As one of the early manifestations of road pavement structure degradation, road cracks will accelerate the deterioration of the road if not detected and repaired in time. Aiming at the problems of low recall and incomplete crack detection in current road detection, based on the U-Net network, this paper proposed an Attention-Dynamic Snake Convolution U-Net (ADSC-U-Net) network. Firstly, the dynamic snake-shaped convolution was added to the normal downsampling process to make the network adaptively focus on the slender and curved local features, which can solve the problem of low accuracy of small crack detection. Secondly, the attention mechanism was used to pay better attention to the significant features of positive samples under the condition of a large proportion gap between positive and negative samples, which solved the problem of the poor crack integrity detection effect. Finally, the dataset was expanded by random vertical and horizontal flip operations, which solved the problem of network training overfitting caused by the small-scale datasets. The experimental results showed that, when the input image had a resolution of 480 × 320, evaluation indices P, R, and F1 of ADSC-U-Net on the self-built dataset were 74.44%, 68.77%, and 69.42%, respectively. Compared to SegNet, DeepLab, and DeepCrack, the P was improved by 1.90%, 2.49%, and 11.64%, respectively; the R was improved by 8.01%, 4.70%, and 59.58%, respectively; and the comprehensive evaluation index F1 was improved by 5.73%, 4.02%, and 55.87%, respectively, which proves the effectiveness of the proposed method.

Electric freight vehicles have become an important means of transportation in connected and automated environments owing to their numerous advantages. However, the generally short driving range of connected and automated electric freight vehicles (CAEFVs) does not satisfy the growing transport demand. In this study, wireless charging technology is employed to construct a complex driving scenario including urban roads and dynamic wireless charging facilities. A combination of variable-scale elements consisting of vehicles, roads, and the environment is analysed hierarchically to develop a wireless charging scheme for urban transport systems. Using passage efficiency, energy consumption, and passenger comfort as the joint optimisation objectives, an optimal driving model for CAEFVs in wireless charging scenarios at signalised intersections combining scenario boundaries and vehicle dynamic constraints is proposed. Considering the differentiated charging needs of vehicles, this model is divided into a time priority strategy (TPS), balance priority strategy (BPS), and charging priority strategy (CPS). The obtained results reveal that the CPS is superior to the TPS in terms of the charging benefits but requires a longer travel time. Meanwhile, the BPS increases the charging benefits and passing efficiency. This study provides guidance for the deployment of wireless charging lanes with a high application value.

Connected and automated vehicles (CAVs) represent a significant development in the transport industry owing to their intelligent and interconnected features. Potential field theory has been extensively used to model CAV driving behaviour owing to its objectivity, universality, and measurability. However, existing car-following models do not consider the impact of time delays and the influence of information from multiple vehicles ahead and behind. This paper focuses on the driving-safety risks associated with CAVs, aiming to enhance vehicle safety and reliability during travelling. We developed a multi-vehicle car-following model based on safety potential fields (MIDM-SPF), taking into account the characteristics of multi-vehicle connected information and time delays. To enhance the model’s precision, real-world data from urban roads were employed, alongside an improved optimisation algorithm to fine-tune the car-following model. The simulation experiment revealed that MIDM-SPF significantly reduces stop-and-go traffic, thereby improving traffic flow stability in urban areas. Additionally, we validated the stability of our model under varying market penetration rates in large-scale mixed traffic. Our findings indicate that increasing the CAV proportion improves the stability of mixed traffic flows, which has important implications for alleviating traffic congestion and guiding the large-scale implementation of autonomous driving in the future.