Transportation Technologies for Sustainability

This volume collects selected topical entries from the Encyclopedia of Sustainability Science and Technology
(ESST). ESST addresses the grand challenges for science and engineering today. It provides unprecedented,
peer-reviewed coverage of sustainability science and technology with contributions from nearly 1,000 of the
world’s leading scientists and engineers, who write on more than 600 separate topics in 38 sections.
ESST establishes a foundation for the research, engineering, and economics supporting the many
sustainability and policy evaluations being performed in institutions worldwide.

Editor-in-Chief
ROBERT A. MEYERS, RAMTECH LIMITED, Larkspur, CA, USA

Editorial Board
RITA R. COLWELL, Distinguished University Professor, Center for Bioinformatics and Computational
Biology, University of Maryland, College Park, MD, USA
ANDREAS FISCHLIN, Terrestrial Systems Ecology, ETH-Zentrum, Zürich, Switzerland
DONALD A. GLASER, Glaser Lab, University of California, Berkeley, Department of Molecular & Cell
Biology, Berkeley, CA, USA
TIMOTHY L. KILLEEN, National Science Foundation, Arlington, VA, USA
HAROLD W. KROTO, Francis Eppes Professor of Chemistry, Department of Chemistry and Biochemistry,
The Florida State University, Tallahassee, FL, USA
AMORY B. LOVINS, Chairman & Chief Scientist, Rocky Mountain Institute, Snowmass, USA
LORD ROBERT MAY, Department of Zoology, University of Oxford, Oxford, OX1 3PS, UK
DANIEL L. MCFADDEN, Director of Econometrics Laboratory, University of California, Berkeley, CA, USA
THOMAS C. SCHELLING, 3105 Tydings Hall, Department of Economics, University of Maryland, College
Park, MD, USA
CHARLES H. TOWNES, 557 Birge, University of California, Berkeley, CA, USA

EMILIO AMBASZ, Emilio Ambasz & Associates, Inc., New York, NY, USA
CLARE BRADSHAW, Department of Systems Ecology, Stockholm University, Stockholm, Sweden
TERRY COFFELT, Research Geneticist, Arid Land Agricultural Research Center, Maricopa, AZ, USA
MEHRDAD EHSANI, Department of Electrical & Computer Engineering, Texas A&M University, College
Station, TX, USA
ALI EMADI, Electrical and Computer Engineering Department, Illinois Institute of Technology, Chicago,
IL, USA
CHARLES A. S. HALL, College of Environmental Science & Forestry, State University of New York,
Syracuse, NY, USA
RIK LEEMANS, Environmental Systems Analysis Group, Wageningen University, Wageningen,
The Netherlands
KEITH LOVEGROVE, Department of Engineering (Bldg 32), The Australian National University,
Canberra, Australia
TIMOTHY D. SEARCHINGER, Woodrow Wilson School, Princeton University, Princeton, NJ, USA
Mehrdad Ehsani, Fei-Yue Wang and Gary L. Brosch (Eds.)

Transportation Technologies
for Sustainability

With 826 Figures and 172 Tables

Editors
Mehrdad Ehsani
Department of Electrical & Computer Engineering
Texas A&M University
College Station, TX, USA

Fei-Yue Wang
Institute of Automation
Chinese Academy of Sciences
Beijing, China

Gary L. Brosch
Center for Urban Transportation Research
University of South Florida
Tampa, FL, USA

ISBN 978-1-4614-5843-2 ISBN 978-1-4614-5844-9 (eBook)

ISBN 978-1-4614-5845-6 (print and electronic bundle)
DOI 10.1007/978-1-4614-5844-9
Springer New York Dordrecht Heidelberg London
Library of Congress Control Number: 2012953371

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Editors

Electric, Hybrid, and Fuel Cell Vehicles Mass Transit Science and Technology

MEHRDAD EHSANI (also one of the board members) GARY L. BROSCH

Department of Electrical & Computer Engineering Center for Urban Transportation Research
Texas A&M University University of South Florida
College Station, TX Tampa, FL
USA USA

Intelligent Vehicles Technology

FEI-YUE WANG
Institute of Automation
Chinese Academy of Sciences
Beijing
China
Sections

Electric, Hybrid and Fuel Cell Vehicles

Editor: Mehrdad Ehsani
AC Machines: Permanent Magnet Synchronous and Induction Machines
Batteries, Battery Management, and Battery Charging Technology
Battery Technologies
Electric, Hybrid, and Fuel Cell Vehicles, Introduction
Electric, Hybrid Electric and Fuel Cell Vehicles, Architectures of
Energy Storage: Ultracapacitor
Fuel-Cell-Powered HEV Design and Control
Hybrid Electric and Hydraulic Technology Applications in Off-Road Vehicles
Hybrid Energy Storage Systems for Vehicle Applications
Internal Combustion Engines, Alternative Fuels for
PHEVs and BEVs in Coupled Power and Transportation Systems
Plug-in Hybrid Electric Vehicles
Regenerative Braking
Sustainable Transportation
Sustainable Vehicle Fuels, Well-to-Wheel Analysis
Switched Reluctance Motor Drives for Propulsion and Regenerative Braking in EV and HEV
Vehicle Biofuels
Vehicle Dynamics and Performance
Vehicle Energy Storage: Batteries
Vehicle Traction Motors

Intelligent Vehicle Technology

Editor: Fei-Yue Wang
3D Pose Estimation of Vehicles Using Stereo Camera
Active Multifocal Vision System, Adaptive Control of
Active Pedestrian Protection System, Scenario-Driven Search Method for
Cooperative Group of Vehicles and Dangerous Situations, Recognition of
Driver Assistance System, Biologically Inspired
Driver Assistance Systems, Automatic Detection and Site Mapping
Driver Behavior at Intersections
Driver Characteristics Based on Driver Behavior
Driver Inattention Monitoring System for Intelligent Vehicles
Driving Under Reduced Visibility Conditions for Older Adults
Dynamic Environment Sensing Using an Intelligent Vehicle
Intelligent Vehicles Technology, Introduction
Night Vision Pedestrian Warning in Intelligent Vehicles
True Color Night Vision Video Systems in Intelligent Vehicles
viii Sections

Unscented Kalman Filter in Intelligent Vehicles

Vehicle Detection, Tightly Coupled LIDAR and Computer Vision Integration for
Vehicular Ad Hoc Networks, Enhanced GPSR and Beacon-Assist Geographic Forwarding in

Mass Transit Science and Technology

Editor: Gary L. Brosch
Advanced Public Transport Systems, Simulation-Based Evaluation
Bicycle Integration with Public Transport
Bus Rapid Transit and Light Rail Transit Systems: State of Discussion
Bus Rapid Transit, Institutional Issues Related to Implementation
Bus Rapid Transit: Worldwide History of Development, Key Systems and Policy Issues
Bus Rapid Versus Light Rail Transit: Service Quality, Economic, Environmental, and Planning Aspects
Bus Versus Rail Implications for Transit-Oriented Development
High Speed Rail, Technology Development of
High-Occupancy Vehicle and Toll Lanes
HOT Lanes/Value Pricing: Planning and Evaluation of Multiclass Service
Light Rail Transit in the US and Abroad, Examination of History and Innovations
Light Rail Transit, Shared Infrastructural Issues
Light Rail Transit, Systemic Viability
MAGLEV Technology Development
Mass Transit Science and Technology, Introduction
Personal Rapid Transit and Its Development
Transit-Oriented Development and Land Use
Table of Contents

3D Pose Estimation of Vehicles Using Stereo Camera

Björn Barrois, Christian Wöhler . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
AC Machines: Permanent Magnet Synchronous and Induction Machines10.1007/978-1-4419-0851-3_870
A. H. Ranjbar, Babak Fahimi . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Active Multifocal Vision System, Adaptive Control of10.1007/978-1-4419-0851-3_472
Alois Unterholzner, Hans-Joachim Wuensche . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Active Pedestrian Protection System, Scenario-Driven Search Method for10.1007/978-1-4419-0851-3_486
Alberto Broggi, Pietro Cerri, Stefano Ghidoni, Paolo Grisleri, Ho Gi Jung . . . . . . . . . . . . . . . . . . . . . . . 74
Advanced Public Transport Systems, Simulation-Based Evaluation
Haris N. Koutsopoulos, Moshe Ben-Akiva . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Batteries, Battery Management, and Battery Charging Technology
Robert S. Balog, Ali Davoudi . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
Battery Technologies
Ramakrishnan Mahadevan, Mohit Chhabra, Puneet Pasrich, Frank Barnes . . . . . . . . . . . . . . . . . . . . 158
Bicycle Integration with Public Transport10.1007/978-1-4419-0851-3_490
John Pucher, Ralph Buehler . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196
Bus Rapid Transit and Light Rail Transit Systems: State of Discussion
Cliff Henke . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
Bus Rapid Transit, Institutional Issues Related to Implementation
Mark A. Miller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
Bus Rapid Transit: Worldwide History of Development, Key Systems and Policy Issues
Dario Hidalgo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
Bus Rapid Versus Light Rail Transit: Service Quality, Economic, Environmental and
Planning Aspects
Vukan R. Vuchic, Richard M. Stanger, Eric C. Bruun . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256
Bus Versus Rail Implications for Transit-Oriented Development
Ming Zhang . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292
Cooperative Group of Vehicles and Dangerous Situations, Recognition of10.1007/978-1-4419-0851-3_792
Kym Watson, Christian Frese, Thomas Batz, Jürgen Beyerer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
Driver Assistance System, Biologically Inspired
Moustapha Doumiati, Daniel Lechner . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338
Driver Assistance Systems, Automatic Detection and Site Mapping
Andreas Wimmer, Klaus C. J. Dietmayer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353
Driver Behavior at Intersections
Toshihisa Sato, Motoyuki Akamatsu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 368
Driver Characteristics Based on Driver Behavior
Jianqiang Wang, Lei Zhang, Xiaojia Lu, Keqiang Li . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 385
x Table of Contents

Driver Inattention Monitoring System for Intelligent Vehicles

Yanchao Dong, Zhencheng Hu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395
Driving Under Reduced Visibility Conditions for Older Adults
Rui Ni . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 422
Dynamic Environment Sensing Using an Intelligent Vehicle
Huijing Zhao, Long Xiong, Yiming Liu, Xiaolong Zhu, Yipu Zhao, Hongbin Zha . . . . . . . . . . . . . . . . . 438
Electric, Hybrid Electric and Fuel Cell Vehicles, Architectures of
Yimin Gao . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 467
Electric, Hybrid, and Fuel Cell Vehicles, Introduction
Mehrdad Ehsani . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 492
Energy Storage: Ultracapacitor
Andrew F. Burke . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 494
Fuel-Cell-Powered HEV Design and Control
Etim U. Ubong, Jim Gover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 525
High Speed Rail, Technology Development of
Eda Beyazit, Moshe Givoni . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 537
High-Occupancy Vehicle and Toll Lanes
Katherine F. Turnbull . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 554
HOT Lanes/Value Pricing: Planning and Evaluation of Multiclass Service
Douglass B. Lee, Jr., Kent M. Hymel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 566
Hybrid Electric and Hydraulic Technology Applications in Off-Road Vehicles
M. Abul Masrur, Vijay K. Garg . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 593
Hybrid Energy Storage Systems for Vehicle Applications
Mehrdad Ehsani . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 614
Intelligent Vehicles Technology, Introduction
Fei-Yue Wang . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 627
Internal Combustion Engines, Alternative Fuels for
Thomas Wallner, Scott A. Miers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 629
Light Rail Transit in the US and Abroad, Examination of History and Innovations
José I. Farrán . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 667
Light Rail Transit, Shared Infrastructural Issues
Rongfang Rachel Liu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 683
Light Rail Transit, Systemic Viability
Gregory L. Thompson, Jeffrey R. Brown . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 704
MAGLEV Technology Development
James R. Powell, Gordon Danby . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 753
Mass Transit Science and Technology, Introduction
Gary L. Brosch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 804
Night Vision Pedestrian Warning in Intelligent Vehicles
Matthias Serfling, Otto Löhlein . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 806
Personal Rapid Transit and Its Development
Shannon S. McDonald . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 831
 Table of Contents xi

PHEVs and BEVs in Coupled Power and Transportation Systems10.1007/978-1-4419-0851-3_824

Mladen Kezunovic, S. Travis Waller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 851
Plug-in Hybrid Electric Vehicles10.1007/978-1-4419-0851-3_818
Mehrdad Ehsani . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 870
Regenerative Braking
Yimin Gao . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 882
Sustainable Transportation
Mehrdad Ehsani . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 890
Sustainable Vehicle Fuels, Well-to-Wheel Analysis
Amgad Elgowainy, Michael Wang . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 911
Switched Reluctance Motor Drives for Propulsion and Regenerative Braking in EV and HEV
Mehrdad Ehsani . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 939
Transit-Oriented Development and Land Use
Robert Cervero . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 947
True Color Night Vision Video Systems in Intelligent Vehicles
Dirk Hertel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 959
Unscented Kalman Filter in Intelligent Vehicles
Moustapha Doumiati, Daniel Lechner . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 991
Vehicle Biofuels
Mark Holtzapple . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1006
Vehicle Detection, Tightly Coupled LIDAR and Computer Vision Integration for
Lili Huang, Matthew Barth . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1033
Vehicle Dynamics and Performance
Yimin Gao . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1060
Vehicle Energy Storage: Batteries
Y. S. Wong, C. C. Chan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1082
Vehicle Traction Motors
C. C. Chan, Ming Cheng . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1103
Vehicular Ad Hoc Networks, Enhanced GPSR and Beacon-Assist Geographic Forwarding in
Ping Wang, Fuqiang Liu, Wenjie Shu, Wenqiang Xu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1133
List of Contributors

MOTOYUKI AKAMATSU MOSHE BEN-AKIVA

Human Technology Research Institute, National Department of Civil and Environmental Engineering
Institute of Advanced Industrial Science and MIT
Technology (AIST) Cambridge, MA
Tsukuba-shi, Ibaraki USA
Japan

EDA BEYAZIT
ROBERT S. BALOG Transport Studies Unit, School of Geography and the
Department of Electrical and Computer Engineering Environment
Texas A & M University University of Oxford
College Station, TX Oxford
USA UK

FRANK BARNES JÜRGEN BEYERER

Electrical, Computer, and Energy Engineering Institute for Anthropomatics, Vision and Fusion
Department Laboratory
University of Colorado Karlsruhe Institute of Technology
Boulder, CO
Karlsruhe
USA
Germany
and
BJÖRN BARROIS Fraunhofer Institute of Optronics, System
EvoBus GmbH Technologies and Image Exploitation IOSB
Neu-Ulm Karlsruhe
Germany Germany

MATTHEW BARTH ALBERTO BROGGI

Department of Electrical Engineering VisLab – Dipartimento di Ingegneria
University of California, Riverside dell’Informazione
CA Università degli Studi di Parma
USA Parma
Italy

THOMAS BATZ
Department Information Management GARY L. BROSCH
Fraunhofer Institute of Optronics, System Center for Urban Transportation Research
Technologies and Image Exploitation IOSB University of South Florida
Karlsruhe Tampa, FL
Germany USA
xiv List of Contributors

JEFFREY R. BROWN MING CHENG

Department of Urban and Regional Planning School of Electrical Engineering
Florida State University Southeast University
Tallahassee, FL Nanjing
USA China

ERIC C. BRUUN MOHIT CHHABRA

Department of Electrical & Systems Engineering Electrical Engineering
University of Pennsylvania University of Colorado
Philadelphia, PA Boulder, CO
USA USA

GORDON DANBY
RALPH BUEHLER Maglev-2000 Corporation
School of Public and International Affairs Wading River, NY
College of Architecture and Urban Studies Virginia USA
Tech
Alexandria, VA
ALI DAVOUDI
USA
University of Texas
Arlington, TX
ANDREW F. BURKE USA
Institute of Transportation Studies, University of
California-Davis KLAUS C. J. DIETMAYER
Davis, CA Institute of Measurement, Control, and
USA Microtechnology
University of Ulm
Ulm
PIETRO CERRI
Germany
VisLab – Dipartimento di Ingegneria
dell’Informazione
Università degli Studi di Parma YANCHAO DONG
Parma Graduate School of Science and Technology
Italy Kumamoto University
Kumamoto
Japan
ROBERT CERVERO
Department of City and Regional Planning MOUSTAPHA DOUMIATI
University of California B2i Automotive Engineering Company
Berkeley, CA Massy
USA France

C. C. CHAN MEHRDAD EHSANI

Department of Electrical and Electronic Engineering Department of Electrical & Computer Engineering
University of Hong Kong Texas A&M University
Hong Kong College Station, TX
China USA
 List of Contributors xv

AMGAD ELGOWAINY JIM GOVER

Center for Transportation Research Department of Electrical Engineering
Argonne National Laboratory Kettering University
Argonne, IL Flint, MI
USA USA

BABAK FAHIMI PAOLO GRISLERI

University of Texas VisLab – Dipartimento di Ingegneria
Arlington, TX dell’Informazione
USA Università degli Studi di Parma
Parma
JOSÉ I. FARRÁN Italy
Adavant Consulting
San Francisco, CA CLIFF HENKE
USA Parsons Brinckerhoff
Newark, NJ
CHRISTIAN FRESE USA
Institute for Anthropomatics, Vision and Fusion
Laboratory DIRK HERTEL
Karlsruhe Institute of Technology Quincy, MA
Karlsruhe USA
Germany
DARIO HIDALGO
YIMIN GAO EMBARQ, The World Resources Institute Center for
Department of Electrical and Computer Engineering Sustainable Transport
Texas A&M University Washington, DC
College Station, TX USA
USA
MARK HOLTZAPPLE
VIJAY K. GARG Department of Chemical Engineering
Dublin, OH Texas A&M University
USA College Station, TX
USA
STEFANO GHIDONI
Intelligent Autonomous System Laboratory LILI HUANG
(IAS-Lab), Department of Information Engineering Department of Electrical Engineering
University of Padua University of California
Padova Riverside, CA
Italy USA

MOSHE GIVONI ZHENCHENG HU

Transport Studies Unit, School of Geography and the Graduate School of Science and Technology
Environment Computer Science Department
University of Oxford Kumamoto University
Oxford Kumamoto
UK Japan
xvi List of Contributors

KENT M. HYMEL KEQIANG LI

US Department of Transportation State Key Laboratory of Automotive Safety and
Volpe National Transportation Systems Center Energy
Cambridge, MA Tsinghua University
USA Beijing
China

HO GI JUNG FUQIANG LIU

The School of Mechanical Engineering Department of Information and Communication
Hanyang University Engineering
Seondong-gu, Seoul Tongji University
South Korea Shanghai
China

MLADEN KEZUNOVIC RONGFANG RACHEL LIU

Department of Electrical and Computer Engineering Department of Civil and Environmental Engineering
Texas A&M University New Jersey Institute of Technology
College Station, TX Newark, NJ
USA USA

YIMING LIU
HARIS N. KOUTSOPOULOS Key Lab of Machine Perception (MOE)
Department of Transport Sciences Peking University
The Royal Institute of Technology, KTH Beijing
Stockholm China
Sweden
XIAOJIA LU
China Agricultural University
DANIEL LECHNER Beijing
Department of Accident Mechanism Analysis China
IFSTTAR-MA Laboratory
Salon de Provence RAMAKRISHNAN MAHADEVAN
France Telecommunications
University of Colorado
Boulder, CO
DOUGLASS B. LEE, JR. USA
US Department of Transportation
Volpe National Transportation Systems Center M. ABUL MASRUR
Cambridge, MA College of Engineering & Science, University of
USA Detroit Mercy
Detroit, MI
USA
OTTO LÖHLEIN
Machine Perception Systems and Reliability SHANNON S. MCDONALD
Environment Perception Daimler AG Southern Illinois University
Ulm Carbondale, IL
Germany USA
 List of Contributors xvii

SCOTT A. MIERS A. H. RANJBAR

Mechanical Engineering Department of Electrical Engineering
Michigan Technological University Amirkabir University of Technology
Houghton, MI Tehran
USA Iran

MARK A. MILLER TOSHIHISA SATO

California Partners for Advanced Transit and Human Technology Research Institute, National
Highways (PATH) Program, Institute of Institute of Advanced Industrial Science and
Transportation Studies Technology (AIST)
University of California Tsukuba-shi, Ibaraki
Berkeley, CA Japan
USA
and
MATTHIAS SERFLING
Institute of Transportation Studies, School of
Machine Perception Systems and Reliability
Public Affairs
Environment Perception Daimler AG
University of California
Ulm
Los Angeles, CA
Germany
USA

WENJIE SHU
RUI NI
Department of Information and Communication
Department of Psychology
Engineering
Wichita State University
Tongji University
Wichita, KS
Shanghai
USA
China

PUNEET PASRICH RICHARD M. STANGER

Electrical, Computer, and Energy Engineering Los Angeles, CA
Department USA
University of Colorado
Boulder, CO
USA GREGORY L. THOMPSON
Department of Urban and Regional Planning
Florida State University
JAMES R. POWELL Tallahassee, FL
Maglev-2000 Corporation USA
Shoreham, NY
USA
KATHERINE F. TURNBULL
Department of Landscape Architecture & Urban
JOHN PUCHER Planning, Texas Transportation Institute
Bloustein School of Planning and Public Policy College of Architecture – The Texas A&M University
Rutgers University System
New Brunswick, NJ College Station, TX
USA USA
xviii List of Contributors

ETIM U. UBONG MICHAEL WANG

Center for Fuel Cell Research and Powertrain Center for Transportation Research
Integration, Electrical & Computer Eng Argonne National Laboratory
Kettering University Argonne, IL
Flint, MI USA
USA
PING WANG
ALOIS UNTERHOLZNER Department of Information and Communication
Institute for Autonomous Systems Technology Engineering
Department of Aerospace Engineering Tongji University
University of the Bundeswehr Munich Shanghai
Neubiberg China
Germany
KYM WATSON
VUKAN R. VUCHIC Department Information Management
Department of Electrical & Systems Engineering Fraunhofer Institute of Optronics, System
University of Pennsylvania Technologies and Image Exploitation IOSB
Philadelphia, PA Karlsruhe
USA Germany

ANDREAS WIMMER
S. TRAVIS WALLER
Institute of Measurement, Control, and
Department of Civil Engineering
Microtechnology
The University of Texas at Austin
University of Ulm
Austin
Ulm
USA
Germany

THOMAS WALLNER CHRISTIAN WÖHLER

Energy Systems Division Image Analysis Group
Argonne National Laboratory Dortmund University of Technology
Argonne, IL Dortmund
USA Germany

FEI-YUE WANG Y. S. WONG

Institute of Automation State Grid Energy Research Institute
Chinese Academy of Sciences State Grid Corporation of China
Beijing China
China

JIANQIANG WANG HANS-JOACHIM WUENSCHE

State Key Laboratory of Automotive Safety and Institute for Autonomous Systems Technology
Energy Department of Aerospace Engineering
Tsinghua University University of the Bundeswehr Munich
Beijing Neubiberg
China Germany
 List of Contributors xix

LONG XIONG MING ZHANG

Key Lab of Machine Perception (MOE) Graduate Program in Community and Regional
Peking University Planning
Beijing School of Architecture, The University of Texas
China at Austin
Austin, TX
WENQIANG XU USA
Department of Information and Communication
Engineering HUIJING ZHAO
Tongji University Key Lab of Machine Perception (MOE)
Shanghai Peking University
China Beijing
China

HONGBIN ZHA
Key Lab of Machine Perception (MOE) YIPU ZHAO
Peking University Key Lab of Machine Perception (MOE)
Beijing Peking University
China Beijing
China
LEI ZHANG
State Key Laboratory of Automotive Safety and XIAOLONG ZHU
Energy Key Lab of Machine Perception (MOE)
Tsinghua University Peking University
Beijing Beijing
China China