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I.
INTRODUCTION
179
TABLE 3
MEAN SPEED FOR EACH VARIABLE
TABLE 1
CONTROL STRATEGIES FOR VARIOUS ROAD WEATHER CONDITIONS
TABLE 4
REDUCTION IN VEHICLE SPEED DUE TO WINDS AND PRECIPITATION
A. Normal Conditions
Reference [11], using two studies cited in Reference [7]
and Reference [8], proposed the free-flow speed reductions.
A baseline for normal conditions in which drivers should
base their speeds on roadway is shown in TABLE 2.
TABLE 2
SPEED DURING NORMAL CONDITIONS
TABLE 5
REDUCTION IN VEHICLE SPEED DUE TO SNOW- AND ICE-COVERED
PAVEMENT
180
TABLE 6
ENVIRONMENTAL DATA THAT ARE COLLECTED IN THIS RESEARCH
181
C. Back-Propagation Algorithm
Basically, error back-propagation learning consists of two
passes through different layers of the network: a forward pass
and a backward pass. In the forward pass, an activity pattern
(input vector) is applied to the sensory nodes of the network,
and its effect propagates forward through the network layer
by layer. Finally, a set of outputs is produced as the actual
response of the network. During the forward pass, the
synaptic weights of the networks are all fixed. During the
backward pass, on the other hand, the synaptic weights are all
adjusted in accordance with an error correction rule.
Specifically, the actual response of the network is subtracted
from a desired (target) response to produce an error signal.
This error signal is then propagated backward through the
network, against the direction of synaptic connections. Hence,
the name is error back-propagation. The synaptic weights
are adjusted to make the actual response of the network move
closer to the desired response in a statistical sense. That
means it is reaching the minima of the error surface. In this
sense, the output is closest to the expected response. In this
model, that means the predicted speed is closer to the real
world speed as much as possible.
D.
(1)
, where
182
ACKNOWLEDGMENT
183
[3]
[4]
[5]
[6]
[7]
[8]
[9]
[10]
[11]
[12]
[13]
184
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L. Senn, "Variable speed limit and in-vehicle signing operational test,"
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tm
M. Kyte, Z. Khatib, P. Shannon, and F. Kitchener, "Effect of
environmental factors on free-flow speed," Fourth International
Symposium on Highway Capacity, ISSN: 0097-8515, June 26, 2000.
http://pubsindex.trb.org/document/view/default.asp?lbid=657336
S. Haykin "Neural networks, a comprehensive foundation,"
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USA, 1999.
http://www2.psy.uq.edu.au/~brainwav/Manual/BackProp.html#Learnin
gRateMomentum