Search Results (320)

GPSs typically have an accuracy ranging from a few meters to several tens of meters. However, when corrected using various methods, they can achieve an accuracy of several tens of centimeters. In autonomous driving, a positioning accuracy of less than 50 cm is required for lane-level positioning, route generation, and navigation. However, in environments where GPS signals are blocked, such as tunnels and underground roads, absolute positioning is impossible. Instead, relative positioning methods integrating IMU, IVN, and cameras are used. These methods are influenced by numerous variables, however, such as vehicle speed and road conditions, resulting in lower accuracy. In this study, we conducted experiments on current vehicle navigation technologies using an autonomous driving simulation vehicle in the Suri–Suam Tunnel of the Seoul Metropolitan Area 1st Ring Expressway. To recognize objects (lane markings/2D/3D) for position correction inside the tunnel, data on tunnel and underground road infrastructure in Seoul and Gyeonggi Province was collected, processed, refined, and trained. Additionally, a Loosely Coupled-based Kalman Filter was designed and applied for the fusion of GPSs, IMUs, and IVNs. As a result, an error of 113.62 cm was observed in certain sections. This suggests that while the technology is applicable for general vehicle lane-level navigation in ultra-long tunnels spanning several kilometers for public service, it falls short of meeting the precision required for autonomous driving systems, which demand lane-level accuracy. Therefore, it was concluded that infrastructure-based absolute positioning technology is necessary to enable precise navigation inside tunnels. Full article

Road markings, as critical components of transportation infrastructure, are crucial for ensuring traffic safety. Accurate quantification of their damage severity is vital for effective maintenance prioritization. However, existing methods are limited to detecting the presence of damage without assessing its extent. To address this limitation, we propose a novel segmentation-based framework for estimating the degree of road marking damage. The method comprises two stages: segmentation of residual pixels from the damaged markings and segmentation of the intact markings region. This dual-segmentation strategy enables precise reconstruction and comparison for severity estimation. To enhance segmentation performance, we proposed two key modules: the Asymmetric Large Field-of-View Contextual (ALFVC) module, which captures rich multi-scale contextual features, and the supervised Boundary Feature Enhancement (BFE) module, which strengthens shape representation and boundary accuracy. The experimental results demonstrate that our method achieved an average segmentation accuracy of 89.44%, outperforming the baseline by 5.86 percentage points. Moreover, the damage quantification achieved a minimum error rate of just 0.22% on the proprietary dataset. The proposed approach was both effective and lightweight, providing valuable support for automated maintenance planning, and significantly improving the efficiency and precision of road marking management. Full article

Glass microspheres are essential components in horizontal road markings due to their retroreflective properties, enhancing visibility and safety under low-light conditions. Traditionally produced from soda-lime glass made with high-purity silica from sand, their manufacturing raises environmental concerns amid growing global sand scarcity. This study explores the viability of rice husk ash (RHA)—a high-silica byproduct of rice processing—as a sustainable raw material for microsphere fabrication. A glass composition containing 70 wt% SiO₂ was formulated using RHA and melted at 1500 °C. Microspheres were produced through flame spheroidization and characterized following the Brazilian standard NBR 16184:2021 for Type IB beads. The RHA-derived microspheres exhibited high sphericity, appropriate size distribution (63–300 μm), density of 2.42 g/cm³, and the required acid resistance. UV-Vis analysis confirmed their optical transparency, and the refractive index was measured as 1.55 ± 0.03. Retroreflectivity tests under standardized conditions revealed performance comparable to commercial counterparts. These results demonstrate the technical feasibility of replacing conventional silica with RHA in glass microsphere production, aligning with circular economy principles and promoting sustainable infrastructure. Given Brazil’s significant rice production and corresponding RHA availability, this approach offers both environmental and socio-economic benefits for road safety and material innovation. Full article

This study aimed to investigate land-use and land-cover change and the associated change in the ecological stability of the model area Dobrá–Opatová (district of Trenčín, Slovakia), where increasing landscape transformation has raised concerns about declining ecological resilience. Despite the importance of sustainable land management, few studies in this region have addressed long-term landscape dynamics in relation to ecological stability. This research fills that gap by evaluating historical and recent LULC changes and their ecological consequences. Four time horizons were analysed: 1850, 1949, 2009, and 2024. Although the selected time periods are irregular, they reflect key milestones in the region’s land development, such as pre-industrial land use, post-war collectivisation, and recent land consolidation. These activities significantly altered the structure of the landscape. To assess future trends, we used the MOLUSCE plug-in in QGIS to simulate ecological stability for the future. The greatest structural landscape changes occurred between 1850 and 1949. Significant transformation in agricultural areas was observed between 1949 and 2009, when collectivisation reshaped small plots into large block structures and major water management projects were implemented. The 2009–2024 period was marked by land consolidation, mainly resulting in the construction of gravel roads. These structural changes have contributed to a continuous decrease in ecological stability, calculated using the coefficient of ecological stability derived from LULC categories. To explore future trends, we simulated ecological stability for the year 2030 and the simulation confirmed a continued decline in ecological stability, highlighting the need for sustainable land-use planning in the area. Full article

Understanding automated vehicle (AV) behavior in complex road environments and user attitudes in such contexts is critical for their safe and effective integration into smart cities. Despite growing deployment, limited public data exist on AV performance in construction zones; highly dynamic settings marked by irregular lane markings, shifting detours, and unpredictable human presence. This study investigates AV behavior in these conditions through qualitative, video-based analysis of user-documented experiences on YouTube, focusing on Tesla’s supervised Full Self-Driving (FSD) and Waymo systems. Spoken narration, captions, and subtitles were examined to evaluate AV perception, decision-making, control, and interaction with humans. Findings reveal that while AVs excel in structured tasks such as obstacle detection, lane tracking, and cautious speed control, they face challenges in interpreting temporary infrastructure, responding to unpredictable human actions, and navigating low-visibility environments. These limitations not only impact performance but also influence user trust and acceptance. The study underscores the need for continued technological refinement, improved infrastructure design, and user-informed deployment strategies. By addressing current shortcomings, this research offers critical insights into AV readiness for real-world conditions and contributes to safer, more adaptive urban mobility systems. Full article

This study explores the design and implementation of a control system integrating the anti-lock braking system (ABS) with frequency-modulated continuous wave (FMCW) radar technology to enhance safety and performance in autonomous vehicles. The proposed system employs a hybrid fuzzy logic controller (FLC) and proportional-integral-derivative (PID) controller to improve braking efficiency and vehicle stability under diverse driving conditions. Simulation results showed significant enhancements in stopping performance across various road conditions. The integrated system exhibited a marked improvement in braking performance, achieving significantly shorter stopping distances across all evaluated surface conditions—including dry concrete, wet asphalt, snowy roads, and icy roads—compared with scenarios without ABS. These results highlight the system’s ability to dynamically adapt braking forces to different conditions, significantly improving safety and stability for autonomous vehicles. The limitations are acknowledged, and directions for real-world validation are outlined to ensure system robustness under diverse environmental conditions. Full article

Built heritage serves as a vital repository of human history and culture, and an examination of its spatial distribution and influencing factors holds significant value for the preservation and advancement of our historical and cultural narratives. This thesis brings together various forms of built heritage, employing methodologies such as kernel density estimation, average nearest neighbor analysis, and standard deviation ellipses to elucidate the characteristics of spatial distribution. Additionally, it investigates the influencing factors through geographical detectors and Multiscale Geographically Weighted Regression (MGWR). The findings reveal several key insights: (1) In terms of geographical patterns, built heritage is predominantly located southeast of the “Hu-Huanyong” line, with notable concentrations at the confluence of Shanxi and Henan provinces, the southeastern region of Guizhou, as well as in southern Anhui, Fujian, and Zhejiang. Moreover, distinct types of built heritage exhibit marked spatial variations. (2) The reliability and significance of the analytical results derived from prefecture and city-level units surpass those obtained from grid and provincial-level analyses. Among the influencing factors, the explanatory power associated with the number of counties emerges as the strongest, while that relating to population density was the weakest; furthermore, interactions among factors that meet significance thresholds reveal enhanced explanatory capabilities. (3) Both road density and population density demonstrate positive correlations; conversely, the positive influence of topographic relief and river density accounts for 90% of their variance. GDP exhibits a negative correlation, with the number of counties contributing to 70% of this negative impact; thus, the distribution of positive and negative influences from various factors varies significantly. Drawing upon these spatial distribution characteristics and the disparities observed in regression coefficients, this thesis delves into potential influence factors and proposes recommendations for the development and safeguarding of built heritage. Full article

This study investigates the performance improvement of asphalt binders through the incorporation of two polymers, polyvinyl chloride (PVC) and styrene–butadiene–styrene (SBS), with asphalt grade (60–70), to address the growing demand for durable and climate-resilient pavement materials, particularly in areas exposed to high temperatures like Iraq. The main objective is to improve the mechanical characteristics, thermal stability, and workability of typical asphalt mixtures to extend pavement lifespan and lessen maintenance costs. A thorough set of rheological, physical, morphological, and workability tests was performed on asphalt binders modified with varying content of PVC (3%, 5%, 7%, and 9%) and SBS (3%, 4%, and 5%). The significance of this research lies in optimizing binder formulations to enhance resistance to deformation and failure modes such as rutting and thermal cracking, which are common in extreme climates. The results indicate that PVC enhances performance grade (PG), softening point, and viscosity, although higher contents (7% and 9%) exceeded penetration grade specifications. SBS-modified binders demonstrated marked improvements in softening point, viscosity, and rutting resistance, with PG values increasing from PG64-x (unmodified) to PG82-x at 5% SBS. Fluorescence microscopy confirmed optimal polymer dispersion at 5% concentration for both SBS and PVC, ensuring compatibility with the base asphalt. Workability testing revealed that SBS-modified mixtures exhibited higher torque requirements, indicating reduced workability compared to both PVC-modified and unmodified binders. These findings offer valuable insights for the design of high-performance asphalt mixtures suitable for hot-climate applications and contribute to the development of more durable and cost-effective road infrastructure. Full article

This study proposes a vision-based framework to support AVs in maintaining stable lane-keeping by assessing the condition of lane markings. Unlike existing infrastructure standards focused on human visibility, this study addresses the need for criteria suited to sensor-based AV environments. Using real driving data from urban expressways in Seoul, a YOLOv5-based lane detection algorithm was developed and enhanced through multi-label annotation and data augmentation. The model achieved a mean average precision (mAP) of 97.4% and demonstrated strong generalization on external datasets such as KITTI and TuSimple. For lane condition assessment, a pixel occupancy–based method was applied, combined with Canny edge detection and morphological operations. A threshold of 80-pixel occupancy was used to classify lanes as intact or worn. The proposed framework reliably detected lane degradation under various road and lighting conditions. These results suggest that quantitative, image-based indicators can complement traditional standards and guide AV-oriented infrastructure policy. Limitations include a lack of adverse weather data and dataset-specific threshold sensitivity. Full article

Mitigating traffic-related carbon emissions is pivotal for achieving carbon peaking targets and advancing sustainable urban development. This study employs spatial autocorrelation and high-low clustering analyses to analyze the spatial correlation and clustering patterns of urban road traffic carbon emissions in Shaanxi Province. The spatiotemporal evolution and structural impacts of emissions are quantified through a systematic framework, while the GTWR (Geographically Weighted Temporal Regression) model uncovers the multidimensional and heterogeneous driving mechanisms underlying carbon emissions. Findings reveal that road traffic CO₂ emissions in Shaanxi exhibit an upward trajectory, with a temporal evolution marked by distinct phases: “stable growth—rapid increase—gradual decline”. Emission dynamics vary significantly across transport modes: private vehicles emerge as the primary emission source, taxi/motorcycle emissions remain relatively stable, and bus/electric vehicle emissions persist at low levels. Spatially, the province demonstrates a pronounced high-carbon spillover effect, with persistent high-value clusters concentrated in central Shaanxi and the northern region of Yan’an City, exhibiting spillover effects on adjacent urban areas. Notably, the spatial distribution of CO₂ emissions has evolved significantly: a relatively balanced pattern across cities in 2010 transitioned to a pronounced “M”-shaped gradient along the north–south axis by 2015, stabilizing by 2020. The central urban cluster (Yan’an, Tongchuan, Xianyang, Baoji) initially formed a secondary low-carbon core, which later integrated into the regional emission gradient. By focusing on the micro-level dynamics of urban road traffic and its internal structural complexities—while incorporating built environment factors such as network layout, travel behavior, and infrastructure endowments—this study contributes novel insights to the transportation carbon emission literature, offering a robust framework for regional emission mitigation strategies. Full article

Autonomous vehicles are a promising solution to traffic congestion, air pollution, accidents, wasted time, and resources. However, remote driver intervention may be necessary in extreme situations to ensure safe roadside parking or complete remote takeover. In these cases, high-quality real-time video streaming is crucial for remote driving. In a preliminary study, we presented a region of interest (ROI) High-Efficiency Video Coding (HEVC) method where the image was segmented into two categories: ROI and background. This involved allocating more bandwidth to the ROI, which yielded an improvement in the visibility of classes essential for driving while transmitting the background at a lower quality. However, migrating the bandwidth to the large ROI portion of the image did not substantially improve the quality of traffic signs and lights. This study proposes a method that categorizes ROIs into three tiers: background, weak ROI, and strong ROI. To evaluate this approach, we utilized a photo-realistic driving scenario database created with the Cognata self-driving car simulation platform. We used semantic segmentation to categorize the compression quality of a Coding Tree Unit (CTU) according to its pixel classes. A background CTU contains only sky, trees, vegetation, or building classes. Essentials for remote driving include classes such as pedestrians, road marks, and cars. Difficult-to-recognize classes, such as traffic signs (especially textual ones) and traffic lights, are categorized as a strong ROI. We applied thresholds to determine whether the number of pixels in a CTU of a particular category was sufficient to classify it as a strong or weak ROI and then allocated bandwidth accordingly. Our results demonstrate that this multi-category ROI compression method significantly enhances the perceptual quality of traffic signs (especially textual ones) and traffic lights by up to 5.5 dB compared to a simpler two-category (background/foreground) partition. This improvement in critical areas is achieved by reducing the fidelity of less critical background elements, while the visual quality of other essential driving-related classes (weak ROI) is at least maintained. Full article

Robust visual perception and geometric alignment are crucial for intelligent automation in various domains, such as industrial processes and infrastructure monitoring. Accurately aligning structured visual elements, such as floor markings or road-marking templates, is essential for tasks like automated guidance, verification, and condition assessment. However, traditional feature-based methods struggle with templates that feature simple geometries and lack rich textures, making reliable feature matching and alignment difficult, even under controlled conditions. To address this, we propose GeoTemplateKPNet, a novel self-supervised deep-learning framework, built upon Convolutional Neural Networks (CNNs), designed to learn robust, geometrically consistent keypoints specifically in synthetic template images. The model is trained exclusively in a synthetic template dataset by enforcing equivariance to geometric transformations and utilizing self-supervised losses, including inside mask loss, peakiness loss, repulsion loss, and keypoint-driven image reprojection loss, thereby eliminating the need for manual keypoint annotations. We evaluate the method in a synthetic template test set, using metrics such as a keypoint-matching comparison, the Inside Mask Rate (IMR), and the Alignment Reconstruction Error (ARE). The results demonstrate that GeoTemplateKPNet successfully learns to predict meaningful keypoints on template structures, enabling accurate alignment between templates and their transformed counterparts. Ablation studies reveal that the number of keypoints (K) impacts the performance, with K = 3 providing the most suitable balance for the overall alignment accuracy, although the performance varies across different template geometries. GeoTemplateKPNet offers a foundational self-supervised solution for the robust geometric analysis of templates, which is crucial for downstream alignment tasks and applications. Full article

With the continuous expansion of highway networks and rapid advancements in the transportation industry, the need for highway maintenance and reconstruction has become increasingly urgent. Resonant rubblization technology generates an interlocking structure within the pavement layer by producing diagonal cracks at angles of 35–40°, thereby significantly enhancing load-bearing capacity and structural stability. As a result, this technique offers substantial benefits, including a marked reduction in reflective cracking, efficient reuse of existing concrete slabs (with a utilization rate exceeding 85%), reduced construction costs (by 15–30% compared to conventional methods), and faster construction speeds—up to 7000 square yards per day. Consequently, resonant rubblization has emerged as a key method for rehabilitating aging cement concrete pavements. Building on this foundation, this paper reviews the fundamental principles of resonant rubblization technology by synthesizing global research findings and engineering case studies. It provides a comprehensive analysis of the historical development, equipment design, construction principles, and practical application outcomes of resonant rubblization, with particular attention to its effects on pavement structure, load-bearing capacity, and long-term stability. Future research should focus on developing more realistic subgrade models, improving evaluation methods for post-rubblization pavement performance, and advancing the intelligentization of resonant equipment. The ultimate goal is to enhance the quality of road maintenance and repair, ensure road safety, and promote the development of long-life, sustainable road infrastructure through the continued advancement and application of resonant rubblization technology. Full article

With accelerating urbanization and agricultural modernization, the scale, structure, and land use conditions of rural settlements in China’s three northeastern provinces (TNPs) have changed dramatically, impacting regional food production and sustainable rural development. Based on multitemporal land use datasets and socioeconomic statistics, we used spatial pattern analysis, machine learning models, and the Shapley additive explanation (SHAP) method to investigate the spatial evolutionary characteristics and driving factors of rural settlements in China’s TNPs from 1980 to 2020. The results show that (1) the spatial evolution of rural settlements followed a four-stage “expansion–stabilization–re-expansion–restabilization” trend; arable land conversion was the primary source of expansion, with limited conversion from forests, grasslands, and water bodies. (2) Rural settlements demonstrated marked agglomeration, with the spatial distribution evolving from “single-center clustering” to “multiregional contiguous clustering”. Rural settlements in the Sanjiang Plain evolved into large patch clusters, while those in the lower Liaohe River Basin became small patch clusters. (3) Rural settlements at low elevations and near roads and waterways presented a large-scale, agglomerative distribution, while settlements at high elevations and far from rivers and roads showed a small-scale, high-agglomeration pattern. (4) The rural population, total power of agricultural machinery, total grain output, and primary industry value added predominantly drove settlement spatial expansion, with an “initial suppression, then promotion” trend, while the urbanization rate and GDP per capita had a negative impact, with the opposite trend. The interaction effects among high-contributing factors transitioned from suppressive to promoting. Our results provide theoretical insights for spatial planning and sustainable development in agricultural rural settlements. Full article

This study introduces a digital twin paradigm that uses both stationary and mobile sensors and cutting-edge machine learning for urban air quality monitoring. By boosting $R^2$ values from 0.29 to 0.87–0.95, our two-step calibration method increased the accuracy of low-cost PM sensors, showing the possibility of growing monitoring networks without sacrificing measurement accuracy. Significant temporal and spatial variability in PM concentrations was found by mobile sensor deployments, with variations of up to 300% over short distances, predominantly during heavy traffic. During rush hours, peak concentrations were found on multi-lane boulevards and intersections, indicating important exposure concerns usually overlooked by stationary monitoring networks. According to our Graph Neural Network model, which successfully described pollutant dispersion patterns, road dust resuspension predominates in residential areas, while vehicle emissions account for 65% of PM_2.5 along high-traffic corridors. Urban green areas lower PM levels by 30%, yet when the current low-emission zones were first implemented, they had no discernible effect on air quality. Municipal authorities can use this digital twin strategy to acquire practical insights for focused air quality improvements. The method helps make evidence-based traffic management and urban planning judgments by identifying unidentified pollution hotspots and source contributions. The technique offers a scalable option for establishing healthier urban development and marks a substantial leap in environmental monitoring. Full article