Solutions to the routing problem: towards trustworthy autonomous vehicles

The general expectation is that the traffic in the cities will be almost optimal when the collective behaviour of autonomous vehicles will determine the traffic. Each member of the collective of autonomous vehicles tries to adapt to the changing environment, therefore together they execute decentralised autonomous adaptation by exploiting real-time information about their environment. The routing of these vehicles needs proper computer science models to be able to develop the best information technology for their control. We review different traffic flow models in computer science, and we evaluate their usefulness and applicability to autonomous vehicles. The classical game theory model implies flow level decision making in route selection. Non-cooperative autonomous vehicles may produce unwanted traffic patterns. Improved decentralised autonomous adaptation techniques try to establish some kind of coordination among autonomous vehicles, mainly through intention awareness. The aggregation of the intentions of autonomous vehicles may help to predict future traffic situations. The novel intention-aware online routing game model points out that intention-awareness helps to avoid that the traffic generated by autonomous vehicles be worse than the traffic indicated by classical traffic flow models. The review helps to make the first steps towards research on global level control of autonomous vehicles by highlighting the strengths and weaknesses of the different formal models. The review also highlights the importance of research on intention-awareness and intention-aware traffic flow prediction methods.

Traffic and Energy Consumption Modelling of Electric Vehicles: Parameter Updating from Floating and Probe Vehicle Data

This paper focuses on the estimation of energy consumption of Electric Vehicles (EVs) by means of models derived from traffic flow theory and vehicle locomotion laws. In particular, it proposes a bi-level procedure with the aim to calibrate (or update) the whole parameters of traffic flow models and energy consumption laws by means of Floating Car Data (FCD) and probe vehicle data. The reported models may be part of a procedure for designing and planning transport and energy systems. This aim is to verify if, and in what amount, the existing parameters of the resistances/energy consumptions model calibrated in the literature for Internal Combustion Engines Vehicles (ICEVs) change for EVs, considering the above circular dependency between supply, demand, and supply–demand interaction. The final results concern updated parameters to be used for eco-driving and eco-routing applications for design and a planning transport system adopting a multidisciplinary approach. The focus of this manuscript is on the transport area. Experimental data concern vehicular data extracted from traffic (floating car data and probe vehicle data) and energy consumption data measured for equipped EVs performing trips inside a sub-regional area, located in the Città Metropolitana of Reggio Calabria (Italy). The results of the calibration process are encouraging, as they allow for updating parameters related to energy consumption and energy recovered in terms of EVs obtained from data observed in real conditions. The latter term is relevant in EVs, particularly on urban routes where drivers experience unstable traffic conditions.

Identification of Operational Design Domain for Autonomous Truck Mounted Attenuator System on Multilane Highways

The Autonomous Truck Mounted Attenuator (ATMA) vehicle system is a technology that leverages connected and automated vehicle (CAV) capabilities for maintenance of transportation infrastructure. Promoted by FHWA and state departments of transportation (DOTs), it is a niche CAV application in leader–follower style, intended to remove DOT workers from the following maintenance truck, to reduce fatalities in work zones. Because practicable guidance for deployment of this technology is largely missing in MUTCD, state DOTs have been making their own deployment criteria. In this manuscript, we focus on the operational design domain (ODD) problem—under what traffic conditions should ATMA be deployed. Modeling efforts are first focused on the derivation of an effective discharge rate that can be associated with a moving bottleneck caused by slow-moving ATMA vehicles on a multilane highway. Then, based on the demand input and discharge rates, microscopic traffic flow models calculate vehicle delay and density, which the Highway Capacity Manual (HCM) suggests are key indicators of a multilane highway’s level of service (LOS). In this way, the linkage between AADT and LOS is analytically established. NGSIM data is used for the model validation and shows that the developed model correctly captures the effective discharge rate discount caused by moving bottlenecks. The modeling results demonstrate that roadway performance is sensitive to the K factor and D factor, as well as the operating speed of ATMA and, if LOS = C is a desirable design objective, a good AADT threshold to use would be around 40,000 vehicles per day.

Comparison of Traffic Flow Models with Real Traffic Data Based on a Quantitative Assessment

The fundamental relationship of traffic flow and bivariate relations between speed and flow, speed and density, and flow and density are of great importance in transportation engineering. Fundamental relationship models may be applied to assess and forecast traffic conditions at uninterrupted traffic flow facilities. The objective of the article was to analyze and compare existing models of the fundamental relationship. To that end, we proposed a universal and quantitative method for assessing models of the fundamental relationship based on real traffic data from a Polish expressway. The proposed methodology seeks to address the problem of finding the best deterministic model to describe the empirical relationship between fundamental traffic flow parameters: average speed, flow, and density based on simple and transparent criteria. Both single and multi-regime models were considered: a total of 17 models. For the given data, the results helped to identify the best performing models that meet the boundary conditions and ensure simplicity, empirical accuracy, and good estimation of traffic flow parameters.

Self-Organized Criticality of Traffic Flow

This paper shows that the kinematic wave model exhibits self-organized criticality when initialized with random initial conditions around the critical density. This has several important implications for traffic flow in the capacity state, such as: \item jam sizes obey a power law distribution with exponents 1/2, implying that both the mean and variance diverge to infinity, \item self-organization is an intrinsic property of traffic flow models in general, independently of other random perturbations, \item this critical behavior is a consequence of the flow maximization objective of traffic flow models, which can be observed on a density range around the critical density that depends on the length of the segment, \item typical measures of performance are proportional to the area under a Brownian excursion, and therefore are given by different scalings of the Airy distribution, \item traffic in the time-space diagram forms self-affine fractals where the basic unit is a triangle, in the shape of the fundamental diagram, containing 3 traffic states: voids, capacity and jams.

Macroscopic Traffic-Flow Modelling Based on Gap-Filling Behavior of Heterogeneous Traffic

Traffic-flow modelling has been of prime interest to traffic engineers and planners since the mid-20th century. Most traffic-flow models were developed for the purpose of characterizing homogeneous traffic flow. Some of these models are extended to characterize the complex interactions involved in heterogeneous traffic flow. Existing heterogeneous traffic-flow models do not characterize the driver behavior leading to gap filling in heterogeneous traffic conditions. This study aimed at explaining the gap-filling behavior in heterogeneous traffic flow by using the effusion model of gas particles. The driver’s behavior leading to gap filling in heterogeneous traffic was characterized through developing analogies between the traffic flow and the Maxwell–Boltzmann equation for effusion of gases. This model was subsequently incorporated into the Payne–Whitham (PW) model by replacing the constant anticipation term. The proposed model was numerically approximated by using Roe’s scheme, and numerical simulation of the proposed model was then carried out by using MATLAB. The results of the proposed and PW models were therefore compared. It is concluded that the new model proposed in this study not only produces better results compared to the PW model, but also better captures the expected reality. The main difference between the behavior of the two models is that the effect of bottleneck in the density of traffic is propagated in the form of a shockwave travelling backwards in time in the new model, while the PW model does not exhibit this effect.