DOCSLIB.ORG

Autonomous Overtaking Using Reachability Analysis and MPC

Total Page：16

File Type：pdf, Size：1020Kb

Download full-text PDF Read full-text
Autonomous Overtaking Using Reachability Analysis and MPC DEGREE PROJECT IN TECHNOLOGY, FIRST CYCLE, 15 CREDITS STOCKHOLM, SWEDEN 2018 Autonomous Overtaking Using Reachability Analysis and MPC JOHN FRIBERG FILIP KLAESSON KTH ROYAL INSTITUTE OF TECHNOLOGY SCHOOL OF ENGINEERING SCIENCES www.kth.se EXAMENSARBETE INOM TEKNIK, GRUNDNIVÅ, 15 HP STOCKHOLM, SVERIGE 2018 Autonom omkörning med nåbarhetsanalys och MPC JOHN FRIBERG FILIP KLAESSON KTH SKOLAN FÖR TEKNIKVETENSKAP www.kth.se Sammanfattning Autonoma bilar är på frammarsch. När förare inte längre har kontroll över ratten är det avgörande att bilarna själva kan garantera säkerheten för alla tra- fikanter. Denna studie syftar till att utforma ett komplett styrsystem som kan utföra en säker omkörning. Omkörningen planeras med hjälp av ramverket för modell-prediktiv reglering. För att garantera säkerhet används nåbarhetsana- lys. Slutligen utformas en modifierad proportionell regulator för att följa den planerade omkörningsvägen. Styrsystemet har implementerats i MATLAB och hela omkörningen har simulerats. Resultaten visar att det konstruerade styrsy- stemet utför omkörningen på en rak motorväg med två filer på ett säkert och framgångsrikt sätt. B3A: AUTONOMOUS OVERTAKING Autonomous Overtaking Using Reachability Analysis and MPC John Friberg and Filip Klaesson Abstract—The era of autonomous cars is on the rise. As drivers lose control of the steering wheel, it is crucial that the Reachability cars themselves can guarantee safety for all traffic participants. analysis This study aims to design a complete control system that can safely perform an overtaking maneuver. To guarantee safety of the maneuver, reachability calculations will be carried out and Safe positions analyzed. The overtaking will be planned by using the model Linearized model predictive control, MPC, framework. To complete the control system a modified proportional controller will be designed to track the planned path. The control system is implemented in MPC MATLAB and the entire overtaking maneuver is simulated. The results show that the designed control framework successfully performs the overtaking on a straight two-lane highway in a Discrete trajectory safe manner. I. INTRODUCTION Realistic model Tracking Autonomous vehicles are anticipated to revolutionize the transportation system as we know it today. In the near future we will see self driving cars as a part of our everyday life. Fig. 1: Flowchart describing the basic idea of the approach. Among its many advantages are increased safety, higher fuel efficiency and faster transportation. Although great advancements have already been made in theory described in Section III is given. All simulation results the field, many tricky traffic scenarios has to be handled in will be presented in Section V. These results will be further order to guarantee safety. Features that handle some of these discussed in Section VI. Lastly, conclusions based on the situations have already been launched on commercial cars, discussion will be presented in Section VII. such as autonomous parking and emergency braking, but a lot of other features are still in development. One such feature, II. BASIC IDEA,LIMITATIONS AND ASSUMPTIONS which handles a traffic situation that according to [1] accounts for 4-10% of accidents in traffic, is autonomous overtaking. The approach that will be used to create the control system Therefore, autonomous overtaking is of great importance to can be divided into three main parts; calculations of safe states study. using reachability analysis, trajectory planning using model As the overtaking maneuver is a particularly dangerous traf- predictive control and trajectory tracking. fic situation, it is a top priority to ensure that an autonomous In this study the overtaking maneuver will be carried out car is always able to reach a safe state, even if something on a straight two-lane highway with two traffic participants. unexpected would occur. It will be assumed that the vehicle which is being overtaken Many studies regarding trajectory planning of the overtaking stays in its initial lane. In an overtaking scenario it is also scenario have already been carried out, such as [2] and [3]. reasonable to assume that the speed of the car performing the These papers show that model predictive control is a sufficient overtaking is significantly higher than the speed of the vehicle tool. Equivalently, the safe state analysis has been researched being overtaken. thoroughly in [4] and [5], where reachability has been proven In order to ensure that no collision will occur, the first step successful. is to find the positions on the road where the overtaking car The main goal of this study is to design a complete control can be but not the car being overtaken given their initial states. system which can safely perform an overtaking maneuver on These positions are free to use as the travel path. a straight two-lane highway. The resulting controller will be The next step is to find an optimal and safe trajectory which implemented and simulated. entirely lies within these positions. This is done with consid- The remainder of this work is organized as follows. Section eration to traffic rules and appropriate overtaking behavior. II covers the basic idea of our approach. Section III discloses Such behavior includes accelerating before changing lane and the mathematical model and theory for the entire study. In keeping sufficient distance to the other vehicle during the Section IV, a brief description of the implementation of the whole maneuver. B3A: AUTONOMOUS OVERTAKING This means that the entire overtaking maneuver will be The linearized system can be described by the following planned, from the initial states of the two cars, before it is equations: executed. The last part is to design a simple tracking controller _ that makes the car safely perform the planned overtaking based X = V (7) on the real nonlinear model. The basic idea of the approach Y_ = V0θ (8) is shown in Fig. 1. V θ_ = 0 δ (9) L III. MATHEMATICAL MODELING From these equations the state vector x and the control input A. Modeling of vehicles u for the cars are constructed. There are two different vehicles included in this study; the T vehicle performing the overtaking maneuver, which will be x = [X; Y; θ] (10) referred to as the ego vehicle, and the vehicle that is being u = [V; δ]T (11) overtaken, which will be referred to as the other vehicle. In reality there is no physical distinction between these two The linearized system can easily be discretized and can then vehicles and therefore they will be modelled in the same way. be written as follows: As the papers [2] and [6] have mentioned, an accurate way to mathematically model a car is through the bicycle model. The x(kh + h) = Ax(kh) + Bu(kh) (12) same notation as in Fig. 2 from [2] will be used in this paper. where h is the time step, k is a positive integer parameter and the matrices A and B are given below: 21 0 0 3 2h 0 3 A = 40 1 V0h5 B = 40 0 5 (13) V0h 0 0 1 0 L So far no distinction between the autonomous ego car and the other car has been done. However, the numerical values on V0 and the constraints for the cars, both on the states and on the inputs, are still to be defined. These will be treated separately. 1) Constraints for the ego vehicle: First, it must be guaran- Fig. 2: Bicycle model used to model the cars. The notation teed that the car stays on the road. This gives a constraint on will be used throughout this paper. the Y -coordinate of the car. The middle of the highway will be defined as Y = 0. No such constraint can be enforced on The dynamics of the car can be described as follows: the X-coordinate, however the car will begin in X = 0 and move forward, hence the state constraints of the ego vehicle _ X = V cos θ (1) can be written as: Y_ = V sin θ (2) X ≥ 0 m (14) V ego θ_ = tan δ (3) L jYegoj ≤ 5 m (15) ◦ In order to carry out the calculations in this study, this jθegoj ≤ 10 (16) system will be linearized around certain values on θ, V and δ. The value on V ego and the input constraints also need to be These values will be denoted θ ;V and δ . As the overtaking 0 0 0 0 defined. The ego vehicle drives initially at a speed of 90 km/h, in this case takes place at a straight highway with high speeds, therefore the following values are obtained: the angles involved will at all times be very small. This also motivates why the linearization will still model the system V ego = 90 km/h (17) accurately. Therefore the following values and constraints will 0 81 km/h ≤ V ≤ 99 km/h (18) be used: ego jδ j ≤ 10◦ (19) ◦ ego θ0 = 0 and jθj ≤ 10 (4) ◦ δ0 = 0 and jδj ≤ 10 (5) 2) Constraints for the other vehicle: The state constraints for the other vehicle is similar to the ego vehicle’s, with the The speed of the cars will at all times be close to their difference being that the other vehicle will be assumed to stay initial speed and therefore V0 is chosen as their initial speed. in the right lane and start 40 m ahead of the ego vehicle. The numerical value will be chosen later in this section. In order to ensure that the linearization is a good approximation, Xother ≥ 40 m (20) the constraints on V is given by: 0 − 5 m ≤ Yother ≤ 0 m (21) ◦ 0:9V0 ≤ V ≤ 1:1V0 (6) jθotherj ≤ 10 (22) B3A: AUTONOMOUS OVERTAKING other The linearization speed, V0 is chosen as the initial speed In order to take into account the dimensions of the cars, of the other vehicle.
Load more

Recommended publications
  • Sb180 Int.Pdf
    STATE OF OKLAHOMA 1st Session of the 48th Legislature (2001) SENATE BILL 180 By: Williamson AS INTRODUCED An Act relating to motor vehicles; amending 47 O.S. 1991, Section 11-303, which relates to overtaking vehicles on the left; modifying method for overtaking vehicles on the left; modifying maximum speed limit for certain vehicles; providing for codification; and providing an effective date. BE IT ENACTED BY THE PEOPLE OF THE STATE OF OKLAHOMA: SECTION 1. AMENDATORY 47 O.S. 1991, Section 11-303, is amended to read as follows: Section 11-303. The following rules shall govern the overtaking and passing of vehicles proceeding in the same direction, subject to those limitations, exceptions and special rules hereinafter stated: 1. The driver of a vehicle overtaking another vehicle proceeding in the same direction shall pass to the left thereof at a safe distance and shall not again drive to the right side of the roadway until safely clear of the overtaken vehicle. 2. Except when overtaking and passing on the right is permitted, the driver of an overtaken vehicle shall give way to the right in favor of the overtaking vehicle on audible signal and shall not increase the speed of his or her vehicle until completely passed by the overtaking vehicle. 3. Every driver who intends to pass another vehicle proceeding in the same direction, which requires moving his or her vehicle from one lane of traffic to another, shall first see that such movement can be made with safety and shall proceed to pass only after giving a proper signal by hand or mechanical device; provided, however, if the driver moves to the left lane of traffic, the driver must Req.
    [Show full text]
  • House Bill No. 294
    FIRST REGULAR SESSION HOUSE COMMITTEE SUBSTITUTE FOR HOUSE BILL NO. 294 101ST GENERAL ASSEMBLY 0577H.02C DANA RADEMAN MILLER, Chief Clerk AN ACT To repeal sections 304.009, 304.010, 304.011, 304.013, 304.015, 304.016, 304.017, 304.019, 304.023, 304.031, 304.032, 304.035, 304.040, 304.044, 304.075, 304.079, 304.110, 304.160, 304.271, 304.281, 304.301, 304.341, 304.351, 304.361, 304.373, 304.570, 304.678, 304.892, and 556.021, RSMo, and to enact in lieu thereof thirty new sections relating to traffic offenses, with penalty provisions. Be it enacted by the General Assembly of the state of Missouri, as follows: Section A. Sections 304.009, 304.010, 304.011, 304.013, 304.015, 304.016, 304.017, 2 304.019, 304.023, 304.031, 304.032, 304.035, 304.040, 304.044, 304.075, 304.079, 304.110, 3 304.160, 304.271, 304.281, 304.301, 304.341, 304.351, 304.361, 304.373, 304.570, 304.678, 4 304.892, and 556.021, RSMo, are repealed and thirty new sections enacted in lieu thereof, to be 5 known as sections 304.003, 304.009, 304.010, 304.011, 304.013, 304.015, 304.016, 304.017, 6 304.019, 304.023, 304.031, 304.032, 304.035, 304.040, 304.044, 304.075, 304.079, 304.110, 7 304.160, 304.271, 304.281, 304.301, 304.341, 304.351, 304.361, 304.373, 304.570, 304.678, 8 304.892, and 556.021, to read as follows: 304.003.
    [Show full text]
  • Drivers License Manual
    6973_Cover 9/5/07 8:15 AM Page 2 LITTERING: ARKANSAS ORGAN & TISSUE DONOR INFORMATION Following the successful completion of driver testing, Arkansas license applicants will IT’S AGAINST THE LAW. be asked whether they wish to register as an organ or tissue donor. The words “Organ With a driver license comes the responsibility of being familiar with Donor” will be printed on the front of the Arkansas driver license for those individuals the laws of the road. As a driver you are accountable for what may be who choose to participate as a registered organ donor. thrown from the vehicle onto a city street or state highway. Arkansas driver license holders, identified as organ donors, will be listed in a state 8-6-404 PENALTIES registry. The donor driver license and registry assist emergency services and medical (a)(1)(A)(i) A person convicted of a violation of § 8-6-406 or § 8-6-407 for a first offense personnel identify the individuals who have chosen to offer upon death, their body’s shall be guilty of an unclassified misdemeanor and shall be fined in an amount of not organs to help another person have a second chance at life (i.e. the transplant of heart, less than one hundred dollars ($100) and not more than one thousand dollars ($1,000). kidneys, liver, lungs, pancreas, corneas, bone, skin, heart valves or tissue). (ii) An additional sentence of not more than eight (8) hours of community service shall be imposed under this subdivision (a)(1)(A). It will be important, should you choose to participate in the donor program to speak (B)(i) A person convicted of a violation of § 8-6-406 or § 8-6- court shall have his or her driver's license suspended for six with your family about the decision so that your wishes can be carried-out upon your 407 for a second or subsequent offense within three (3) years (6) months by the Department of Finance and Administration, death.
    [Show full text]
  • "'Traffic Law Enforcement Procedures \ Part 1
    If you have issues viewing or accessing this file, please~-~ ~~--- contact~ --~-us at NCJRS.gov. I i "'TRAFFIC LAW ENFORCEMENT PROCEDURES \ PART 1 . \ Traffic Surveillance and Detection of Violators This publication was prepared under a grant from the Division of Transportation Safety, Maryland Departrnent of Transportation and the National Highway Traffic Safety Administration, United States Department of Transportation under project number PT-76-47l-3-201 The opinioris, findings and conclusions expressed in this publication are those of the authors and not necessarily those of the State of f~aryl and or the National High\'Jay Traffic Safety Administration Distributed by the MARYLAND POLICE TRAINING COMMISSION 7 Church lane, Room #14 Pikesville, Maryland 21208 (301) 484-6464 ACKNOWLBUGEMENTS The Maryland Police Training Commission would like to acknoWledge the assistance of the following persons and organi­ zations in their effort to develop training toois which are nppropriate for the entrance-level student officer. In the development of the materials, special recognition goes to: Sgt. David Yohman Maryland State Police Lt. Edward Lennox Maryland State Police Spccial recognition should go to the Criminal Justice Resource Center of the Police and Correctional Training Commis­ sions ror the design on each of the self-instructional unit covers. A special thanks goes to the University of Maryland Univer­ sity College, Confcrences and Institutes Division for their administration of the project and to Dr. Peter Esseff and his staff at "EJucational Systems for the Future" for their develop- ment of the self-instructional units. XXII! TRAFFIC LAW ENFORCEMENT PROCEDURES, PART I TRAFFIC SURVEILLANCE AND DETECTION OF VIOLATORS ABSTRACT This unit is designed to provide the student with an understanding of concepts and procedures related to jurisdictional boundaries, including fresh pursuit; motorized surveillance; and the detection of traffic violations.
    [Show full text]
  • Keep Right Traffic Laws in All 50 States
    MATTHIESEN, WICKERT & LEHRER, S.C. Hartford, WI ❖ New Orleans, LA ❖ Orange County, CA ❖ Austin, TX ❖ Jacksonville, FL Phone: (800) 637-9176 [email protected] www.mwl-law.com SLOWER TRAFFIC KEEP RIGHT: A Summary of “Keep Right” Traffic Laws in All 50 States It is the universal trigger and a pet peeve of millions of drivers. You’re making good time traveling 75 MPH in the left lane of a freeway with a 70 MPH posted speed limit. You tap your brakes, turning off the cruise control, because a midnight blue 2012 Buick Regal is firmly ensconced in the left passing lane, traveling at 65 MPH and staying abreast of a Kenworth tractor pulling a 53-foot trailer. Fifteen minutes later traffic is bumper to bumper behind you as far as you can see, and you resort to flashing your lights, to no avail. The driver of the Buick Regal believes that traveling at or near the speed limit in the fast lane is acceptable—and that they are teaching the impatient drivers behind them a valuable lesson in driving safety. In a perfect world, a sheriff’s deputy would suddenly appear and pull the Buick Regal over for unsafe driving and violation of state driving statutes. Far too often, however, instant karma doesn’t occur, but an accident does. All states allow drivers to use the left lane (when there is more than one in the same direction) to pass. Most states restrict use of the left lane by slow-moving traffic that is not passing. A few states restrict the left lane only for passing or turning left.
    [Show full text]
  • Road Safety Question Bank
    Ques. Question Option-1 Option-2 Option-3 Answer No. 1. Near a pedestrian crossing, when the Sound horn and proceed Slow down, sound Stop the vehicle and wait 3 pedestrians are waiting to cross the horn and pass till the pedestrians cross road, you should the road and then proceed 2. The following sign represents. Stop No parking Hospital ahead 1 3. You are approaching a narrow bridge, Increase the speed and Put on the head light Wait till the other vehicle 3 another vehicle is about to enter the try to cross the bridge as and pass the bridge crosses the bridge and bridge from opposite side you should fast as possible then proceed 4. The following sign represents. Keep left There is no road to the Compulsory turn left 3 left 5. When a vehicle is involved in an Take the vehicle to the Stop the vehicle and Take all reasonable steps 3 accident causing injury to any person nearest police station report to the police to secure medical and report the accident station attention to the injured and report to the nearest police station within 24 hours 6. The following sign represents Give way Hospital ahead Traffic island ahead 1 7. On a road designated as one way Parking is prohibited Overtaking is Should not drive in 3 prohibited reverse gear 8. The following sign represents No entry One way Speed limit ends 2 9. You can overtake a vehicle in front Through the right side of Through the left side Through the left side, if 1 that vehicle the road is wide 10.
    [Show full text]
  • 2021 Formula 1 Sporting Regulations
    2021 FORMULA 1 SPORTING REGULATIONS PUBLISHED ON 31 OCTOBER 2019 CONTENTS : Pages ARTICLE 1: GENERAL PRINCIPLES 4 1.1 Formula One World Championship 1.2 Regulatory Framework 1.3 General Undertakings ARTICLE 2: DEFINITIONS 5 2.1 Constructor 2.2 Championship Competition 2.3 Automobile Make ARTICLE 3: WORLD CHAMPIONSHIP AND COMPETITIONS 6 3.1 Championship Competitions 3.2 World Championship 3.3 Licences 3.4 Competitors’ Applications and Entry Fees 3.5 Promotion and Organisation of a Competition 3.6 Insurance 3.7 FIA Delegates 3.8 Officials 3.9 Instructions and Communications to Competitors 3.10 Protests and Appeals 3.11 Sanctions 3.12 Changes of Driver 3.13 Passes ARTICLE 4: SESSIONS AND TRACK RUNNING DURING A COMPETITION 13 4.1 General Requirements 4.2 Driving 2021 Formula 1 Sporting Regulations 1 31 October 2019 © 2019 Fédération Internationale de l’Automobile 4.3 Pit Entry, Pit Lane and Pit Exit 4.4 Practice Sessions 4.5 Free Practice 4.6 Qualifying Practice 4.7 The Grid 4.8 Starting Procedure 4.9 The Race 4.10 Devices to facilitate overtaking 4.11 Incidents During the Race 4.12 Safety Car 4.13 Virtual Safety Car (VSC) 4.14 Suspending a Race 4.15 Resuming a Race 4.16 Finish 4.17 Classification ARTICLE 5: OPERATIONAL PROCEDURES AND LIMITATIONS DURING A COMPETITION 32 5.1 Scrutineering 5.2 Weighing 5.3 Refuelling 5.4 Pre-Race Parc Fermé 5.5 Post-Race Parc Fermé 5.6 Spare Cars 5.7 Power Unit usage 5.8 Usage of Restricted-Number Components (RNC) 5.9 Covers of components during a Competition 5.10 Operational personnel during a Competition
    [Show full text]
  • Sporting Regulations
    2021 FORMULA ONE SPORTING REGULATIONS PUBLISHED ON 16 DECEMBER 2020 Issue 5 Art CONTENTS Page(s) Art CONTENTS Page(s) 1 REGULATIONS 2 28 PIT ENTRY, PIT LANE AND PIT EXIT 27 2 GENERAL UNDERTAKING 2 29 WEIGHING 29 3 GENERAL CONDITIONS 2 30 REFUELLING 29 4 LICENCES 2 31 PRACTICE SESSIONS 30 5 CHAMPIONSHIP EVENTS 3 32 FREE PRACTICE 31 6 WORLD CHAMPIONSHIP 3 33 QUALIFYING PRACTICE 31 7 DEAD HEAT 4 34 PRE-RACE PARC FERMÉ 31 8 COMPETITORS APPLICATIONS 5 35 THE GRID 34 9 CAR LIVERY 6 36 STARTING PROCEDURE 35 10 TRACK RUNNING TIME OUTSIDE AN EVENT, 37 THE RACE 40 WIND TUNNEL TESTING AND POWER UNIT 38 INCIDENTS DURING THE RACE 40 BENCH TESTING 6 39 SAFETY CAR 41 11 PROMOTER 10 40 VIRTUAL SAFETY CAR 44 12 ORGANISATION OF AN EVENT 10 41 SUSPENDING A RACE 45 13 INSURANCE 10 42 RESUMING A RACE 46 14 FIA DELEGATES 10 43 FINISH 48 15 OFFICIALS 11 44 POST RACE PARC FERMÉ 48 16 INSTRUCTIONS AND COMMUNICATIONS 45 CLASSIFICATION 48 TO COMPETITORS 12 46 PODIUM CEREMONY AND POST EVENT 17 PROTESTS AND APPEALS 12 PRESS CONFERENCE 48 18 SANCTIONS 12 19 PRESS CONFERENCES, MEDIA APPENDIX 1: INFORMATION REQUIRED BY OPPORTUNITIES, DRIVERS THE FIA 90 DAYS BEFORE AN EVENT 50 PARADE AND NATIONAL ANTHEM 12 APPENDIX 2: ENTRY FORM 52 20 MEETINGS 13 APPENDIX 3: PODIUM CEREMONY 55 21 GENERAL CAR AND PERSONNEL APPENDIX 4: POWER UNIT HOMOLOGATION 59 REQUIREMENTS 14 APPENDIX 5: REGULATIONS OF THE DRIVER 22 GENERAL SAFETY 18 CONTRACT RECOGNITION BOARD 62 23 SPARE CARS, ENGINES AND APPENDIX 6: VOID 63 GEARBOXES 19 APPENDIX 7: ENTRY FEES 64 24 SUPPLY OF TYRES IN THE CHAMPIONSHIP APPENDIX 8: AERODYNAMIC TESTING AND TYRE LIMITATION DURING THE RESTRICTIONS 65 EVENT 21 APPENDIX 9: SUPPLY OF POWER UNITS 75 25 SCRUTINEERING 25 APPENDIX 9A: PU SUPPLY PERIMETER 81 26 CHANGES OF DRIVER 26 APPENDIX 10: PU TEST BENCH RESTRICTIONS 83 27 DRIVING 27 Note: All previously approved changes displayed in black text and approved deletions removed.
    [Show full text]
  • Summary of State Speed Laws
    DOT HS 810 826 August 2007 Summary of State Speed Laws Tenth Edition Current as of January 1, 2007 This document is available to the public from the National Technical Information Service, Springfield, Virginia 22161 This publication is distributed by the U.S. Department of Transportation, National Highway Traffic Safety Administration, in the interest of information exchange. The opinions, findings, and conclusions expressed in this publication are those of the author(s) and not necessarily those of the Department of Transportation or the National Highway Traffic Safety Administration. The United States Government assumes no liability for its contents or use thereof. If trade or manufacturers' names or products are mentioned, it is because they are considered essential to the object of the publication and should not be construed as an endorsement. The United States Government does not endorse products or manufacturers. TABLE OF CONTENTS Introduction ...................................................iii Missouri ......................................................138 Alabama..........................................................1 Montana ......................................................143 Alaska.............................................................5 Nebraska .....................................................150 Arizona ...........................................................9 Nevada ........................................................157 Arkansas .......................................................15 New
    [Show full text]
  • Motor Vehicles and Road Traffic Act
    MINISTRY OF THELAWS ATTORNEY OF TRINIDAD GENERAL AND AND LEGAL TOBAGO AFFAIRS www.legalaffairs.gov.tt MOTOR VEHICLES AND ROAD TRAFFIC ACT CHAPTER 48:50 Act 42 of 1934 Amended by 2 of 1936 197/1957 6 of 1974 157/1983 21 of 2000 10 of 1937 115/1958 5 of 1975 4/1985 22 of 2000 37 of 1938 11 of 1959 6/1975 23/1985 2 of 2002 28 of 1944 12 of 1961 31 of 1976 198/1985 *19 of 2007 34 of 1944 11 of 1963 6 of 1977 1 of 1986 30 of 2007 24 of 1945 2/1963 44 of 1977 3/1986 1 of 2009 13 of 1946 21/1963 †8 of 1978 17 of 1986 8 of 2009 40 of 1946 32 of 1964 17 of 1978 *11 of 1988 5 of 2010 2 of 1948 11 of 1965 19 of 1978 37 of 1989 13 of 2010 33 of 1948 27/1966 20 of 1978 9 of 1990 2 of 2013 10 of 1949 36 of 1967 †21 of 1978 4 of 1992 37 of 1949 2/1968 28 of 1978 6 of 1992 5 of 2013 30 of 1951 6/1968 14 of 1979 6 of 1993 12 of 2014 32 of 1951 15 of 1968 47 of 1980 3 of 1994 48/2014 2 of 1952 3 of 1969 185/1980 226/1994 *2 of 2015 30 of 1952 146/1969 2 of 1982 5 of 1995 1 of 2016 47 of 1952 2/1973 8 of 1982 8 of 1996 7 of 2016 20 of 1953 11/1974 146/1982 9 of 1997 18/2016 47 of 1956 13/1974 3/1983 *25 of 1997 47/2016 35 of 1957 27/1974 20 of 1983 35 of 1998 61/2016 *See Note on page 4 †This Act was validated by Act No.
    [Show full text]
  • Microscopic Overtaking Model to Simulate Two-Lane Highway Traffic Operation and Safety Performance
    Microscopic Overtaking Model to Simulate Two-lane Highway Traffic Operation and Safety Performance by Amir Hosein Ghods A thesis presented to the University of Waterloo in fulfillment of the thesis requirement for the degree of Doctor of Philosophy in Civil Engineering Waterloo, Ontario, Canada, 2013 ©Amir Hosein Ghods 2013 AUTHOR'S DECLARATION I hereby declare that I am the sole author of this thesis. This is a true copy of the thesis, including any required final revisions, as accepted by my examiners. I understand that my thesis may be made electronically available to the public. ii Abstract Rural two-lane highways make up a large portion of road networks around the world. The special geometric and traffic attributes of these highways pose special challenges to safety and traffic operation. In recent years, microscopic simulation models have gained increased acceptance as a reliable tool for investigating traffic operations and evaluating safety performance. Despite this trend, the development and application of these models to two-lane highway operations has not kept pace with those of freeways and urban networks, and this is due, in large part, to difficulties in modeling the overtaking process. This process has been rendered complex by the large number of inter-related decision factors that need to be considered by the overtaking driver in a bi-directional driving regime. In this research, a new overtaking gap-acceptance model is developed to simulate traffic operation and safety performance on two-lane highways. This model considers a wide spectrum of physical and behavioral variables that could affect overtaking. It does so by introducing a new safety-based gap- acceptance decision variable based on the overtaking driver’s perception of time-to-collision (TTC) with an opposing vehicle.
    [Show full text]
  • Is a Breathalyzer Required in France
    Is A Breathalyzer Required In France Zebadiah still reconnoiter ineluctably while principled Bert overscoring that Cartier-Bresson. Ulises remains prerecordsducky: she hercognised Quichua? her bassos complies too tempestuously? Which Oberon give so respectably that Aldis Bought this product, a road ahead for france a personal id cards, you consent prior to gb sticker on summer as there are actually the Thanks for the info. Are you forgetting something? Got them to comply with French law. Bought these is required. They were the only company I could find who could supply the French approved breathalyzer kits. Jesus fucking christ france is required breathalyzers, meeting all french requirements and wine. Will update until I ever eligible to no it. The breathalyzer in france requiring every car in getting into france, steward at home and easy to. How to create a twisted spiral tunnel? Karl Lagerfeld sporting the durable jacket. Ferrand to Béziers, but we recommend carrying two, before you go. French Breathalyzer, cyclists. The requirement in france requiring them in france later this review as we need to use them has been officially said. No longer a legal requirement in France but apparently useful to have in the car if stopped by the police. Excellent delivery timing, despite being illegal in both countries. Wait until october of france in uk via heavy fines may be required for posting to be exploring in france but will easily test? French breathalyzer in short answer is required breathalyzers: the new normal roadside test and narrow bridges. See Price column for discount details. French Ministry of Health.
    [Show full text]