Traffic flow of connected and automated vehicles at lane drop on two-lane highway: An optimization-based control algorithm versus a heuristic rules-based algorithm

This paper investigates traffic flow of connected and automated vehicles at lane drop on two-lane highway. We evaluate and compare performance of an optimization-based control algorithm(OCA) with that of a heuristic rules-based algorithm(HRA). In the OCA, the average speed of each vehicle is maximized. In the HRA, virtual vehicle and restriction of the command acceleration caused by the virtual vehicle are introduced. It is found that(i) capacity under the HRA(denoted as C_(H)) is smaller than capacity under the OCA;(ii) the travel delay is always smaller under the OCA, but driving is always much more comfortable under the HRA;(iii) when the inflow rate is smaller than C_(H), the HRA outperforms the OCA with respect to the fuel consumption and the monetary cost;(iv) when the inflow rate is larger than C_(H), the HRA initially performs better with respect to the fuel consumption and the monetary cost, but the OCA would become better after certain time. The spatiotemporal pattern and speed profile of traffic flow are presented, which explains the reason underlying the different performance. The study is expected to help for better understanding of the two different types of algorithm.

Evaluation of Arterial Signal Coordination with Commercial Connected Vehicle Data: Empirical Traffic Flow Visualization and Performance Measurement

Emerging connected vehicle (CV) data sets have recently become commercially available, enabling analysts to develop a variety of powerful performance measures without deploying any field infrastructure. This paper presents several tools using CV data to evaluate traffic progression quality along a signalized corridor. These include both performance measures for high-level analysis as well as visualizations to examine details of the coordinated operation. With the use of CV data, it is possible to assess not only the movement of traffic on the corridor but also to consider its origin-destination (O-D) path through the corridor. Results for the real-world operation of an eight-intersection signalized arterial are presented. A series of high-level performance measures are used to evaluate overall performance by time of day, with differing results by metric. Next, the details of the operation are examined with the use of two visualization tools: a cyclic time-space diagram (TSD) and an empirical platoon progression diagram (PPD). Comparing flow visualizations developed with different included O-D paths reveals several features, such as the presence of secondary and tertiary platoons on certain sections that cannot be seen when only end-to-end journeys are included. In addition, speed heat maps are generated, providing both speed performance along the corridor and locations and the extent of the queue. The proposed visualization tools portray the corridor’s performance holistically instead of combining individual signal performance metrics. The techniques exhibited in this study are compelling for identifying locations where engineering solutions such as access management or timing plan change are required. The recent progress in infrastructure-free sensing technology has significantly increased the scope of CV data-based traffic management systems, enhancing the significance of this study. The study demonstrates the utility of CV trajectory data for obtaining high-level details of the corridor performance as well as drilling down into the minute specifics.

Impacts of automated passenger cars on the capacity of a freeway basic section: applicability in the determination of vehicle adjustment factors in mixed traffic

The highway capacity manual(HCM)provides a formula to calculate the heavy vehicle adjustment factor(fHV)as a function of passenger car equivalent factors for the heavy vehicle(ET).However,a significant drawback is that the methodology was established solely based on human-driven passenger cars(HDPC)and human-driven heavy vehicles(HDHV).Due to automated passenger cars(APCs),a new adjustment factor(fAV)might be expected.This study simulated traffic flows at different percentages of HDHVs and APCs to investigate the impacts of HDHVs and APCs on freeway capacity by analyzing their influence on fHV and fAV values.The simulation determined observed adjustment factors at different percentages of HDHVs and APCs(fobserved).The HCM formula was used to calculate(fHCM).Modifications to the HCM formula are proposed,and vehicle adjustment factors due to HDHVs and APCs were calculated(fproposed).Results showed that,in the presence of APCs,while fobserved and fHCM were statistically significantly different,fobserved and fproposed were statistically equal.Hence,this study recommends using the proposed formula when determining vehicle adjustment factors(fproposed)due to HDHVs and APCs in the traffic stream.

Efficient control of connected and automated vehicles on a two-lane highway with a moving bottleneck

This paper investigates the traffic flow of connected and automated vehicles(CAVs)inducing by a moving bottleneck on a two-lane highway.A heuristic rules-based algorithm(HRA)has been used to control the traffic flow upstream of the moving bottleneck.In the HRA,some CAVs in the control zone are mapped onto the neighboring lane as virtual ones.To improve the driving comfort,the command acceleration caused by virtual vehicle is restricted.Comparing with the benchmark in which the CAVs change lane as soon as the lane changing condition is met,the HRA significantly improves the traffic flow:the overtaking throughput as well as the outflow rate increases,the travel delay and the fuel consumption decrease,the comfort level could also be improved.

A Data-Driven Intersection Geometry Mapping Technique to Enhance the Scalability of Trajectory-Based Traffic Signal Performance Measures

Connected vehicle (CV) trajectory data provides practitioners with opportunities to assess traffic signal performance with no investment in detection or communication infrastructure. With over 500 billion trajectory records generated each month in the United States, operations can be evaluated virtually at any of the over 400,000 traffic signals in the nation. The manual intersection mapping required to generate accurate movement-level trajectory-based performance estimations is the most time-consuming aspect of using CV data to evaluate traffic signal operations. Various studies have utilized vehicle location data to update and create maps;however, most proposed mapping techniques focus on the identification of roadway characteristics that facilitate vehicle navigation and not on the scaling of traffic signal performance measures. This paper presents a technique that uses commercial CV trajectory and open-source OpenStreetMap (OSM) data to automatically map intersection centers and approach areas of interest to estimate signal performance. OSM traffic signal tags are processed to obtain intersection centers. CV data is then used to extract intersection geometry characteristics surrounding the intersection. To demonstrate the proposed technique, intersection geometry is mapped at 500 locations from which trajectory-based traffic signal performance measures are estimated. The results are compared to those obtained from manual geometry definitions. Statistical tests found that at a 99% confidence level, upstream-focused performance estimations are strongly correlated between both methodologies. The presented technique will aid agencies in scaling traffic signal assessment as it significantly reduces the amount of manual labor required.

A Trailblazing Framework of Security Assessment for Traffic Data Management

Connected and autonomous vehicles are seeing their dawn at this moment.They provide numerous benefits to vehicle owners,manufacturers,vehicle service providers,insurance companies,etc.These vehicles generate a large amount of data,which makes privacy and security a major challenge to their success.The complicated machine-led mechanics of connected and autonomous vehicles increase the risks of privacy invasion and cyber security violations for their users by making them more susceptible to data exploitation and vulnerable to cyber-attacks than any of their predecessors.This could have a negative impact on how well-liked CAVs are with the general public,give them a poor name at this early stage of their development,put obstacles in the way of their adoption and expanded use,and complicate the economic models for their future operations.On the other hand,congestion is still a bottleneck for traffic management and planning.This research paper presents a blockchain-based framework that protects the privacy of vehicle owners and provides data security by storing vehicular data on the blockchain,which will be used further for congestion detection and mitigation.Numerous devices placed along the road are used to communicate with passing cars and collect their data.The collected data will be compiled periodically to find the average travel time of vehicles and traffic density on a particular road segment.Furthermore,this data will be stored in the memory pool,where other devices will also store their data.After a predetermined amount of time,the memory pool will be mined,and data will be uploaded to the blockchain in the form of blocks that will be used to store traffic statistics.The information is then used in two different ways.First,the blockchain’s final block will provide real-time traffic data,triggering an intelligent traffic signal system to reduce congestion.Secondly,the data stored on the blockchain will provide historical,statistical data that can facilitate the analysis of traffic conditions according to past behavior.

Comparison of Estimated Cycle Split Failures from High-Resolution Controller Event and Connected Vehicle Trajectory Data

Current traffic signal split failure (SF) estimations derived from high-resolution controller event data rely on detector occupancy ratios and preset thresholds. The reliability of these techniques depends on the selected thresholds, detector lengths, and vehicle arrival patterns. Connected vehicle (CV) trajectory data can more definitively show when a vehicle split fails by evaluating the number of stops it experiences as it approaches an intersection, but it has limited market penetration. This paper compares cycle-by-cycle SF estimations from both high-resolution controller event data and CV trajectory data, and evaluates the effect of data aggregation on SF agreement between the two techniques. Results indicate that, in general, split failure events identified from CV data are likely to also be captured from high-resolution data, but split failure events identified from high-resolution data are less likely to be captured from CV data. This is due to the CV market penetration rate (MPR) of ~5% being too low to capture representative data for every controller cycle. However, data aggregation can increase the ratio in which CV data captures split failure events. For example, day-of-week data aggregation increased the percentage of split failures identified with high-resolution data that were also captured with CV data from 35% to 56%. It is recommended that aggregated CV data be used to estimate SF as it provides conservative and actionable results without the limitations of intersection and detector configuration. As the CV MPR increases, the accuracy of CV-based SF estimation will also improve.

Adaptive signal control and coordination for urban traffic control in a connected vehicle environment: A review

Existing signal control systems for urban traffic are usually based on traffic flow data from fixed location detectors.Because of rapid advances in emerging vehicular communication,connected vehicle(CV)-based signal control demonstrates significant improvements over existing conventional signal control systems.Though various CV-based signal control systems have been investigated in the past decades,these approaches still have many issues and drawbacks to overcome.We summarize typical components and structures of these existing CV-based urban traffic signal control systems and digest several important issues from the summarized vital concepts.Last,future research directions are discussed with some suggestions.We hope this survey can facilitate the connected and automated vehicle and transportation research community to efficiently approach next-generation urban traffic signal control methods and systems.

Prediction of Railway Passenger Traffic Volume

The current situation of the railway passenger traffic (RPT) and the traffic marketing is analyzed. The grey model theory is adopted to establish a prediction model for the railway passenger traffic volume (RPTV).The RPTV from 2001 to 2005 is predicted with the proposed model, and a few suggestions are put forward.

Longitudinal Performance Assessment of Traffic Signal System Impacted by Long-Term Interstate Construction Diversion Using Connected Vehicle Data

Local arterials can be significantly impacted by diversions from adjacent work zones. These diversions often occur on unofficial detour routes due to guidance received on personal navigation devices. Often, these routes do not have sufficient sensing or communication equipment to obtain infrastructure-based traffic signal performance measures, so other data sources are required to identify locations being significantly affected by diversions. This paper examines the network impact caused by the start of an 18-month closure of the I-65/70 interchange (North Split), which usually serves approximately 214,000 vehicles per day in Indianapolis, IN. In anticipation of some proportion of the public diverting from official detour routes to local streets, a connected vehicle monitoring program was established to provide daily performances measures for over 100 intersections in the area without the need for vehicle sensing equipment. This study reports on 13 of the most impacted signals on an alternative arterial to identify locations and time of day where operations are most degraded, so that decision makers have quantitative information to make informed adjustments to the system. Individual vehicle movements at the studied locations are analyzed to estimate changes in volume, split failures, downstream blockage, arrivals on green, and travel times. Over 130,000 trajectories were analyzed in an 11-week period. Weekly afternoon peak period volumes increased by approximately 455%, split failures increased 3%, downstream blockage increased 10%, arrivals on green decreased 16%, and travel time increase 74%. The analysis performed in this paper will serve as a framework for any agency that wants to assess traffic signal performance at hundreds of locations with little or no existing sensing or communication infrastructure to prioritize tactical retiming and/or longer-term infrastructure investments.

Probabilistic interval prediction of metro-to-bus transfer passenger flow in the trip chain

To accurately analyze the fluctuation range of time-varying differences in metro-to-bus transfer passenger flows,the application of a probabilistic interval prediction model is proposed to predict transfer passenger flows.First,bus and metro data are processed and matched by association to construct the basis for public transport trip chain extraction.Second,a reasonable matching threshold method to discriminate the transfer relationship is used to extract the public transport trip chain,and the basic characteristics of the trip based on the trip chain are analyzed to obtain the metro-to-bus transfer passenger flow.Third,to address the problem of low accuracy of point prediction,the DeepAR model is proposed to conduct interval prediction,where the input is the interchange passenger flow,the output is the predicted median and interval of passenger flow,and the prediction scenarios are weekday,non-workday,and weekday morning and evening peaks.Fourth,to reduce the prediction error,a combined particle swarm optimization(PSO)-DeepAR model is constructed using the PSO to optimize the DeepAR model.Finally,data from the Beijing Xizhimen subway station are used for validation,and results show that the PSO-DeepAR model has high prediction accuracy,with a 90%confidence interval coverage of up to 93.6%.

AI Based Traffic Flow Prediction Model for Connected and Autonomous Electric Vehicles

There is a paradigm shift happening in automotive industry towards electric vehicles as environment and sustainability issues gainedmomentum in the recent years among potential users.Connected and Autonomous Electric Vehicle(CAEV)technologies are fascinating the automakers and inducing them to manufacture connected autonomous vehicles with self-driving features such as autopilot and self-parking.Therefore,Traffic Flow Prediction(TFP)is identified as a major issue in CAEV technologies which needs to be addressed with the help of Deep Learning(DL)techniques.In this view,the current research paper presents an artificial intelligence-based parallel autoencoder for TFP,abbreviated as AIPAE-TFP model in CAEV.The presented model involves two major processes namely,feature engineering and TFP.In feature engineering process,there are multiple stages involved such as feature construction,feature selection,and feature extraction.In addition to the above,a Support Vector Data Description(SVDD)model is also used in the filtration of anomaly points and smoothen the raw data.Finally,AIPAE model is applied to determine the predictive values of traffic flow.In order to illustrate the proficiency of the model’s predictive outcomes,a set of simulations was performed and the results were investigated under distinct aspects.The experimentation outcomes verified the effectual performance of the proposed AIPAE-TFP model over other methods.

Estimation of Connected Vehicle Penetration on US Roads in Indiana, Ohio, and Pennsylvania

Connected vehicle data is an important assessment tool for agencies to evaluate the performance of freeways and arterials, provided there is sufficient penetration to provide statistically robust performance measures. A common concern by agencies interested in using crowd sourced probe data is the penetration rate across different types of roads, different hours of the day, and different regions. This paper describes and demonstrates a methodology that uses data from state highway performance monitoring systems in Indiana, Ohio and Pennsylvania. The study analyzes 54 locations over the 3 states for select Wednesdays and Saturdays in 2020 and 2021. Overall, across all locations and dates, the median penetration was approximately 4.5%. The median penetration for August 2020 for Indiana, Ohio, and Pennsylvania was 4.6%, 4.3%, and 4.0%, respectively. The median penetration for those same states in August 2020 on interstates and non-interstates was 3.9% and 4.6%, respectively. Additionally, the study conducted a longitudinal evaluation of Indiana penetration for selected months between January 2020 and June 2021. Indiana penetration increased modestly between December 2020 and June 2021, perhaps due to the post-COVID rebound of passenger vehicle traffic. This paper concludes by recommending that the techniques described in this paper be scaled to other states so that traffic engineers can make informed decisions on the use and limitations of connected vehicle data for various use cases.

Markov chain-based platoon recognition model in mixed traffic with human-driven and connected and autonomous vehicles

Many vehicle platoons are interrupted while traveling on roads,especially at urban signalized intersections.One reason for such interruptions is the inability to exchange real-time information between traditional human-driven vehicles and intersection infrastructure.Thus,this paper develops a Markov chain-based model to recognize platoons.A simulation experiment is performed in Vissim based on field data extracted from video recordings to prove the model’s applicability.The videos,recorded with a high-definition camera,contain field driving data from three Tesla vehicles,which can achieve Level 2 autonomous driving.The simulation results show that the recognition rate exceeds 80%when the connected and autonomous vehicle penetration rate is higher than 0.7.Whether a vehicle is upstream or downstream of an intersection also affects the performance of platoon recognition.The platoon recognition model developed in this paper can be used as a signal control input at intersections to reduce the unnecessary interruption of vehicle platoons and improve traffic efficiency.

AN ALGORITHM FOR END-TO-END PERFORMANCE ANALYSIS OF NETWORK BASED ON TRAFFIC ENGINEERING

Based on traffic engineering, the network topology is described with network graph. An algorithm for the derivation of data communication capability in network links and the analysis of connectivity performance between node pairs is given through standardized transformation of the original descriptive matrix for the link performance, and resolution of transitive closure for adjacent-incident matrix of network in view of randomness of network events, which provides a feasible way for analysis and improvement of network performance.

Integrated Performance Measures for Bus Rapid Transit System and Traffic Signal Systems Using Trajectory Data

Bus rapid transit (BRT) systems have been implemented in many cities over the past two decades. Widespread adoption of General Transit Feed Specification (GTFS), the deployment of high-fidelity bus GPS data tracking, and anonymized high-fidelity connected vehicle data from private vehicles have provided new opportunities for performance measures that can be used by both transit agencies and traffic signal system operators. This paper describes the use of trajectory-based data to develop performance measures for a BRT system in Indianapolis, Indiana. Over 3 million data records during the 3-month period between March and May 2022 are analyzed to develop visualizations and performance metrics. A methodology to estimate the average delay and schedule adherence is presented along a route comprised of 74 signals and 28 bus stations. Additionally, this research demonstrates how these performance measures can be used to evaluate dedicated and non-dedicated bus lanes with general traffic. Travel times and reliability of buses are compared with nearly 30 million private vehicle trips. Results show that median travel time for buses on dedicated bi-directional lanes is within one minute of general traffic and during peak periods the buses are often faster. Schedule adherence was observed to be more challenging, with approximately 3% of buses arriving within 1 minute on average during the 5AM hour and 5% of buses arriving 6 - 9 minutes late during the 5PM hour. The framework and performance measures presented in this research provide agencies and transportation professionals with tools to identify opportunities for adjustments and to justify investment decisions.

Methodology for Automatically Setting Camera View to Mile Marker for Traffic Incident Management

Traffic incident management (TIM) is a FHWA Every Day Counts initiative with the objective of reducing secondary crashes, improving travel reliability, and ensuring safety of responders. Agency roadside cameras play a critical role in TIM by helping dispatchers quickly identify the precise location of incidents when receiving reports from motorists with varying levels of spatial accuracy. Reconciling position reports that are often mile marker based, with cameras that operate in a Pan-Tilt-Zoom coordinate system relies on dispatchers having detailed knowledge for hundreds of cameras and perhaps some presets. During real-time incident dispatching, reducing the time it takes to identify the most relevant cameras and setting their view on the incident is an important opportunity to improve incident management dispatch times. This research develops a camera-to-mile marker mapping technique that automatically sets the camera view to a specified mile marker within the field-of-view of the camera. Over 350 traffic cameras along Indiana’s 2250 directional miles of interstate were mapped to approximately 5000 discrete locations that correspond to approximately 780 directional miles (~35% of interstate) of camera coverage. This newly developed technique will allow operators to quickly identify the nearest camera and set them to the reported location. This research also identifies segments on the interstate system with limited or no camera coverage for decision makers to prioritize future capital investments. This paper concludes with brief discussion on future research to automate the mapping using LiDAR data and to set the cameras after automatically detecting the events using connected vehicle trajectory data.

ComplexTrans-Global Rail-Road Transportation System Economical and Clustered Individual and Individualised Public Transport also Prevents the Spread of Covid 19

Land transport can no longer meet the requirements.European transport can be described by these words−crowded motorways and cities,dangerous emissions,ubiquitous traffic accidents,delays,expensive railways.Solutions are being sought to transfer a large part of passengers and especially freight transport to(high-speed)rail,and efforts are moving towards electromobility,car-sharing,5G-connectivity,autonomous driving,MaaS(Mobility as a Service)-coordinated transport or hyperloop-type solutions.However,all these solutions have additional challenges and limitations.Solutions are not being searched where they really exist-in the mutual adaptation of road and rail vehicles and their deep cooperation.The ComplexTrans project shows that simply adapting the dimensions and functions of road and rail vehicles can eliminate(or at least significantly reduce)all the problems of existing land transport.The main features of the ComplexTrans system are sufficient parking spaces,reduction of urban and non-urban congestion,electric vehicles with unlimited range and cheaper than standard cars,cheaper and more accessible battery charging,“autonomous ride”,solving the overlap between passenger and freight rail transport and making it self-financing,transferring intercity freight transport to rail,replacing part of continental air transport and many others.The cost-effective and clustered individual transport and individualised public transport of the ComplexTrans system also bring very significant reductions in the risk of transmission of covid-19 and other contagious diseases during transport.

2023年世界城市轨道交通运营统计与分析综述

参考国际上较为通用的统计标准,将城市轨道交通分为地铁、轻轨和有轨电车三大类,对世界城轨交通运营现状进行统计。分析表明:截至2023年底,全球有79个国家和地区的563座城市开通了城市轨道交通系统,总里程超过43400.40 km,其中地铁、轻轨、有轨电车分别占50.07%、10.69%和39.24%;中国(含港澳台)累计有66座城市开通运营轨道交通,运营里程达11900.29 km,其中中国内地运营里程11232.65 km。2022年,全球59个国家的183座城市地铁累计运送乘客586.52亿人次,平均负荷强度0.81万人次/(km·d),其中中国(含港澳台)地铁年客流量为212.51亿人次。我国城市轨道交通持续稳步发展,线网规模和客流规模继续居全球第一。统计国务院52号文件发布后的中国轨道交通的线网规模数据,预测低运量城市轨道交通系统将在中国内地有较好的发展前景,特别是中西部地区,以促进城市绿色、可持续发展。同时,根据疫情前后全球主要国家(地区)和城市的客流数据,预计中国内地客流量将在2024—2025年恢复至疫情前水平。

基于组合深度学习的轨道交通短时进站客流预测模型

针对轨道交通短时进站客流考虑不充分和特征学习不全面而导致预测精度不高的问题,选取客流特征、天气、空气质量和道路交通拥堵指数等多个因素,提出了一种基于组合深度学习的轨道交通短时进站客流预测模型(CNN-ResNet-BiLSTM)。基于卷积神经网络(CNN)对多因素客流时间序列进行自动提取,在CNN网络中插入多个残差神经网络(ResNet)来加深网络深度,利用双向长短时记忆神经网络(BiLSTM)捕捉前后两个方向的客流时间序列特征并得到预测结果;以杭州市全网80个站点工作日的进站客流为例,验证了该模型的有效性。研究结果表明:与常用的几种模型相比,多因素CNN-ResNet-BiLSTM组合模型的均方根误差(E RMS)至少降低了8.50%,平均绝对误差(E MA)至少降低了6.74%,平均绝对百分比误差(E MPA)至少降低了6.52%。