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International
Conference on
Transportation and
Development 2018
Traffic and Freight
Operations and Rail
and Public Transit
Edited by
Papers from Sessions of the
International Conference
on Transportation and
Development 2018
Pittsburgh, Pennsylvania
July 15–18, 2018
Yinhai Wang, Ph.D.
Michael T. McNerney, Ph.D., P.E.
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INTERNATIONAL CONFERENCE ON
TRANSPORTATION AND DEVELOPMENT
2018
TRAFFIC AND FREIGHT OPERATIONS AND
RAIL AND PUBLIC TRANSIT
SELECTED PAPERS FROM THE INTERNATIONAL CONFERENCE ON
TRANSPORTATION AND DEVELOPMENT 2018
July 15–18, 2018
Pittsburgh, Pennsylvania
SPONSORED BY
The Transportation & Development Institute
of the American Society of Civil Engineers
EDITED BY
Yinhai Wang, Ph.D.
Michael T. McNerney, Ph.D., P.E.
Published by the American Society of Civil Engineers
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Published by American Society of Civil Engineers
1801 Alexander Bell Drive
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International Conference on Transportation and Development 2018
Preface
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It is our great pleasure to welcome you to the ASCE International Conference on Transportation
and Development (ICTD 2018)! Organized by Transportation and Development Institute
(T&DI), ICTD is ASCE’s flagship conference in transportation and development. The
conference theme, Emerging Technologies: Impacts on Transportation and Development,
represents our vision and goal for future endeavors in transportation and development research,
education, and practice. ASCE ICTD 2018 awaits your active participation and contribution at
the beautiful and scenic Wyndham Grand Pittsburgh Downtown Hotel from July 15 through 18,
2018.
Pittsburgh is historically known as “the Steel City.” Now, about 1,600 technology firms,
including Google, Apple, Bosch, Facebook, Uber, Nokia, Autodesk, and IBM, have landed in
Pittsburgh, making it an important technology hub and one of the eleven most livable cities in
the World. Being the host city of ASCE ICTD 2018, Pittsburgh offers many unique real-world
examples for transportation and development professionals to feel, think, and learn.
ASCE ICTD 2018’s technical program is featured with four plenary sessions:
Opening Plenary Session: Keynote Speeches from Federal, State, and Local Government
Leaders.
Private Sector CEO Forum: Impacts of Connected & Autonomous Vehicles on
Transportation & Development - Perspectives of Leaders from the Private Sector
State DOT CEO Forum: Impacts of Connected & Autonomous Vehicles on
Transportation & Development - Perspectives of Leaders from the Public Sector.
The Advent of CAVs - A Global Perspective: Current Status of Deployment and Future
of Connected and Autonomous Vehicles Around the World.
The program covers deeper technical content on multiple modes and topics in transportation and
development in eight (8) concurrent tracks. It also includes a variety of special events such as
the T&DI Board of Directors’ Town Hall Meeting, Younger Members’ “The Best Advice I Ever
Received” session, icebreaker reception, and an Awards Banquet. The conference is preceded
with four (4) associated workshops:
Mobility as a Service Workshop
University Transportation Center Technology Transfer Workshop
NSF Civil Infrastructure Systems Workshop
ASCE Ethics Workshop.
All these workshops are carefully designed to enhance fruitful experience of participants. Last
but not the least, conference attendees get the opportunity to attend over 15 technical committee
meetings of ASCE as preconference event, covering all areas of transportation and development.
In addition, partnering with Transportation Research Board (TRB), two TRB committees have
chosen to host their mid-year meeting at ICTD 2018, giving conference attendees additional
exposure to technical discussions and content.
© ASCE
iii
International Conference on Transportation and Development 2018
It is exciting to announce that ASCE ICTD 2018 attracted huge interests as indicated by the
record high quality contributions and the rich technical program. A total of 146 papers were
accepted for publication in the proceedings. These published papers went through a rigorous
review and quality assurance process in the process of becoming a publication of ASCE – the
world’s largest publisher of Civil Engineering content. The proceedings for this conference have
been organized in four (4) different volumes based on the topical distribution as follows:
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Volume I: Connected & Autonomous Vehicles and Transportation Safety
Volume II: Traffic & Freight Operations and Rail & Public Transit
Volume III: Airfield & Highway Pavements
Volume IV: Planning, Sustainability, and Infrastructure Systems
All these accomplishments are due to the excellent team efforts of our Conference Steering
Committee, and the terrific support from ASCE-T&DI staff. We would like to express our
sincere gratitude to all the authors and conference participants for their solid contributions. We
are also grateful to all paper reviewers for their outstanding volunteer efforts. Finally, our special
thanks goes to the entire Conference Steering Committee, Local Organizing Committee, T&DI
technical committee volunteers, ASCE-T&DI staff members, sponsors, exhibitors, invited
speakers, and session chairs for their hard work and great efforts to help lead ASCE ICTD 2018
on track to a great success!
ASCE ICTD has been an excellent platform for information exchange, experience sharing, and
professional networking since it was launched in 2011. We hope ASCE ICTD 2018 to be another
wonderful and rewarding experience in your memory. Wish you a very pleasant stay in
Pittsburgh!
ASCE ICTD 2018 Co-Chairs & Proceedings Editors
Yinhai Wang, Ph.D., M.ASCE
University of Washington
© ASCE
Michael T. McNerney, Ph.D., P.E., M.ASCE
University of Texas at Arlington
iv
International Conference on Transportation and Development 2018
Acknowledgements
Conference Steering Committee
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Yinhai Wang, Ph.D., M.ASCE (Co-Chair & Proceedings Editor)
University of Washington
Michael T. McNerney, Ph.D., M.ASCE (Co-Chair & Proceedings Editor)
University of Texas at Arlington
Chris Hendrickson, Ph.D., Hon.M.ASCE (Chair, Local Organization Committee)
Carnegie Mellon University
Randall (Randy) S. Over, P.E., F.ASCE, Retd. (Chair, Sponsorships & Exhibits)
2014 President of ASCE, Ohio DOT
Brian McKeehan, P.E., F.ASCE (Past-Chair)
Gresham, Smith and Partners
Katherine Kortum (Track Chair, Development)
Transportation Research Board (TRB)
Robert Bryson, P.E., M.ASCE Retd. (Track Chair, Roadways)
City of Milwaukee
Walt Kulyk, P.E., M.ASCE, Retd. (Track Chair, Rail & Public Transit)
Federal Transit Administration
Rich Thuma, P.E., M.ASCE (Track Chair, Aviation)
Crawford, Murphy & Tilly
Zhanmin Zhang, Ph.D., M.ASCE (Track Chair, Mode Spanning)
University of Texas at Austin
Jianming Ma, P.E., M.ASCE (Track Chair, Connected & Autonomous Vehicles’
Impacts)
Texas Department of Transportation
Local Organizing Committee
Chris Hendrickson, Ph.D., Hon.M.ASCE (Chair, Local Organization Committee)
Carnegie Mellon University
David DiDiogia, P.E., M.ASCE
McMahon Associates
© ASCE
v
International Conference on Transportation and Development 2018
Sean Qian, Ph.D., M.ASCE (Student & Younger Member Activities)
Carnegie Mellon University
Stan Caldwell, Ph.D., M.ASCE
Carnegie Mellon University
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Julie Vandenbossche, Ph.D., M.ASCE
University of Pittsburgh
Paper Reviewers
Ahmed Abdeldayem
Renju Abraham
Burns & McDonnell Engineering
Company, Inc.
Emmanuel Adanu
University of Alabama
Nithin Agarwal
University of Florida
Baabak Ashuri
Georgia Tech University
Husain Abdul Aziz
Oak Ridge National Laboratory
Joel Barnett
Department of Transportation
Geoff Baskir
Federal Aviation Administration
Ricardo Aitken
Ahmad Al-Akhras
Public Transport Authority of Riyadh,
Saudi Arabia
Majed Al-Ghandour
North Carolina DOT
Priyanka Alluri
Florida International University
Panagiotis Anastasopoulos
University at Buffalo
Michael Anderson
University of Alabama in Huntsville
Justice Appiah
Virginia DOT
Ricardo Archilla
University of Hawaii
Warda Ashraf
Purdue University
© ASCE
Rahim Benekohal
University of Illinois at Urbana-Champaign
Abhinav Bhattacharyya
University of California, Berkeley
Richard Boudreau
Boudreau Engineering, Inc.
Georges Bou-Saab
Iowa State University
David Brill
Federal Aviation Administration
Robert Bryson
Ayres Associates
Lei Bu
Jackson State University
Qing Cai
University of Central Florida
Samuel Cardoso
vi
International Conference on Transportation and Development 2018
Consultant on Airports and Airfield
Pavements
Silvia Caro
Universidad de los Andes, Columbia
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Halil Ceylan
Iowa State University
Karim Chatti
Michigan State University
Nspire Green
Kakan Dey
West Virginia University
Sunanda Dissanayake
Kansas State University
Kimberly Eccles
VHB
Larry Emig
Ghassan Chehab
American University of Beirut
Deogratias Eustace
University of Dayton
Peter Chen
Santa Clara Valley Transportation
Authority
Ahmed Faheem
Temple University
Subeh Chowdbury
University of Auckland
Wei Fan
UNC Charlotte
Mashrur Chowdhury
Clemson University
Muhammad Farhan
Imam Abdulrahman Bin Faisal University
Eleni Christofa
University of Massachusetts, Amherst
Luis Ferreras
David Clarke
University of Tennessee, Knoxville
Julius Codjoe
State of Louisiana
Alison Conway
City College of New York
Seosamh Costello
University of Auckland
Velvet Fitzpatrick
The National Academy of Sciences,
Engineering, and Medicine
Scott Forbes
Mike Frabizzio
Advanced Infrastructure Design, Inc.
Jason Frank
Garver
Robert Costigan
Ryan Fries
Southern Illinois University Edwardsville
Qingbin Cui
University of Maryland
James Gallagher
Resolution Management Consultants, Inc.
Jordan Daniell
HNTB Corporation
Christopher Garlick
Michael Garvin
Veronica Davis
© ASCE
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International Conference on Transportation and Development 2018
Virginia Polytechnic Institute and State
University
Jungyeol Hong
University of Seoul
Nasir Gharaibeh
Texas A&M University
Kamal Hossain
University of Illinois at Urbana-Champaign
Scott Gibson
Regional Transportation Commission of
Washoe County, Nevada
Mohammad Imran Hossain
Bradley University
Konstantina Gkritza
Purdue University
Salil Gokhale
Dynatest
Nima Golshani
University of Illinois at Chicago
Yaobang Gong
University of Central Florida
© ASCE
Mustaque Hossain
Kansas State University
Jill Hough
North Dakota State University
Jia Hu
University of Virginia
Hai Huang
Penn State University
Jozef Grajek
EJG Aviation
Mouyid Islam
Center for Urban Transportation Research,
University of South Florida
Feng Guo
Virginia Polytechnic Institute and State
University
Reza Jafari
Road Safety and Transportation Solutions,
Inc.
Jim Hall
Applied Research Associated, Inc.
Mohammad Jalayer
Rutgers University
Thomas Hall
Purdue University
Steven Jones
University of Alabama
John Harvey
UC Davis
Ganesh Karkee
City of Sunnyvale, California
David Hein
Applied Research Associated, Inc.
Kurt Keifer
Gorrondona & Associates, Inc.
Brendon Hemily
Hemily and Associates
Vivek Khanna
WSP
Chris Hendrickson
Carnegie Mellon University
Myungseob Kim
Western New England University
Frank Hermann
Sonny Kim
University of Georgia
viii
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International Conference on Transportation and Development 2018
Ronald Knipling
Safety for the Long Haul, Inc.
Min Liu
NC State University
Kristin Kolodge
J.D. Power
Cheryl Lowrance
VHB
Alexandra Kondyli
University of Kansas
Jianming Ma
Texas Department of Transportation
Eleftheria Kontou
National Renewable Energy Laboratory
Wanjing Ma
Katherine Kortum
Transportation Research Board
Gregory Krueger
HNTB Corporation
Emin Kutay
Michigan State University
Samuel Labi
Purdue University
Hyung Lee
Applied Research Associated, Inc.
Kang-Won Lee
University of Rhode Island
© ASCE
Matthew Mace
Hill International
Rajib Mallick
Worcester Polytechnic Institute
Angel Mateos
University of California, Berkeley
Akhilesh Maurya
Indian Institute of Technology Guwahati
Mehran Mazari
California State University, Los Angeles
Leslie McCarthy
Villanova University
Matthew Lesh
Brian McKeehan
Gresham Smith & Partners
Yingfeng Li
Center for Infrastructure-Based Systems
Magaret McNamara
University of Alabama
Zhenning Li
University of Hawaii
Sue McNeil
University of Delaware
John Lieswyn
ViaStrada
Mike McNerney
University of Texas at Arlington
Lei Lin
University at Buffalo
Richard Meininger
Department of Transportation
Huiyuan Liu
University of Nebraska-Lincoln
Mariely Mejias
US Army Corps of Engineers
Jun Liu
Deb Mishra
ix
International Conference on Transportation and Development 2018
Boise State University
Lambros Mitropoulos
University of Hawai'i, Manoa
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Amin Mohamadi Hezaveh
University of Tennessee, Knoxville
Nadereh Moini
New Jersey Sports and Exposition
Authority
Ali Mokhtari
University of Iowa
Dan Murphy
CDM Smith
Brian Park
University of Virginia
Ram Pendyala
Arizona State University
Josh Peterman
Fehr & Peers
Diniece Peters
New York City Department of
Transportation
Mike Murphy
University of Texas at Austin
Kelly Pitera
Norwegian University of Science and
Technology
Scott Murrell
Applied Research Associated, Inc.
Avinash Prasada
New York City Transit
Anusha Musunuru
Kittelson & Associates
Panos Prevedouros
University of Hawaii
Andrzej Nowak
Auburn University
Srinivas Pulugurtha
UNC Charlotte
Osama Osman
Louisiana State University
Yu Qian
University of South Carolina
Aleli Osorio-Lird
Zhen Qian
Carnegie Mellon University
Yanfeng Ouyang
University of Illinois at Urbana-Champaign
Hasan Ozer
University of Illinois at Urbana-Champaign
Srikanth Panguluri
CH2M
Aristeidis Pantelias
University College London
Tom Papagiannakis
University of Texas at San Antonio
© ASCE
Cody Parham
HDR, Inc.
Brian Reynolds
WSP
Laurence Rilett
University of Nebraska-Lincoln
Charles Rivasplata
San Jose State University
Dimitris Rizos
University of South Carolina
Stephen Romanoschi
x
International Conference on Transportation and Development 2018
University of Texas, Arlington
Dean Rue
CH2M
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Eugene Russell
Kansas State University
Tariq Saeed
Purdue University
Milad Saghebfar
Louisiana State University
Mitsuru Saito
Brigham Young University
Robert Scancella
James Scherocman
Consulting Engineer
Wayne Seiler
All About Pavements, Inc.
Mohamadreza Shafieifar
Florida International University
Vikas Sharma
Kimley-Horn
Samih Shilbayeh
Washignton State Department of
Transportation
© ASCE
Jerry Spears
Montana Association of Counties
David Stanek
Fehr & Peers
Aleksandar Stevanovic
Florida Atlantic University
Robert Stevens
Arcadis
Xiaoduan Sun
University of Louisiana, Lafayette
Prajol Tamrakar
University of Texas at El Paso
Shiraz Tayabji
Advanced Concrete Pavement Consultancy
LLC
Athanasios Theofilatos
National Technical University of Athens
Rich Thuma
Crawford, Murphy & Tilly
Raul Tiwari
School of Planning & Architecture Bhopal,
India
Oscar Oviedo Trespalacios
Amit Kumar Singh
Atkins
Erol Tutumluer
University of Illinois at Urbana-Champaign
Sarbjeet Singh
New York City Transit
Majbah Uddin
University of South Carolina
David Smith
Interlocking Concrete Pavement Institute
Avinash Unnikrishnan
Portland State University
Tai-Jin Song
Korea Transport Institute
Donald Uzarski
University of Illinois
Reginald Souleyrette
University of Kentucky
Amiy Varma
North Dakota State University
xi
International Conference on Transportation and Development 2018
Eileen Velez-Vega
Kimley-Horn
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Matthew Volovski
Manhattan College
Chao Wang
University of California, Riverside
Yinhai Wang
University of Washington
Ziran Wang
University of California, Riverside
Quintin Watkins
Michael Baker Internation
Jim Wilde
Minnesota State University Mankato
Zifeng Wu
AECOM
Hao Xu
University of Nevada, Rio
Guangchuan Yang
University of Wyoming
Xianfeng Yang
University of Utah
Anil Yazici
Stony Brook University
Mohamed Zaki
University of British Columbia
Raymond Zee
Federal Aviation Administration
Billy Williams
NC State University
Weibin Zhang
Nanjing University of Science and
Technology
Guoyuan Wu
University of California, Riverside
Zhanmin Zhang
University of Texas at Austin
Mengqi Wu
Port of Seattle
Jiguang Zhao
CH2M
Shenghua Wu
University of South Alabama
Mo Zhao
Virginia DOT
Yina Wu
University of Central Florida
Zhuping Zhou
Nanjing University of Science and
Technology
Workshop Organizers
Laurence Rilett, Ph.D., P.E., M.ASCE
University of Nebraska at Lincoln
Workshop: UTC Technology Transfer
Cynthia Chen, Ph.D.
Irina Dolinskaya
University of Washington
National Science Foundation (NSF)
Workshop: NSF Funding Opportunities in CMMI: CIS and OE Program
© ASCE
xii
International Conference on Transportation and Development 2018
Guohui Zhang
Wanjing Ma
University of Hawaii
Tongji University
Workshop: Mobility as a Service (MaaS)
xiii
Meng Li
Tsinghua University
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Tara Hoke, Aff.M.ASCE
American Society of Civil Engineers (ASCE)
Workshop: Ethics for the Practicing Engineer
Staff
Muhammad Amer, M.ASCE
Director, Transportation & Development Institute (T&DI) of ASCE
Debi Denney
Manager, Transportation & Development Institute (T&DI) of ASCE
Rachel Hobbs
Administrator, T&DI and Construction Institute (CI) Conferences
Neal Sweeney
Coordinator, Transportation & Development Institute (T&DI) of ASCE
Donna Dickert
Senior Manager / Acquisitions Editor, ASCE Books
Drew Caracciolo
Manager, Exhibit & Sponsorship Sales, ASCE
© ASCE
International Conference on Transportation and Development 2018
Contents
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Traffic and Freight Operations
High Accuracy Achieved in Determining Lengths and Locations of
Horizontal Curves Using Light Detection and Ranging Point Cloud Data ............................. 1
Joseph S. Browning, Mitsuru Saito, and Grant G. Schultz
Transportation Maintenance Operations Workforce Development:
Challenges, Opportunities, and Solutions .............................................................................. 13
Dave Bergner
What Statistics Suggest about Required Runs for Simulating Signalized
Intersection Delays .................................................................................................................. 22
Ryan N. Fries, Reza Salehi, and Yasaman Panjebandpour
Improving Freeway Operation with Ramp Metering Control Using
Connected Vehicles as “Floating Sensors” ............................................................................. 32
Heng Wei, Hao Liu, Karteek Kumar Allam, Ting Zuo, and Zhixia Li
Effect of Road Construction Projects on Travel Time Reliability ........................................ 45
Venu Madhav Kukkapalli and Srinivas S. Pulugurtha
Algorithms to Find Shortest Paths with Added Constraint on Travel
Fuel Consumption for Transportation Networks .................................................................. 57
Reza Vatani Nezafat, Duc T. Nguyen, and Mecit Cetin
Simultaneous Optimization Model of Signal Phase Design and Timing
at Intersection .......................................................................................................................... 65
Kai Lu, Guanrong Lin, Jianmin Xu, and Yinhai Wang
Vehicular Networks Communication Analysis and Speed Guidance at
Signalized Intersections .......................................................................................................... 75
Kaizhe Hou and Jianming Hu
Traffic Speed Prediction for Urban Arterial Roads Using Deep Neural
Networks .................................................................................................................................. 85
Yaw Adu-Gyamfi and Mo Zhao
Study on Travel Time Prediction Method Based on License Plate Data .............................. 97
Jing-Sheng Wang, Xiao-Wei Liu, and Yin Zhu
Heuristic Bidirectional Dijkstra Algorithm Using Piece-Wise Linear
Function ................................................................................................................................. 107
Gelareh B. Sanjabi, Duc T. Nguyen, and Caleb Talbot
© ASCE
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International Conference on Transportation and Development 2018
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Exploring Freeway Merging Behavior Using Dynamic Bayesian Network
Models ................................................................................................................................... 120
E. G. Wang and J. Sun
Evaluation of Pedestrian Gap Acceptance Behavior at Uncontrolled
Midblock Sections under Mixed Traffic Condition ............................................................. 131
M. Paul, P. Rajbongshi, and I. Ghosh
Regional Cooperation in Port Development to Bolster Maritime Logistics
Services in South Asia ........................................................................................................... 142
Razon Chandra Saha
Modeling Freight Transportation as a System-of-Systems to Determine
Adoption of Emerging Vehicle Technologies ....................................................................... 156
A. Guerrero de la Peña, N. Davendralingam, A. K. Raz, V. Sujan,
D. DeLaurentis, G. Shaver, and N. Jain
The Coal Origin-Destination Matrix Analysis and Multimodal
Transportation Cost Modeling in Yangtze River Region, China ........................................ 170
Jian Li, Wenjie Li, and Lin Mu
Managing Reversible Lanes with Truck Arrival Information to Alleviate
Gate Congestion at Smart Container Terminals ................................................................. 179
Yong Zhou and Yingen Ge
Rail and Public Transit
The Influences of Built Environment Factors on Mode Switching of TOD
Residents from Car Use to Transit Dependence: Case Study of Bangkok,
Thailand ................................................................................................................................ 186
Pornraht Pongprasert and Hisashi Kubota
Transit and Employment: The Importance of Access to Transportation in
the Employment of Low-Income Mothers............................................................................ 198
P. C. Blakely
Bus Passenger Flow and Running Status Analyzation System Based on
MAC Address ........................................................................................................................ 208
Hong-zhao Dong and Yue Wang
Customized Bus Line Design Model Based on Multi-Source Data...................................... 218
Xi Chen, Yinhai Wang, and Xiaolei Ma
Redefining the Service Level Benchmarking for Public Transport System
in India................................................................................................................................... 229
Rahul Tiwari, Kshama Puntambekar, and Purnima Parida
© ASCE
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Toward Innovative Solutions for Revitalizing Benin Republic Railway
Transportation System.......................................................................................................... 238
Mouhamed Bayane Bouraima and Yanjun Qiu
Development of Hazard Based-Models for the Metrorail of the Washington
Metropolitan Area Transit Authority .................................................................................. 247
K. Libnao and B. Agbelie
Investigating Average Passenger Wait Time and Wait Time Behavior as a
Function in Bus Line Headway in Fresno and Sacramento, California .............................. 257
Kelvin I. Akataobi and Aly M. Tawfik
Design and Construction of Train Car Maintenance Facility within Time
and Budget Constraint: A Case Study ................................................................................. 268
Sarbjeet Singh, Dwarika Mallick, and Frank Mondello
Analysis of Factor Influence on Longitudinal Impulse of Heavy-Haul Train
with ECP Braking System .................................................................................................... 279
Meng-ling Wu and Lu Zhu
Experimental Study on Volcanic Cinder Gravels as Filler of Railway
Surface Layer of Subgrade ................................................................................................... 289
Jingyun Liao, Aijun An, and Zhihong Nie
A Probe into the Allocation Plan of Logistics Equipment in China Railway
under New Technology ......................................................................................................... 299
Xiaohong Li and Yanhui Han
© ASCE
xvi
International Conference on Transportation and Development 2018
High Accuracy Achieved in Determining Lengths and Locations of Horizontal Curves
Using Light Detection and Ranging Point Cloud Data
Joseph S. Browning1; Mitsuru Saito2; and Grant G. Schultz3
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1
Dept. of Civil and Environmental Engineering, Brigham Young Univ., 376 Clyde Building,
Provo, UT 84602. E-mail:
[email protected]
2
Dept. of Civil and Environmental Engineering, Brigham Young Univ., 368 Clyde Building,
Provo, UT 84602 (corresponding author). E-mail:
[email protected]
3
Dept. of Civil and Environmental Engineering, Brigham Young Univ., 368 Clyde Building,
Provo, UT 84602. E-mail:
[email protected]
ABSTRACT
The Utah Department of Transportation (UDOT) began collecting asset management data
using light detection and ranging (LiDAR) technology in 2012, which included horizontal curve
data. However, its horizontal curve data were highly segmented and not ready for crash
prediction model development for curve segments. In 2014, an algorithm named the horizontal
alignment finder (HAF) algorithm was developed to identify horizontal curves on rural two-lane
two-way highways. Its accuracy was about 85 percent with 2012 data. The HAF was recently
recalibrated for all other types of UDOT’s highways and found to be applicable to them without
any modifications in its main algorithm. During the calibration, six types of errors were
identified. Four of the six errors were fixed and the HAF was calibrated with new 2015 LiDAR
data. The improved HAF’s accuracy now ranges from 97 to 98 percent for curve length and 87 to
100 percent for curve location identification.
INTRODUCTION
As part of the asset management program, the Utah Department of Transportation (UDOT)
began collecting its highway asset data using Light Detection and Ranging (LiDAR) technology
in 2012. One of the data available from this program is horizontal alignment data. However,
horizontal curve data provided by the contractor of the program were highly segmented and not
ready to be used for crash prediction model development of the study. To deal with this
inaccuracy in horizontal curve data and to provide horizontal alignment data necessary for crash
prediction modeling, the Horizontal Alignment Finder (HAF) algorithm was developed (Cook et
al. 2015). Properly identifying the beginning and ending points and radius of horizontal curves is
the most important step to use such data in crash prediction modeling and identifying safety hot
spots in curve segments.
The HAF algorithm was originally developed for rural two-lane two-way (TLTW) highways.
Hence, it was necessary to test the robustness of the HAF for other highway types, both rural and
urban areas, in order to use the HAF algorithm for a statewide safety analysis. The accuracy of
the original HAF algorithm was approximately 85 percent (Cook et al. 2015). In order to identify
the point of curvature (PC), point of tangency (PT) and radius of a curved segment, the current
HAF requires human intervention to make sure the algorithm has correctly identified the
horizontal curve segments. In order to automate the process and make the HAF algorithm robust
to analyze all types of state highways in Utah and improve its accuracy, a new project was
undertaken. This project consisted of three steps: (1) Calibration of the HAF for other types of
highways besides rural TLTW highways, (2) Modification of the HAF algorithm if necessary for
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International Conference on Transportation and Development 2018
other types of highways, and (3) Corrections of the problems that have blocked achieving higher
accuracy than 85 percent. The curves obtained from this process could then be combined with
crash data to identify crash hotspots, which in turn could be used to find locations that warrant
safety improvements.
The improved HAF’s accuracy now ranges from 97 percent to 98 percent for curve length
determination and 87 percent to 100 percent for curve location identification. It was found that
radius identification would require further research to achieve a higher accuracy. This paper
presents the results of the three tasks mentioned previously and how LiDAR data can be
effectively used to identify curve segments on highways owned by UDOT.
LITERATURE REVIEW
Identifying curve segments is beneficial to safety research. Various means of data collection
and analysis are available for doing this, with many viable options. For data collection methods,
global positioning system (GPS) (Svenson et al. 2016, Osei-Asamoah and Jackson 2015),
LiDAR (Cook et al. 2015, Svenson et al. 2016), visual (Higuera de Frutos and Castro 2014,
Dong et al. 2007), and inertial measurement (Jiménez 2011, Green et al. 2017) have been
reviewed. It was found GPS and LiDAR data collection appear to be the best methods for use
over a large road network because of their accuracy, widespread use, and convenience over other
forms of gathering information.
Once the data points have been run through a mapping program, the next step is to run a
program to separate curve segments from tangent segments of highways. The three dominant
methods available to perform this task include: (1) identification through change in heading (Xu
and Wei 2016, Camacho-Torregrosa et al. 2015), (2) a spline approximation (Castro et al. 2006,
Bassani et al. 2016), and (3) curve identification through geometric parameters such as radius or
length (Cook et al. 2015, Ai and Tsai 2015). Among these three methods, identifying curves
through change in heading direction and through use of geometric threshold values were found to
be the most promising. The advantage of use of the heading change to geometric threshold
method is that it is generally more accurate, while the geometric threshold method is more easily
adjustable to fit specific needs. The current HAF algorithm is based on the geometric threshold
method.
HAF ALGORITHM CALIBRATION ACROSS DIFFERENT HIGHWAY TYPES
In order to make the HAF algorithm robust for any type of highways, it needed to be
determined how well the HAF algorithm could identify curves and estimate curve parameters
across different road types on the UDOT network. In this calibration process, approximately 100
curve segments were randomly selected for each of the six categories used to cover all state
highways from the 2012 LiDAR data, which include urban interstates, rural interstates, urban
multilane highways, rural multilane highways, urban TLTW highways, and rural TLTW
highways. This section briefly presents the process involved in calibrating curve segments and
the results of the calibration work. The process included filtering the curve shapefile into
separate highway types, randomizing the samples used, and determining what the true curve
parameters were from drawing arcs across satellite imagery in AutoCAD.
The first step was to narrow down the list of curves that had been identified into a list of
roads of a particular type. The original HAF algorithm was programmed for TLTW highways;
therefore, it did not have a feature to distinguish between different types of highways. This task
was accomplished by using ArcMap’s Select by Attributes function. Other highway types than
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TLTW highways were filtered by using a lanes shapefile from UDOT from which it could be
determined whether a facility was multilane or not. Rural and urban areas were analyzed
separately. Urban segments were defined as any highway inside the Salt Lake City, Provo-Orem,
Cedar City, and St. George metropolitan areas. This was aided by the use of a municipality
shapefile from the Utah Automated Geographic Reference Center (AGRC) in which urban cities
were selected. Segments within these municipalities were then determined to be urban.
Figure 1. Curve Fragment Error
A satellite imagery basemap was applied to the ArcMap file from which the location of a
particular curve segment could be determined. The corresponding segment was then found in
Google Earth through comparing the two images side-by-side. After the location of the curve had
been determined through Google Earth, a screenshot was taken and imported into AutoCAD for
analysis of the curve. A line was then drawn between the two reference points in AutoCAD for
scaling purposes. The distance between the two reference points was measured on Google Earth
to find the true distance across the image. Each curve length obtained from AutoCAD would
then be multiplied by the distance obtained from Google Earth and divided by the length of the
line between the same two points in the pasted image in AutoCAD to determine the scale. After
the image had been scaled, a 3-point arc was drawn in AutoCAD. The PC and PT of a curve
were matched as closely as possible to the ones identified in ArcMap. Drawing this arc
introduced a potential source of human error, as it was difficult to match the exact highway
centerline. However, it was judged to be still an accurate method of determining actual curve
parameters. Once the arc was drawn, curve length values were obtained from the properties
table. These values were then multiplied by the scaling factor obtained earlier to reflect their true
measurement. The measured curve length was then compared with the curve length that the HAF
algorithm had determined. This section of the paper presents descriptions of errors and results of
the calibration work.
Descriptions of Errors
During the calibration process, six potential errors with the existing HAF algorithm that
would be affecting its accuracy were identified. For a detailed discussion of the flow of tasks
involved in the HAF algorithm, refer to Saito et al. (2018).The first three deal with curve
identification (curve fragment, tangent, and intersection) and the last three deal with issues
pertaining to incorrect curve parameters (tangent-curve-tangent, curve length calculation, and
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