NGSIM使用手册（1）
美国NGSIM系统的使用手册，方便读者高效的利用NGSIM进行数据下载，完成交通领域的研究Technical Report Documentation Page1. Report No2. Government Accession no3. Recipients Catalog NoFHWA-HOP-06-0124. Title and subtitle5. Report DateNext Generation Simulation(NGSIM) Data Format Planly20046. Performing Organization Code7. Author(s8. Performing Organization report noVijay Kovvali, richard margiotta, Robert franc, vassiliAlexiadis9. Performing Organization Name and Address10. Work Unit NoCAMBRIDGE SYSTEMATIC INC150 CAMBRIDGE PARK DRIVE SUITE 400011. Contract or grant noCAMBRIDGE MA 02140DTFH61-02-C-0003612. Sponsoring Agency Name and Address13. Type of Report and Period CoveredDepartment of transportationFinal reportFederal Highway AdministrationJuly 2003-july 2004Office of Acquisition Management14. Sponsoring Agency Code400 Seventh Street SW, RM 4410Washington, DC 2059015. Supplementary notesFHWA COTR: John Halkias, Office of Operations, and James Colyar, Office of Operations r&d16. AbstractThe Next Generation Simulation Program(NGSIM) Data Format Plan was developed to define thestructure, documentation, and transfer requirements for data that will be collected for estimationcalibration, and validation of core behavioral algorithms. The development of the data Format Plan isbased on existing formats that are relevant to ngsim and augmented to fill in gaps. to this end, a reviewof existing data formats was undertaken and their relevance to NGSiM was assessed. The review includeddata standards developed for intelligent transportation systems(ITS), data formats developed specificallyfor traffic simulation models, and data formats developed for broader transportation applications. Thespecified data formats were developed with the objective of promoting efficient research by maintainingonsistency between data collection and research, and providing consistent storage and transmittalprotocols. On the other hand, this plan intentionally avoids over specification of data formats, so as tominimize unnecessary limitations to research. This document specifies the conceptual data model by meansof Unified Modeling Language UMl class diagrams; the data dictionary in the data standard prescribed bP1489-1999 format developed by the Institute of Electrical and Electronics Engineers(IEEE); the dataexchange structure for data transfer from user to user or from the database/repository to users; and theNGSIM metadata17. Key words1 8. Distribution StatementNext generation simulation, NGSIM, trafficNo restrictions. This document is available to thesimulation, high-level plan, traffic data collection, public through the National Technical Informationvehicle trajectory dataService, Springfield, VA2216119. Security Classif. (of this report) 20. Security Classif. (of this page) 21. No of Pages22. PriceUnclassifiedUnclassifiedForm dot e1700.7(8-72)Reproduction of completed pages authorizedTABLE OF CONTENTSEXECUTIVE SUMMARY1.0 INTRODUCTION1.1High- Level plan context……垂垂垂垂·着垂垂垂垂非垂·非垂垂看垂音非非;·垂垂音看垂看垂1.2 Background1.3 Data Collection Types……1344581. 4 Data Conversion1.5 Data Formats·····.···············.··.···.·;···..·.··..·.···2.0 NGSIM DATA REQUIREMENTS22 Microsimulation Software Data format,…………172.1 NGSIM Data…192.3 Rcquirements for NgsiM data Collection..................193.0 RECOMMENDED NGSIM DATA FORMATS..m. 233.1 NGSIM Data model233.2 NGSIM Data Dictionary……………243.3 NGSIM Metadata.............................253.4 NGSIM Data Exchange Format273.5 File and Directory Naming Convention……293.6 Summary30REFERENCES31APPENDIX A-REVIEW OF EXISTING TRANSPORTATION DATA FORMATS3APPENDIX B-ACCURACY REQUIREMENTS FOR NGSIM DATACOLLECTION,45APPENDIX C-DATA MODEL∴….,,53APPENdIXD-DATA DICTIONARY.APPENDIX E-METADATA. ...........................................................................................99APPENdIX F-SYSTEM-STATE DATA看香音看音香n117List of FiguresFigure 1 Diagram. NGSIM task interdependencies4Figure2. Diagran. Data format classification relevant to ngsim1………Figure 3. Diagram. Top level data model of general traffic simulation55Figure4. Diagram. Influencing factors database packages………………56Figure 5. Diagram. Behavioral models packages57Figure6. Diagran. Facility type generalization…………18Figure 7. Diagram. Traffic management systems generalization......59Figure 8. Diagram. Transit management systems generalizationFigure9. Diagran. nvironment generalization.………………………0Figure 10. Diagram NTCIP Controller class diagram61Figure 11 Diagram Actuated traffic signal controller generalization2Figure12 Diagram. Generalized microsimulation data model………………63Figure 13 Diagram Data concept components and constructs(IEEE Std 1489-1999)66List of tablesTable 1. Example validation data by algorithm categoryTable 2. Summary of NGSiM categorizations for data formatsTable 3. Accuracy requirements for vehicle trajectory data. ..45Table 4. Accuracy requirements for instrumented vehicle data.........46Table 5. Accuracy requirements for wide-area detector data......... 47Table 6. Accuracy requirements for nctwork-rclated data48Table 7. Accuracy requirements for representative transportation managementsystems data52Table 8. Terminology for UMLmodeler54Table 9. Data dictionary for NgSim.67Table 10 processing documentation metadata for ngsimwwwwwm116Table1l. Requisite vehicle trajectory data…………………………117Table 12. requisite wide-area detector data requirements……118EXECUTIVE SUMMARYThe Next Generation Simulation Program(NGsim) Data Format plan was developed todefine the structure, documentation, and transfer requirements for data that will be col-lected for estimation, calibration, and validation of core behavioral algorithms. Thedevelopment of the data format plan is based on existing formats that are relevant toNGSIM and augmented to fill in gaps. To this end, a review of existing data formats wasundertaken and their relevance to ngsim was assessed. The review included data standards developed for intelligent transportation systems (ITS), data formats developed spe-cifically for traffic simulation models and data formats developed for broader transporta-tion applications. The specified data formats were developed with the objective of pro-moting efficient research by maintaining consistency between data collection andresearch, and providing consistent storage and transmittal protocols. On the other handthis plan intentionally avoids overspecification of data formats, so as to minimize unnecessary limitations to researchFour data format components were specified in this document, including: 1)data model,2)data dictionary, 3 )metadata, and 4) data exchange formatNGSIM Data Model- The conceptual data model for NGSIM data formats is pre-sented by means of Unified Modeling Language() class diagrams. Used in con-junction with the data dictionary, the data model allows for construction of a formaldatabase/repository for NGSIM validation dataNGSIM Data Dictionary This provides definition of individual data elementsrequired by NGsim. It follows the data standard prescribed by P1489-1999 formatdeveloped by the Institutc of Elcctrical and Electronics Engineers(ieee)NGSIM Data Exchange Format- The data cxchange structure dcfincs how datashould be transferred from user to user or from the database /repository to users. Thisdocument specifies the framework for developing data exchange formats by providingthe data model and the data dictionary; it also provides clear guidance on the formatstandards with which the data exchange format should conform Currently it doesnot provide specific schema for the data exchange formatsNGSIM Metadata- This includes both traditional metadata(definitions, specificationsand valid value lists for data elements and general information about the dataset andits availability); and processing metadata(what has happened to the data from data col-lection to data archival). Administrative metadata formats were adapted fromContent Standard for Digital Geospatial Metadata(FGDC-STD-001-1998), developedby the Federal Geographic Data Committee(FGDC). Recommendations for NGSiMprocessing metadata are based on the guidance provided in ASTM E2259-03, devel-oped by the American Society for Testing and Materials(ASTm)1.0 INTRODUCTIONThe objectives of the NGsim program include the followingDevelopment of a core set of open behavioral algorithms in support of traffic simulation with a primary focus on microscopic modelingCollection of extensive data that will be used for estimation calibration and validationof the core behavioral algorithms; and storing the data in a repository that can be uni-versally accessedThe High-Level Plan for DatasetsTask E3)identified different kinds of traffic data col-lection methods and technologies and recommended three kinds of data collection effortsfor ngsim, including vehicle trajectory data wide area detector data and instrumentedvehicle dataThis report Task F)presents the documentation, format structure, and transfer requirements for the ngsim data formats for these data collection efforts identified in task e3This report is organized as followsExecutive Summary -Provides an executive summary of this documentSection1.0-Provides an overview and introduction to this report, including the con-text of the data format plan within NGsIM, information on NGsim data collection anddata types, information on data conversion, general information on data formats, anda summary of available transportation data formats and their relevance for ngsimSection 2.0-Presents definitions and categorization for different data types, and pro-vides ngsim data requirementsSection 3.0-Presents data format recommendations for the NGsim program,including a data model, data elements for the data dictionary, metadata to describe thedata collection effort and data exchange formatsReferences-Presents references used in developing this data format planAppendix a-Presents a review of existing transportation data formatsAppendix B-Presents accuracy requirements for NGSiM data collectionAppendix C- Presents a UML representation of the ngsim data modelAppendix D-Presents a high-level NGSIM data dictionaryAppendix E- Presents metadata categories, dictionary, and recommended metadataformats for ngsim1.1 HIGH-LEVEL PLAN CONTEXTInterdependencies among NGSIM tasks are shown in figure 1. The High-Level Plan forDatasets(Task E. 3) presents an assessment of existing datasets of potential use for NGSIM,and makes recommendations on the focus for nGsim data collection methodologies. Thisreport on the data Format Plan task f) provides recommendations on the data exchangeformat(s) for NGSIM data collection efforts. The data formats are also influenced by theHigh-Level Verification and Validation Plan(task e 2)Task E 1-1Core algorithmAssessmentTask e,3Task e.1-2Task e2High-LevelCore AlgorithmHigh-Level Verificationlan for DatasetsPlanandⅤ alidation planTask eData format planFigure 1 Diagram. NGSIM task interdependencies.1.2 BACKGROUNDThe NGSiM field data collection effort pursues data required for developing, estimating,calibrating and validating traffic behavioral algorithms. Tactical route execution, opera-tional driving, and en-route strategic traveler behaviors were identified as the focus of theNGSIM core behavioral algorithm research in the identification and prioritization of coreAlgorithms Task D)report. The High-Level Verification and Validation Plan(task e2)provides an example of the data collection datasets for each algorithm category as shownin table 1. the table illustrates the extent over which data must be collected for each levelof algorithm. For example, for operational driving algorithms, a single stretch of roadwayon a freeway will likely be sufficient, while, for development of tactical driving algo-rithms, the data collection effort should be expanded to include the freeway section andmultiple entry and exit ramps that feed the freeway. The data formats developed in thisplan address the data, both static and dynamic, that are pertinent to the data collectionefforts necessary for developing and validating all three categories of driver behavioralalgorithms4
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自动控制原理470题
一些经典的习题 和课本的课后答案，是各位自学的必备之作内容提要本书是在李友誉编写的《身动控制原理200题》的基础上,又增加了哈尔滨工业大学出版社和科学出版社出版的《息动控制原理》的习题解答,共计470题。本书是高等院校“动控制原理”课程的教学辅助用书,与教学同步使用,还可供报考硕士研究生的考生复习备考使用图书在版编目[CP)数据自动控制原理470题/李友善等编.一2版.一哈尔滨:哈尔滨工业大学出版社,2002.4IsBN75603-1703-0I,自…Ⅱ.李…Ⅲ.自动控制理论-高等学校式题Ⅳ.T13-4中区版本图书馆CP数据核字(2002)第01737号出版袋行哈尔滨工业大学出版社杜址啥尔滨市南岗区教化衡2I号邮编15006传真451-86414749印剁哈尔滨市龙华印刷厂开本850×1168132印张13.25字数35千字版次200年4月第2版2003年11月第4次印刷书号rBN75603-1703-0/P-171印数19001-24000定份1500元再版前言本书是高等院校“动控制原理”课程的教学辅助用书,是与李友普教授主编的“自动控制原理”(国防工业出版社,修订版)鄢景华教授主编的“自动控制原理”(哈尔滨工业大学出版社,修订版)和梅晓榕教授主编的“自动控制原理”(科学出版社)等教材配套使用,并可供报考硕士研究生的考生应试复习用。本书第一篇是李友善教授编写的《自动控制原理200题》,是为李友善主编的《自动控制原理》一书配套编写的该书自1988年出版以来深受读者欢迎。第二篇是由梅晓榕和王彤编写的习题解答,该篇包含了由哈尔滨工业大学出版社出版的,由鄢景华主编的《自动控制原理》书中习题的解答和由科学出版社出版的,梅晓榕主编的《自动控制原理》-…书的补充题解答。书中不足之处,忌请读者批评指正。编者2003年11月前言本书是高等院校控制理论与应用、过程控制、工业电气自动化、工业仪表自动化、液压控制、计算机控制与应用等专业“自动控制原理课程的辅助教学用书,是与李友善主编的《自动控制原理》(国防工业出版社,修订版)一书配套编写的。全书共分八章,其中选编了在线性、非线性离散系统理论领域内典型性与概念性均较强的200个例题与习题。在每一章里,重点阐述了与该章内容有关的几个方面的基本概念问题,并通过具有代表性的例题较全面地介绍了解题的思路与步骤,说明分析问题与解决间题的基本方法。俾使读者通过阅读例题的解魉与习题的演算,深人掌握反馈控制的基本概念与基本分析方法书后附录给出了哈尔滨工业大学控制理论与应用专业19791986年度攻读硕士学位研究生人学考试《自动控制原理》试题汇编供报考硕士研究生的读者应试复习之用;附录中还给出了书中部分习题参考答案,供读者解题时参考。由于编者水平有限,书中的缺点与错误在所难免,恳请广大读者批评指正。编者987年5月于哈工大目录第一篇第一章关于传递函数的基本概念例题…………………(1习题■晋q甲如如如■·4甲甲·■山ψ=l昌昌山4如q…(24)第二章关于时域分析的基本概念例题…………………………………(29)习题争中■口■■ψψ;■bψ中●1■●电■■tψψψ啁p中导中ψ◆t自_曾pp■马中第三章关于根轨迹的基本概念例题(93第四章应用频率响应法分析控制系统的基本概念例题(95)习题124第五章应用频率响应法综合控制系统的基本概念例题(130)(150)第六章非线性系统分析的基本概念例习题……………………(175)第七章离散系统分析与综合的基本概念例(180)习题■_■【■■■■(196)第八章关于线性系统理论的基本概念例题…■『酽■甲冒旱冒■{晷【■习题…_d■(222)附录一哈尔滨工业大学自动控制原理研究生考试试题(979-1986)…嚼中ψ卓中ψ中q■24附录二部分习题参考答案甲督督日■鲁■■■■■ψ◆·↓嚼聊bψψ■山■■■■44■P(248)附录三附录一的试题参考答案……"……(262)第二篇第一章自动控制概论…………………(270)第二章控制系统的数学模型号中4◆中自中『4画(27I)第三章控制系统的时域分析第四章根轨迹法(299)第五章频率特性法…(303)第六章控制系统的综合与校正(326)第七章非线性控制系统……(338)第八章线性离散系统(359)第九章控制系统的状态空间分析法(372)第十章线性系统的状态空间综合法…………………(381补充题………:(391)附录四哈尔滨工业大学控制原理研究生考试试题19~1997及201)(398)附录四答案(411)参考书目上■卩4(415)2x十卡++十十十x第一篇Ⅹ+峰艹牛牛斗4+X第一章关于传递函数的基本概例题、根据传递函数定义求取二变量间的传递函数时,首先应明确二变量间的关系必须符合线性规律,其次要明确在零初始条件下取变量的拉普拉斯变换。例1求取图1-1(a)所示电路的传递数f(s)/B(s)图中p为铁心线圈磁链,R为线圈电阻。图1-1解描述铁心线图特性的微分方程式为R或dRi(1-1)其中磁链p(i)是流经线圈电流i的函数,如图1-1(b)所示,而dy(i)/代表y(i)曲线东各点的斜率从图1-1(b)可见,磁链φ是电流的非线性函数,因此dpy()/d是与变量i有关的变系数这样,方程(1-1)便不是线性微分方程式,当然也就不能对它取拉普拉斯变换,从而变量与t之间也就不存在传递函数。假若在某一工作点Q(如,l)上,电流讠=l±▲i的变化甚微,郎增量Ai很小,从前对应的磁链增量也很小,则在工作点Q(,)两侧的微小区域内便而视y(i)d为常值。因而方程(1-1)变成小偏差线性化意义下的线性微分方程式,具备了进行拉普拉斯变换的条件,其变换后的形式为du(i)[sI(s-i(o)+Ri(s=Usdy(ib+RdU(s(1-2)其中=i(0)工作点电流;dyfi在工作点Q两侧微小区域内的常值基于传递函数定义,欲由式(1-2)写出I()/U(s)形式,必须令l=0由此求得传递函数(s)/(s)为RU(s-Is+(1-3)式中Ty/R称为时间常数式(1-3)说明,传递函数必须在零初始条件下求取。否则,例如从式(12)使无法写出变量i与间然传递函数f(s)/U(s)。例2试求取图1-2(a)所示无源屯路的传递函数U0(s)/U(s)。2
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