Objectives: The uncertainties of pedestrian mobility are important factors affecting the accuracy and robustness of an active pedestrian protection system. This study is to provide the means for probabilistic risk evaluation of pedestrian–vehicle collision by counting the uncertainties in pedestrian motion.
Method: The pedestrian is modeled by a first-order Markov model to characterize the stochastic properties in mobility according to field experiments of pedestrians crossing an uncontrolled road. Based on the assumption of Gaussian distribution, unscented transformation (UT) is employed to predict the collision risk probability with the symmetric σ-set constructed on the basis of discrete trajectory simulation. Simulation experiments were carried out with 10,000 Monte Carlo (MC) simulations as the reference.
Results: The probability density distributions of time-to-collision, minimal distance, and collision probability estimated by UT coincide with the reference ones under various vehicle–pedestrian conflict scenarios, and the maximal deviation of collision probability from the reference is 5.33%. The UT method is about 600 times faster than the MC method (10,000 runs), which means that the proposed method has the potential for online application.
Conclusions: This article presents an effective and efficient algorithm to estimate the collision probability by using a UT method to solve the nonlinear transformation of uncertainties in pedestrian motion. Simulation results show that the UT-based method achieves accurate collision probability estimation and higher computation efficiency than MC and provides more valuable information concerning collision avoidance than the deterministic methods in the design of a pedestrian collision avoidance system. 相似文献
Carbonaceous matter has an important impact on glacial retreat in the Tibetan Plateau, further affecting the water resource supply. However, the related studies on carbonaceous matter are still scarce in Geladaindong (GLDD) region, the source of the Yangtze River. Therefore, the concentration, source and variations of carbonaceous matter at Ganglongjiama (GLJM) glacier in GLDD region were investigated during the melting period in 2017, which could deepen our understanding on carbonaceous matter contribution to glacier melting. The results showed that dissolved organic carbon (DOC) concentration of snowpit samples (283?±?200?μg/L) was much lower than that of precipitation samples (624?±?361?μg/L), indicating that large parts of DOC could be rapidly leached from the snowpit during the melting process. In contrast, refractory black carbon (rBC) concentration measured by Single Particle Soot Photometer of snowpit samples (4.27?±?3.15?μg/L) was much higher than that of precipitation samples (0.97?±?0.49?μg/L). Similarly, DOC with high mass absorption cross-section measured at 365?nm value was also likely to enrich in snowpit during the melting process. In addition, it was found that both rBC and DOC with high light-absorbing ability began to leach from the snowpit when melting process became stronger. Therefore, rBC and DOC with high light-absorbing ability exhibited similar behavior during the melting process. Based on relationship among DOC, rBC and K+ in precipitation, the main source of carbonaceous matter in GLJM glacier was biomass burning during the study period. 相似文献
Filters in residential and office air conditioning(A/C) systems have been used as sampling devices for monitoring different pollutants.However,cabin air filters(CAFs) in the A/C system of passenger cars have not been utilised for this purpose.In this study,we collected22 used CAFs from passenger cars in Hanoi,Vietnam to analyse for 8 polybrominated diphenyl ethers(PBDEs) and 10 organophosphate esters(OPEs).All the analytes were detected in more than 50% of samples with the exception of BDE153 and BDE154.The average concentrations of ∑_(10)OPEs and ∑_8 BDEs in the captured dust were 2600 and 40 ng/g,respectively with Tris(1-chloro-2-propyl) phosphate(TCIPP) and BDE209 as the dominant congener in OPE and BDE groups,respectively.CAFs are a potential tool to qualitatively assess the levels of semi-volatile chemicals in suspended dust in cars as a screening step for exposure assessment of those chemicals. 相似文献