectively support train-formation plan decisions under practical operational constraints, providing railway operators with a systematic tool to enhance line utilization without expanding infrastructure. Full article

This study examines how longitudinal road gradients affect the energy consumption and driving range of a Tesla electric vehicle using dynamometer measurements and Simulink simulations. Tests performed on slopes from 0% to 4% show a strong inverse relationship between gradient and range, with more than a 62% reduction at a 4% incline. The Simulink model accurately reproduces these trends despite the tested vehicle’s age and battery degradation. Shifting from driving range to energy consumption metrics provides a more robust assessment of vehicle efficiency, revealing that uphill segments substantially increase consumption, while downhill segments enable significant recuperation. When averaged, these effects nearly cancel out for moderate slopes, especially at higher speeds where aerodynamic drag dominates. Constant-speed simulations confirm that slope has minimal net impact at highway speeds but strongly affects consumption at urban speeds, with increases of up to 17% at a 4% gradient. Overall, the findings highlight road gradients as a key factor in EV energy modelling and emphasize the need to incorporate terrain and driving environment into predictive range estimation and eco-routing strategies. Full article