Eco-routing problem considering fuel consumption and probabilistic travel time budget

Road transportation is one of the major sources of greenhouse gas emissions. To reduce energy consumption and alleviate this environmental problem, this study aims to develop an eco-routing algorithm for navigation systems. Considering that both fuel consumption and travel time are important factors when planning a trip, the proposed routing algorithm finds a path that consumes the minimum amount of gasoline while ensuring that the travel time satisfies a specified travel time budget and an on-time arrival probability. We first develop link-based fuel consumption models based on vehicle dynamics, and then the Lagrangian-relaxation-based heuristic approach is proposed to efficiently solve this NP-hard problem. The performance of the proposed eco-routing strategy is verified in a large-scale network with real travel time and fuel consumption data. Specifically, a sensitivity analysis of fuel consumption reduction for travel demand and travel time buffer is discussed in our simulation study.     

Mobility and environment improvement of signalized networks through Vehicle-to-Infrastructure (V2I) communications

Traffic signals, even though crucial for safe operations of busy intersections, are one of the leading causes of travel delays in urban settings, as well as the reason why billions of gallons of fuel are burned, and tons of toxic pollutants released to the atmosphere each year by idling engines. Recent advances in cellular networks and dedicated short-range communications make Vehicle-to-Infrastructure (V2I) communications a reality, as individual cars and traffic signals can now be equipped with communication and computing devices. In this paper, we first presented an integrated simulator with V2I, a car-following model and an emission model to simulate the behavior of vehicles at signalized intersections and calculate travel delays in queues, vehicle emissions, and fuel consumption. We then present a hierarchical green driving strategy based on feedback control to smooth stop-and-go traffic in signalized networks, where signals can disseminate traffic signal information and loop detector data to connected vehicles through V2I communications. In this strategy, the control variable is an individual advisory speed limit for each equipped vehicle, which is calculated from its location, signal settings, and traffic conditions. Finally, we quantify the mobility and environment improvements of the green driving strategy with respect to market penetration rates of equipped vehicles, traffic conditions, communication characteristics, location accuracy, and the car-following model itself, both in isolated and non-isolated intersections. In particular, we demonstrate savings of around 15% in travel delays and around 8% in fuel consumption and greenhouse gas emissions. Different from many existing ecodriving strategies in signalized road networks, where vehicles’ speed profiles are totally controlled, our strategy is hierarchical, since only the speed limit is provided, and vehicles still have to follow their leaders. Such a strategy is crucial for maintaining safety with mixed vehicles.     

Feedback control speed harmonization algorithm: Methodology and preliminary testing

The capacity drop phenomenon, which reduces the maximum bottleneck discharge rate following the onset of congestion, is a critical restriction in transportation networks that produces additional traffic congestion. Consequently, preventing or reducing the occurrence of the capacity drop not only mitigates traffic congestion, but can also produce environmental and traffic safety benefits. In addressing this problem, the paper develops a novel bang-bang feedback control speed harmonization (SH) or Variable Speed Limit (VSL) algorithm, that attempts to prevent or delay the breakdown of a bottleneck and thus reduce traffic congestion. The novelty of the system lies in the fact that it is both proactive and reactive in responding to the dynamic stochastic nature of traffic. The system is proactive because it uses a calibrated fundamental diagram to initially identify the optimum throughput to maintain within the SH zone. Furthermore, the system is reactive (dynamic) because it monitors the traffic stream directly upstream of the bottleneck to adjustment the metering rate to capture the dynamic and stochastic nature of traffic. The steady-state traffic states in the vicinity of a lane-drop bottleneck before and after applying the SH algorithm is analyzed to demonstrate the effectiveness of the algorithm in alleviating the capacity drop. We demonstrate theoretically that the SH algorithm is effective in enhancing the bottleneck discharge rate. A microscopic simulation of the network using the INTEGRATION software further demonstrates the benefits of the algorithm in increasing the bottleneck discharge rate, decreasing vehicle delay, and reducing vehicle fuel consumption and CO₂ emission levels. Specifically, compared with the base case without the SH algorithm, the advisory speed limit increases the bottleneck discharge rate by approximately 7%, reduces the overall system delay by approximately 20%, and reduces the system-wide fuel consumption and CO₂ emission levels by 5%.     

An eco-routing model considering microscopic vehicle operating conditions

The eco-routing problem concerned in this paper addresses the optimal route choice of eco-drivers who aim to meet an emission standard imposed by regulators, while trying to find the path with the minimum total operating cost, which consists of both travel time and fuel costs. The paper first develops fuel consumption and greenhouse gas emissions estimation models that link emission rates to a vehicle’s physical and operational properties. Unlike most studies in the literature, the emission model developed in this paper retains as many microscopic characteristics as feasible in the context of route planning. Specifically, it is able to approximate the impacts of major acceleration events associated with link changes and intersection idling, and yet does not require detailed acceleration data as inputs. The proposed eco-routing model also explicitly captures delays at intersections and the emissions associated with them. Using a simple probabilistic model, the impacts of different turning movements on eco-routing are incorporated. The proposed model is formulated as a constrained shortest path problem and solved by off-the-shelf solvers. Numerical experiments confirm that vehicle characteristics, especially weight and engine displacement, may influence eco-routing. The results also suggest that ignoring the effects of turning movements and acceleration may lead to sub-optimal routes for eco-drivers.     

Prediction of vehicle CO2 emission and its application to eco-routing navigation

Transportation sector accounts for a large proportion of global greenhouse gas and toxic pollutant emissions. Even though alternative fuel vehicles such as all-electric vehicles will be the best solution in the future, mitigating emissions by existing gasoline vehicles is an alternative countermeasure in the near term. The aim of this study is to predict the vehicle CO₂ emission per kilometer and determine an eco-friendly path that results in minimum CO₂ emissions while satisfying travel time budget. The vehicle CO₂ emission model is derived based on the theory of vehicle dynamics. Particularly, the difficult-to-measure variables are substituted by parameters to be estimated. The model parameters can be estimated by using the current probe vehicle systems. An eco-routing approach combining the weighting method and k-shortest path algorithm is developed to find the optimal path along the Pareto frontier. The vehicle CO₂ emission model and eco-routing approach are validated in a large-scale transportation network in Toyota city, Japan. The relative importance analysis indicates that the average speed has the largest impact on vehicle CO₂ emission. Specifically, the benefit trade-off between CO₂ emission reduction and the travel time buffer is discussed by carrying out sensitivity analysis in a network-wide scale. It is found that the average reduction in CO₂ emissions achieved by the eco-friendly path reaches a maximum of around 11% when the travel time buffer is set to around 10%.     

Application of the support vector machine and heuristic k-shortest path algorithm to determine the most eco-friendly path with a travel time constraint

This study aims to determine an eco-friendly path that results in minimum CO₂ emissions while satisfying a specified budget for travel time. First, an aggregated CO₂ emission model for light-duty cars is developed in a link-based level using a support vector machine. Second, a heuristic k-shortest path algorithm is proposed to solve the constrained shortest path problem. Finally, the CO₂ emission model and the proposed eco-routing model are validated in a real-world network. Specifically, the benefit of the trade-off between CO₂ emission reduction and the travel time budget is discussed by carrying out sensitivity analysis on a network-wide scale. A greater spare time budget may enable the eco-routing to search for the most eco-friendly path with higher probability. Compared to the original routes selected by travelers, the eco-friendly routes can save an average of 11% of CO₂ emissions for the trip OD pairs with a straight distance between 6 km and 9 km when the travel time budget is set to 10% above the least travel time. The CO₂ emission can also be reduced to some degree for other OD pairs by using eco-routing. Furthermore, the impact of market penetration of eco-routing users is quantified on the potential benefit for the environment and travel-time saving.     

A field evaluation case study of the environmental and energy impacts of traffic calming

This study quantifies the energy and environmental impact of a selection of traffic calming measures using a combination of second-by-second floating-car global positioning system data and microscopic energy and emission models. It finds that traffic calming may result in negative impacts on vehicle fuel consumption and emission rates if drivers exert aggressive acceleration levels to speed up to their journeys. Consequently by eliminating sharp acceleration maneuvers significant savings in vehicle fuel consumption and emission rates are achievable through driver education. The study also demonstrates that high emitting vehicles produce CO emissions that are up to 25 times higher than normal vehicle emission levels while low emitting vehicles produce emissions that are 15–35% of normal vehicles. The relative increases in vehicle fuel consumption and emission levels associated with the sample traffic calming measures are consistent and similar for normal, low, and high emitting vehicles.     

Eco-system optimal time-dependent flow assignment in a congested network

This research addresses the eco-system optimal dynamic traffic assignment (ESODTA) problem which aims to find system optimal eco-routing or green routing flows that minimize total vehicular emission in a congested network. We propose a generic agent-based ESODTA model and a simplified queueing model (SQM) that is able to clearly distinguish vehicles’ speed in free-flow and congested conditions for multi-scale emission analysis, and facilitates analyzing the relationship between link emission and delay. Based on the SQM, an expanded space-time network is constructed to formulate the ESODTA with constant bottleneck discharge capacities. The resulting integer linear model of the ESODTA is solved by a Lagrangian relaxation-based algorithm. For the simulation-based ESODTA, we present the column-generation-based heuristic, which requires link and path marginal emissions in the embedded time-dependent least-cost path algorithm and the gradient-projection-based descent direction method. We derive a formula of marginal emission which encompasses the marginal travel time as a special case, and develop an algorithm for evaluating path marginal emissions in a congested network. Numerical experiments are conducted to demonstrate that the proposed algorithm is able to effectively obtain coordinated route flows that minimize the system-wide vehicular emission for large-scale networks.     

Preparing a nation for autonomous vehicles: opportunities,barriers and policy recommendations

Autonomous vehicles (AVs) represent a potentially disruptive yet beneficial change to our transportation system. This new technology has the potential to impact vehicle safety, congestion, and travel behavior. All told, major social AV impacts in the form of crash savings, travel time reduction, fuel efficiency and parking benefits are estimated to approach $2000 to per year per AV, and may eventually approach nearly $4000 when comprehensive crash costs are accounted for. Yet barriers to implementation and mass-market penetration remain. Initial costs will likely be unaffordable. Licensing and testing standards in the U.S. are being developed at the state level, rather than nationally, which may lead to inconsistencies across states. Liability details remain undefined, security concerns linger, and without new privacy standards, a default lack of privacy for personal travel may become the norm. The impacts and interactions with other components of the transportation system, as well as implementation details, remain uncertain. To address these concerns, the federal government should expand research in these areas and create a nationally recognized licensing framework for AVs, determining appropriate standards for liability, security, and data privacy.     

Use of hybrid vehicles in Japan: An analysis of used car market data

Despite the rapid market penetration of hybrid vehicles (HVs), their usage and contributions to environmental protection have not been examined by vehicle traveling data. In this paper, we analyzed Japan’s used car market data to understand how HVs are used on the street. We find GV drivers with high travel demand switched from GVs to HVs during the transition period. Despite HV owners driving much longer distances than conventional gasoline vehicle (GV) owners, they emit less carbon dioxide (CO₂) emissions, owing to better fuel economy. We also find that HV owners spend roughly the same amount of money annually as GV owners. However, the per-kilometer travel cost of HVs is much lower than that of GVs even if the depreciation cost of the vehicle and vehicle related taxes are included in the analysis.     

Percolation phenomenon in connected vehicle network through a multi-agent approach: Mobility benefits and market penetration

This paper presents an integrated multi-agent approach, coupled with percolation theory and network science, to measure the mobility impacts (i.e., mean travel time of the system) of connected vehicle (CVtio) network at varying levels of market penetration rate. We capture the characteristics of a CV network, i.e., node degree distribution, vehicular clustering, and giant component size to verify the existence of percolation phenomenon, and further connect the emergence of mobility benefits to the percolation phase transition in the CV network. We show the percolation phase transition properties to appear in a dynamic CV network with time-correlated link and node dynamics. An analytical framework was developed to evaluate the CV network attributes with varying market penetrations (MP) and connection ranges (CR) to identify percolation phenomenon in a mixed CV and Non-CV environment. In addition, a multi-agent CV simulation platform was created to further measure (1) how varying MPs and CRs affect the network-wide mobility measured by the mean travel time of the network; and (2) when percolation transition occurs in CV network to capture the critical MP and CR. Percolation phenomenon in CV network was further validated with the analytical assessments. The results show that (1) percolation phase transition phenomenon is a function of both market penetration and communication range; (2) percolation phase transitions in both mobility and CV network are highly correlated; (3) the application can reduce the average travel time of the system by up to 20% with reasonable market penetration and communication range; (4) critical market penetration is sensitive to communication range, and vice versa; (5) at least 70% of the CVs on the network are required to show in the same cluster for mobility benefits to appear; and (6) for high levels of MP or CR, a low probability of connectivity (PC) does not dramatically change the mean travel time. These results provide solid supports to create evidence-driven frameworks to guide future CV deployment and CV network analysis.     

Deriving macroscopic fundamental diagrams from probe data: Issues and proposed solutions

Well-defined relationships between flow and density averaged spatially across urban traffic networks, more commonly known as Macroscopic Fundamental Diagrams (MFDs), have been recently verified to exist in reality. Researchers have proposed using MFDs to monitor the status of urban traffic networks and to inform the design of network-wide traffic control strategies. However, it is also well known that empirical MFDs are not easy to estimate in practice due to difficulties in obtaining the requisite data needed to construct them. Recent works have devised ways to estimate a network’s MFD using limited trajectory data that can be obtained from GPS-equipped mobile probe vehicles. These methods assume that the market penetration level of mobile probe vehicles is uniform across the entire set of OD pairs in the network; however, in reality the probe vehicle market penetration rate varies regionally within a network. When this variation is combined with the imbalance of probe trip lengths and travel times, the compound effects will further complicate the estimation of the MFD.To overcome this deficit, we propose a method to estimate a network’s MFD using mobile probe data when the market penetration rates are not necessarily the same across an entire network. This method relies on the determination of appropriate average probe penetration rates, which are weighted harmonic means using individual probe vehicle travel times and distances as the weights. The accuracy of this method is tested using synthetic data generated in the INTEGRATION micro-simulation environment by comparing the estimated MFDs to the ground truth MFD obtained using a 100% market penetration of probe vehicles. The results show that the weighted harmonic mean probe penetration rates outperform simple (arithmetic) average probe penetration rates, as expected. This especially holds true as the imbalance of demand and penetration level increases. Furthermore, as the probe penetration rates are generally not known, an algorithm to estimate the probe penetration rates of regional OD pairs is proposed. This algorithm links count data from sporadic fixed detectors in the network to information from probe vehicles that pass the detectors. The simulation results indicate that the proposed algorithm is very effective. Since the data needed to apply this algorithm are readily available and easy to collect, the proposed algorithm is practically feasible and offers a better approach for the estimation of the MFD using mobile probe data, which are becoming increasingly available in urban environments.     

A review of vehicle fuel consumption models to evaluate eco-driving and eco-routing

Fuel consumption models have been widely used to predict fuel consumption and evaluate new vehicle technologies. However, due to the uncertainty and high nonlinearity of fuel systems, it is difficult to develop an accurate fuel consumption model for real-time calculations. Additionally, whether the developed fuel consumption models are suitable for eco-routing and eco-driving systems is unknown. To address these issues, a systematic review of fuel consumption models and the factors that influence fuel economy is presented. First, the primary factors that affect fuel economy, including travel-related, weather-related, vehicle-related, roadway-related, traffic-related, and driver-related factors, are discussed. Then, state-of-the-art fuel consumption models developed after 2000 are summarized and classified into three broad types based on transparency, i.e., white-box, grey-box and black-box models. Consequently, the limitations and potential possibilities of fuel consumption modelling are highlighted in this review.     

Are we ready to embrace connected and self-driving vehicles? A case study of Texans

While connected, highly automated, and autonomous vehicles (CAVs) will eventually hit the roads, their success and market penetration rates depend largely on public opinions regarding benefits, concerns, and adoption of these technologies. Additionally, the introduction of these technologies is accompanied by uncertainties in their effects on the carsharing market and land use patterns, and raises the need for tolling policies to appease the travel demand induced due to the increased convenience. To these ends, this study surveyed 1088 respondents across Texas to understand their opinions about smart vehicle technologies and related decisions. The key summary statistics indicate that Texans are willing to pay (WTP) $2910, $4607, $7589, and $127 for Level 2, Level 3, and Level 4 automation and connectivity, respectively, on average. Moreover, affordability and equipment failure are Texans’ top two concerns regarding AVs. This study also estimates interval regression and ordered probit models to understand the multivariate correlation between explanatory variables, such as demographics, built-environment attributes, travel patterns, and crash histories, and response variables, including willingness to pay for CAV technologies, adoption rates of shared AVs at different pricing points, home location shift decisions, adoption timing of automation technologies, and opinions about various tolling policies. The practically significant relationships indicate that more experienced licensed drivers and older people associate lower WTP values with all new vehicle technologies. Such parameter estimates help not only in forecasting long-term adoption of CAV technologies, but also help transportation planners in understanding the characteristics of regions with high or low future-year CAV adoption levels, and subsequently, develop smart strategies in respective regions.     

Planning for economic and environmental resilience

Climate protection will require major reductions in GHG emissions from all sectors of the economy, including the transportation sector. Slowing growth in vehicle miles traveled (VMT) will be necessary for reducing transportation GHG emissions, even with major breakthroughs in vehicle technologies and low-carbon fuels (Winkelman et al., 2009). The Center for Clean Air Policy (CCAP) supports market-based policy approaches that minimize costs and maximize benefits. Our research indicates that significant GHG reductions can be achieved through smart growth and travel efficiency measures that increase accessibility, improve travel choices and make optimum use of existing infrastructure. Moreover, we find such measures can deliver compelling economic benefits, including avoided infrastructure costs, leveraged private investment, increased local tax revenues and consumer vehicle ownership and operating cost savings (Winkelman et al., 2009).As a society, what we build – where and how – has a tremendous impact on our carbon footprint, from building design to transportation infrastructure and land-use patterns. The empirical and modeling evidence is clear – people drive less in locations with efficient land use patterns, high quality travel choices and reinforcing policies and incentives (Ewing et al., 2008). It is also clear that there is growing and unmet market demand for walkable communities, reinforced by demographic shifts and higher fuel prices (Leinberger, 2006, Nelson, 2007). Transportation policy in the United States must rise to meet this demand for more travel choices and more livable communities.The academic, ideological and political debates about the level of GHG reductions and penetration rates that can or should be achieved via smart growth and pricing on the one hand, or measures such as ‘eco-driving’ and signal optimization on the other, have served their purpose: we know which policies are ‘directionally correct’ – policies that reduce GHG emissions even though we may not know the scope of those reductions. Now is the time to implement directionally correct policies, assess what works best where, and refine policy based on the results. It is a framework that CCAP calls “Do. Measure. Learn.”The Federal government is poised to spend $500 billion on transportation (Committee on Transportation and Infrastructure, 2009). CCAP encourages Congress to “Ask the Climate Question” – will our transportation investments help reduce GHG emissions or exacerbate the problem? Will they help increase our resilience to climate change impacts or increase our vulnerability? And, while we’re at it, will our investment foster energy security, livable communities and a vibrant economy? Federal transportation and climate policies should empower communities to implement locally-determined travel efficiency solutions by providing appropriate funding, tools and technical support.     

The impacts of connected vehicle technology on network-wide traffic operation and fuel consumption under various incident scenarios

ABSTRACT

Incidents are a major source of traffic congestion and can lead to long and unpredictable delays, deteriorating traffic operations and adverse environmental impacts. The emergence of connected vehicles and communication technologies has enabled travelers to use real-time traffic information. The ability to exchange traffic information among vehicles has tremendous potential impacts on network performance especially in the case of non-recurrent congestion. To this end, this paper utilizes a microscopic simulation model of traffic in El Paso, Texas to investigate the impacts of incidents on traffic operation and fuel consumption at different market penetration rates (MPR) of connected vehicles. Several scenarios are implemented and tested to determine the impacts of incidents on network performance in an urban area. The scenarios are defined by changing the duration of incidents and the number of lanes closed. This study also shows how communication technology affects network performance in response to congestion. The results of the study demonstrate the potential effectiveness of connected vehicle technology in improving network performance. For an incident with a duration of 900?s and MPR of 80%, total fuel consumption and total travel time decreased by approximately 20%; 26% was observed in network-wide travel time and fuel consumption at 100% MPR.     

Carsharing’s life-cycle impacts on energy use and greenhouse gas emissions

This paper examines the life-cycle inventory impacts on energy use and greenhouse gas (GHG) emissions as a result of candidate travelers adopting carsharing in US settings. Here, households residing in relatively dense urban neighborhoods with good access to transit and traveling relatively few miles in private vehicles (roughly 10% of the U.S. population) are considered candidates for carsharing. This analysis recognizes cradle-to-grave impacts of carsharing on vehicle ownership levels, travel distances, fleet fuel economy (partly due to faster turnover), parking demand (and associated infrastructure), and alternative modes. Results suggest that current carsharing members reduce their average individual transportation energy use and GHG emissions by approximately 51% upon joining a carsharing organization. Collectively, these individual-level effects translate to roughly 5% savings in all household transport-related energy use and GHG emissions in the U.S. These energy and emissions savings can be primarily attributed to mode shifts and avoided travel, followed by savings in parking infrastructure demands and fuel consumption. When indirect rebound effects are accounted for (assuming travel-cost savings is then spent on other goods and services), net savings are expected to be 3% across all U.S. households.     

Roads in transition: Integrated modeling of a manufacturer-traveler-infrastructure system in a mixed autonomous/human driving environment

This paper develops an integrated model to characterize the market penetration of autonomous vehicles (AVs) in urban transportation networks. The model explicitly accounts for the interplay among the AV manufacturer, travelers with heterogeneous values of travel time (VOTT), and road infrastructure capacity. By making in-vehicle time use more leisurely or productive, AVs reduce travelers’ VOTT. In addition, AVs can move closer together than human-driven vehicles because of shorter safe reaction time, which leads to increased road capacity. On the other hand, the use of AV technologies means added manufacturing cost and higher price. Thus, traveler adoption of AVs will trade VOTT savings with additional out-of-pocket cost. The model is structured as a leader (AV manufacturer)-follower (traveler) game. Given the cost of producing AVs, the AV manufacturer sets AV price to maximize profit while anticipating AV market penetration. Given an AV price, the vehicle and routing choice of heterogeneous travelers are modeled by combining a multinomial logit model with multi-modal multi-class user equilibrium (UE). The overall problem is formulated as a mathematical program with complementarity constraints (MPCC), which is challenging to solve. We propose a solution approach based on piecewise linearization of the MPCC as a mixed-integer linear program (MILP) and solving the MILP to global optimality. Non-uniform distribution of breakpoints that delimit piecewise intervals and feasibility-based domain reduction are further employed to reduce the approximation error brought by linearization. The model is implemented in a simplified Singapore network with extensive sensitivity analyses and the Sioux Falls network. Computational results demonstrate the effectiveness and efficiency of the solution approach and yield valuable insights about transportation system performance in a mixed autonomous/human driving environment.     

Dynamic ride-sharing: A simulation study in metro Atlanta

Smartphone technology enables dynamic ride-sharing systems that bring together people with similar itineraries and time schedules to share rides on short-notice. This paper considers the problem of matching drivers and riders in this dynamic setting. We develop optimization-based approaches that aim at minimizing the total system-wide vehicle miles incurred by system users, and their individual travel costs. To assess the merits of our methods we present a simulation study based on 2008 travel demand data from metropolitan Atlanta. The simulation results indicate that the use of sophisticated optimization methods instead of simple greedy matching rules substantially improve the performance of ride-sharing systems. Furthermore, even with relatively low participation rates, it appears that sustainable populations of dynamic ride-sharing participants may be possible even in relatively sprawling urban areas with many employment centers.     

An advanced traveler general information system for Fresno,California

This study estimates the effects of an advanced traveler general information system (ATGIS), which includes fuel consumption and health-related emissions cost information on transportation network users’ travel choice behavior for recurrent congestion conditions. The effects are estimated using four different formulations based on four different behavioral assumptions. Incorporating stochastic features in link cost estimation rather than in route choice, we provide a novel modeling approach that enables us to use transportation planning models of major metropolitan areas without a need for major computationally-expensive changes in the existing models. We examined the effects of an ATGIS on the Fresno, CA, road network and found several interesting results. First, the ATGIS impact is closely related to pre-system (prior to the implementation of an ATGIS) perceived fuel and emissions costs. Total travel time in the city can be reduced by 17% (no pre-system perceived costs) to 1% (accurate pre-system perceived costs), and even increased by 1% (higher-than-actual pre-system perceived costs). Second, the addition of emissions costs, although negligible relative to fuel and time costs, can effectively reduce total system-wide travel time by up to 1% and fuel consumption by up to 0.6% during peak hours. Third, the ATGIS can reduce annual social costs by as much as $1053 million (high gas price, no pre-system perception) to $48 million (medium gas price, accurate pre-system perception), which are comparable to social cost savings by a congestion pricing (CP) scheme in the study area.