Integrated Agent-based and System Dynamics Modelling for Simulation of Sustainable Mobility

In this article, a conceptual framework for a comprehensive evaluation of the diffusion process of alternative fuel vehicles is introduced. The framework takes into account the most influencing stakeholders, including car manufacturers, car dealers, consumers, energy supply system, fuel stations and government. The underlying mathematical models of different stakeholders are then integrated in one model of the whole energy and transport system. The hybrid modelling framework links the two powerful dynamic simulation approaches of system dynamics (SD) and agent-based (AB) modelling. Integrated modelling structure gives the potential of building more accurate and computationally efficient models for simulating the transition to sustainable mobility. We specify the integration process and the most important linking variables between various energy and transport components. Then the application of the integrated model is explained through a test case and, finally, the applicability of the hybrid AB and SD approach and its potential contribution to the models of transition to sustainable mobility will be concluded.     

Development and testing of a fully Adaptive Cruise Control system

Adaptive Cruise Control systems have been developed and introduced into the consumer market for over a decade. Among these systems, fully-adaptive ones are required to adapt their behaviour not only to traffic conditions but also to drivers’ preferences and attitudes, as well as to the way such preferences change for the same driver in different driving sessions. This would ideally lead towards a system where an on-board electronic control unit can be asked by the driver to calibrate its own parameters while he/she manually drives for a few minutes (learning mode). After calibration, the control unit switches to the running mode where the learned driving style is applied. The learning mode can be activated by any driver of the car, for any driving session and each time he/she wishes to change the current driving behaviour of the cruise control system.The modelling framework which we propose to implement comprises four layers (sampler, profiler, tutor, performer). The sampler is responsible for human likeness and can be calibrated while in learning mode. Then, while in running mode, it works together with the other modelling layers to implement the logic. This paper presents the overall framework, with particular emphasis on the sampler and the profiler that are explained in full mathematical detail. Specification and calibration of the proposed framework are supported by the observed data, collected by means of an instrumented vehicle. The data are also used to assess the proposed framework, confirming human-like and fully-adaptive characteristics.     

Microsimulation models incorporating both demand and supply dynamics

There has been rapid growth in interest in real-time transport strategies over the last decade, ranging from automated highway systems and responsive traffic signal control to incident management and driver information systems. The complexity of these strategies, in terms of the spatial and temporal interactions within the transport system, has led to a parallel growth in the application of traffic microsimulation models for the evaluation and design of such measures, as a remedy to the limitations faced by conventional static, macroscopic approaches. However, while this naturally addresses the immediate impacts of the measure, a difficulty that remains is the question of how the secondary impacts, specifically the effect on route and departure time choice of subsequent trips, may be handled in a consistent manner within a microsimulation framework.The paper describes a modelling approach to road network traffic, in which the emphasis is on the integrated microsimulation of individual trip-makers’ decisions and individual vehicle movements across the network. To achieve this it represents directly individual drivers’ choices and experiences as they evolve from day-to-day, combined with a detailed within-day traffic simulation model of the space–time trajectories of individual vehicles according to car-following and lane-changing rules and intersection regulations. It therefore models both day-to-day and within-day variability in both demand and supply conditions, and so, we believe, is particularly suited for the realistic modelling of real-time strategies such as those listed above. The full model specification is given, along with details of its algorithmic implementation. A number of representative numerical applications are presented, including: sensitivity studies of the impact of day-to-day variability; an application to the evaluation of alternative signal control policies; and the evaluation of the introduction of bus-only lanes in a sub-network of Leeds. Our experience demonstrates that this modelling framework is computationally feasible as a method for providing a fully internally consistent, microscopic, dynamic assignment, incorporating both within- and between-day demand and supply dynamics.     

Categorization of the lane change decision process on freeways

Traffic operations for new road layouts are often simulated using microscopic traffic simulation packages. These traffic simulation packages usually simulate traffic on freeways by a combination of a car-following model and a lane change model. The car-following models have gained attention of researchers and are well calibrated versus data. The proposed lane change models are often representations of assumed reasonable behavior, not necessarily corresponding to reality. The current simulation packages apply solely one specific type of model for car-following or lane changing for all vehicles during the simulation. This paper investigates the decision process of lane changing maneuvers for a variety of drivers based on a two-stage test-drive. Participants are asked to take a drive on a freeway in the Netherlands in a camera-equipped vehicle. Afterwards, the drivers are asked to comment on their choices related to lane and speed choice, while watching the video. This paper reveals that different drivers have completely different strategies to choose lanes, and the choices to change lane are related to their speed choice. Four distinct strategies are empirically found. These strategies differ not only in parameter values, as is currently being modeled in most simulation packages, but also in their reasoning. Most remarkably, all drivers perceive their strategy as an obvious behavior and expect all other drivers to drive in a similar way. In addition to the interviews of the participants in the test-drive, 11 people who did not take part in the experiment were interviewed and questioned on lane change decisions. Moreover, the findings of this study have been presented to various groups of audience with different backgrounds (about 150 people). Their comments and feedback on the derived driving strategies have added some value to this study. The findings in this paper form a starting point for developing a novel lane change model which considers four different driving strategies among the drivers on freeway. This is a significant contribution in the area of driving behavior modeling, since the existing microscopic simulators consider only one type of lane change models for all drivers during the simulation. This could lead to significant changes in the way lane changes on freeways are modeled.     

Estimation of an integrated driving behavior model

This paper presents the methodology and results of estimation of an integrated driving behavior model that attempts to integrate various driving decisions. The model explains lane changing and acceleration decisions jointly and so, captures inter-dependencies between these behaviors and represents drivers’ planning capabilities. It introduces new models that capture drivers’ choice of a target gap that they intend to use in order to change lanes, and acceleration models that capture drivers’ behavior to facilitate the completion of a desired lane change using the target gap.The parameters of all components of the model are estimated simultaneously with the maximum likelihood method and using detailed vehicle trajectory data collected in a freeway section in Arlington, Virginia. The estimation results are presented and discussed in detail.     

A prototype fuel-efficiency support tool

An effective way to reduce fuel consumption in the short run is to induce a change in driver behaviour. If drivers are prepared to change their driving habits they can complete the same journeys within similar travel times, but using significantly less fuel. In this paper, a prototype fuel-efficiency support tool is presented which helps drivers make the necessary behavioural adjustments.The support tool includes a normative model that back-calculates the minimal fuel consumption for manoeuvres carried out. If actual fuel consumption deviates from this optimum, the support tool presents advice to the driver on how to change his or her behaviour. To take account of the temporal nature of the driving task, advice is generated at two levels: tactical and strategic.Evaluation of the new support tool by means of a driving simulator experiment revealed that drivers were able to reduce overall fuel consumption by 16% compared with ‘normal driving’. The same drivers were only able to achieve a reduction of 9% when asked to drive fuel efficiently without support; thus, the tool gave an additional reduction of 7%. Within a simulated urban environment, the additional reduction yielded by the support tool rose to 14%. The new support tool was also evaluated with regard to secondary effects.     

The impact of transportation alternatives on the decision to cease driving by older adults in Japan

This study investigated whether the availability of transportation alternatives for older drivers is a determinant of the decision to cease driving. We recruited participants from a total of 7827 drivers aged 69 years or older living in Ibaraki Prefecture, Japan who were scheduled to renew their driving license between February and April 2011. In November 2010, we distributed questionnaires to collect data on predictors of driving cessation, and again in December 2012 to determine who had actually ceased driving. The relative impacts of factors related to driving cessation were then estimated. Of the 3089 respondents, 157 did not renew their license. The strongest determinants of this decision were having been advised to stop driving and if they had developed less confidence in their ability to drive safely. Even so, respondents were far more likely to have actually stopped driving if they were sure that someone else was available to provide a ride when they needed one. The final decision to stop driving is strongly influenced by personal convenience based on private transport, especially amongst drivers who have been advised to stop. The availability of public transport alternatives is not as important a factor in this decision.     

I can’t believe your attitude: a joint estimation of best worst attitudes and electric vehicle choice

The number of conventionally fuelled motor vehicles in use is increasing worldwide despite warnings about finite fossil fuel and the detrimental impacts of burning such fuels. While electric vehicles, the subject of much research, generate far less emissions and offer the potential for power from renewable sources, they are yet to significantly penetrate the market. Tangible barriers such as price and vehicle range still exist, but consumer attitudes also drive behaviour. This paper examines attributes in a framework relatively new to transportation and energy policy; best–worst scaling. This method is widely considered an improvement over traditional methods of eliciting attitudes and beliefs, where respondents select attitudes they find best or worst from a set of attitudinal statements. To avoid potential endogeneity bias, we jointly model attitudes and choice for the first time with best–worst data. It is found that energy crisis, air quality and climate change concerns influence behaviour with respect to vehicle range and that travel behaviour change and forms of government incentives are needed influences on behaviour with respect to vehicle emissions. It is argued that correctly modelling attitudes reduces the error term of the vehicle choice model and provides policy makers with an improved lens for assessing behaviour. Additionally, the methods described within can easily be adapted to other policy scenarios.     

Understanding the impacts of mobile phone distraction on driving performance: A systematic review

The use of mobile phones while driving—one of the most common driver distractions—has been a significant research interest during the most recent decade. While there has been a considerable amount research and excellent reviews on how mobile phone distractions influence various aspects of driving performance, the mechanisms by which the interactions with mobile phone affect driver performance is relatively unexamined. As such, the aim of this study is to examine the mechanisms involved with mobile phone distractions such as conversing, texting, and reading and the driving task, and subsequent outcomes. A novel human-machine framework is proposed to isolate the components and various interactions associated with mobile phone distracted driving. The proposed framework specifies the impacts of mobile phone distraction as an inter-related system of outcomes such as speed selection, lane deviations and crashes; human-car controls such as steering control and brake pedal use and human-environment interactions such as visual scanning and navigation. Eleven literature-review/meta-analyses papers and 62 recent research articles from 2005 to 2015 are critically reviewed and synthesised following a systematic classification scheme derived from the human-machine system framework. The analysis shows that while many studies have attempted to measure system outcomes or driving performance, research on how drivers interactively manage in-vehicle secondary tasks and adapt their driving behaviour while distracted is scant. A systematic approach may bolster efforts to examine comprehensively the performance of distracted drivers and their impact over the transportation system by considering all system components and interactions of drivers with mobile phones and vehicles. The proposed human-machine framework not only contributes to the literature on mobile phone distraction and safety, but also assists in identifying the research needs and promising strategies for mitigating mobile phone-related safety issues. Technology based countermeasures that can provide real-time feedback or alerts to drivers based on eye/head movements in conjunction with vehicle dynamics should be an important research direction.     

Breaking car use habits: The effectiveness of a free one-month travelcard

Based on calls for innovative ways of reducing car traffic and research indicating that car driving is often the result of habitual decision-making and choice processes, this paper reports on a field experiment designed to test a tool aimed to entice drivers to skip the habitual choice of the car and consider using—or at least trying—public transport instead. About 1,000 car drivers participated in the experiment either as experimental subjects, receiving a free one-month travelcard, or as control subjects. As predicted, the intervention had a significant impact on drivers’ use of public transport and it also neutralized the impact of car driving habits on mode choice. However, in the longer run (i.e., four months after the experiment) experimental subjects did not use public transport more than control subjects. Hence, it seems that although many car drivers choose travel mode habitually, their final choice is consistent with their informed preferences, given the current price–quality relationships of the various options.     

Transit network design with allocation of green vehicles: A genetic algorithm approach

The use of fossil fuels in transportation generates harmful emissions that accounts for nearly half of the total pollutants in urban areas. Dealing with this issue, local authorities are dedicating specific efforts to seize the opportunity offered by new fuels and technological innovations in achieving a cleaner urban mobility. In fact, authorities are improving environmental performances of their public transport fleet by procuring cleaner vehicles, usually called low and zero emission vehicles (LEV and ZEV, respectively). Nevertheless there seems to be a lack of methodologies for supporting stakeholders in decisions related to the introduction of green vehicles, whose allocation should be performed since the network design process in order to optimize their available green capacity.In this paper, the problem of clean vehicle allocation in an existing public fleet is faced by introducing a method for solving the transit network design problem in a multimodal, demand elastic urban context dealing with the impacts deriving from transportation emissions.The solving procedure consists of a set of heuristics which includes a routine for route generation and a genetic algorithm for finding a sub-optimal set of routes with the associated frequencies.     

Simulation of electric vehicle driver behaviour in road transport and electric power networks

The integration of electric vehicles (EVs) will affect both electricity and transport systems and research is needed on finding possible ways to make a smooth transition to the electrification of the road transport. To fully understand the EV integration consequences, the behaviour of the EV drivers and its impact on these two systems should be studied. This paper describes an integrated simulation-based approach, modelling the EV and its interactions in both road transport and electric power systems. The main components of both systems have been considered, and the EV driver behaviour was modelled using a multi-agent simulation platform. Considering a fleet of 1000 EV agents, two behavioural profiles were studied (Unaware/Aware) to model EV driver behaviour. The two behavioural profiles represent the EV driver in different stages of EV adoption starting with Unaware EV drivers when the public acceptance of EVs is limited, and developing to Aware EV drivers as the electrification of road transport is promoted in an overall context. The EV agents were modelled to follow a realistic activity-based trip pattern, and the impact of EV driver behaviour was simulated on a road transport and electricity grid. It was found that the EV agents’ behaviour has direct and indirect impact on both the road transport network and the electricity grid, affecting the traffic of the roads, the stress of the distribution network and the utilization of the charging infrastructure.     

The impact of coordinated policies on air pollution emissions from road transportation in China

Improving air quality across mainland China is an urgent policy challenge. While much of the problem is linked to China’s broader reliance on coal and other fossil fuels across the energy system, road transportation is an important and growing source of air pollution. Here we use an energy-economic model, embedded in a Regional Emissions Air Quality Climate and Health (REACH) integrated assessment framework, to analyze the impacts of implementing vehicle emissions standards (ES) together with a broader economy-wide climate policy on total air pollution in five species and 30 Chinese provinces. We find that full and immediate implementation of existing vehicle ES at China 3/III level or tighter will significantly reduce the contribution of transportation to degraded air quality by 2030. We further show that road transport ES function as an important complement to an economy-wide price on CO₂, which delivers significant co-benefits for air pollution reduction that are concentrated primarily in non-transportation sectors. Going forward, vehicle emissions standards and an economy-wide carbon price form a highly effective coordinated policy package that supports China’s air quality and climate change mitigation goals.     

An agent-based approach to modelling driver route choice behaviour under the influence of real-time information

This paper presents an agent-based approach to modelling individual driver behaviour under the influence of real-time traffic information. The driver behaviour models developed in this study are based on a behavioural survey of drivers which was conducted on a congested commuting corridor in Brisbane, Australia. Commuters’ responses to travel information were analysed and a number of discrete choice models were developed to determine the factors influencing drivers’ behaviour and their propensity to change route and adjust travel patterns. Based on the results obtained from the behavioural survey, the agent behaviour parameters which define driver characteristics, knowledge and preferences were identified and their values determined. A case study implementing a simple agent-based route choice decision model within a microscopic traffic simulation tool is also presented. Driver-vehicle units (DVUs) were modelled as autonomous software components that can each be assigned a set of goals to achieve and a database of knowledge comprising certain beliefs, intentions and preferences concerning the driving task. Each DVU provided route choice decision-making capabilities, based on perception of its environment, that were similar to the described intentions of the driver it represented. The case study clearly demonstrated the feasibility of the approach and the potential to develop more complex driver behavioural dynamics based on the belief–desire–intention agent architecture.     

Autonomous vehicles in mixed motorway traffic: capacity utilisation,impact and policy implications

In upcoming years, the introduction of autonomous vehicles (AVs) will reshape the transport system. The transition from a regular to an autonomous transport system, however, will take place over many years and lead to a long period with a mixed driving environment where AVs and regular vehicles (RVs) operate side by side. The purpose of this study is to investigate how the utilisation of the road capacity degrades as a function of heterogeneity in congested motorways. The analysis is based on a dedicated traffic simulator, which enables the investigation of complex dynamic spillback from congestion while allowing for different degrees of heterogeneity. The representation of autonomous vehicles is based on a modified intelligent driver model (IIDM) presented by Treiber et al. (Phys Rev E 62(2):1805–1824, 2000) and Treiber and Kesting (Traffic flow dynamics, Springer, Heidelberg, 2013), while the behaviour of drivers of RVs relies on a stochastic version of the IIDM. Three main conclusions stand out. Firstly, it is shown that in an idealised environment in which AVs operate alone, a substantially improved capacity utilisation can be attained. Secondly, when drivers of RVs are mixed with AVs, capacity utilisation degrades very fast as a function of the share of RVs. Thirdly, it is shown that the improved capacity utilisation of AVs comes in the form of reduced travel time and increased throughput, with indications that travel time reductions are the most important. From a strategical planning perspective, the results underline that dedicated lanes are preferable to attain the positive effects of AVs. Specifically, we compare a stylised situation with three lanes with a share of 33% AVs to a situation with two regular lanes and a single dedicated AV lane. The latter represents a tripling in consumer surplus all other things being equal.

     

Incorporating Logistics in Freight Transport Demand Models: State-of-the-Art and Research Opportunities

Freight transport demand is a demand derived from all the activities needed to move goods between locations of production to locations of consumption, including trade, logistics and transportation. A good representation of logistics in freight transport demand models allows us to predict the effects of changes in logistics systems on future transport flows. As such it provides better estimations of the costs of interaction and allows to predict changes in spatial patterns of freight transport flows more accurately. In recent years, the attention for freight modelling has been growing and new research work has appeared aimed at incorporating logistics in freight models. In this paper we review the state of the art in the representation of logistics considerations in freight transport demand models. Our focus is on the service and cost drivers of changes in logistics networks and how these affect freight transport. Our review proceeds along a conceptual framework for modelling that goes beyond the conventional 4-step modelling approach. We identify promising areas for freight modelling that have an integrative function within this framework, such as spatial computable general equilibrium models, supply chain choice models and hypernetwork models.     

When human beings are like drunk robots: Driverless vehicles,ethics, and the future of transport

It is often argued that driverless vehicles will save lives. In this paper, we treat the ethical case for driverless vehicles seriously and show that it has radical implications for the future of transport. After briefly discussing the current state of driverless vehicle technology, we suggest that systems that rely upon human supervision are likely to be dangerous when used by ordinary people in real-world driving conditions and are unlikely to satisfy the desires of consumers. We then argue that the invention of fully autonomous vehicles that pose a lower risk to third parties than human drivers will establish a compelling case against the moral permissibility of manual driving. As long as driverless vehicles aren’t safer than human drivers, it will be unethical to sell them. Once they are safer than human drivers when it comes to risks to 3rd parties, then it should be illegal to drive them: at that point human drivers will be the moral equivalent of drunk robots. We also describe two plausible mechanisms whereby this ethical argument may generate political pressure to have it reflected in legislation. Freeing people from the necessity of driving, though, will transform the relationship people have with their cars, which will in turn open up new possibilities for the transport uses of the automobile. The ethical challenge posed by driverless vehicles for transport policy is therefore to ensure that the most socially and environmentally beneficial of these possibilities is realised. We highlight several key policy choices that will determine how likely it is that this challenge will be met.     

Interplay between electricity and transport sectors – Integrating the Swiss car fleet and electricity system

Electric vehicles are seen as a future mobility option to respond to long term energy and environmental problems. The 2050 Swiss energy strategy envisages 30–75% introduction of electric cars by 2050, which is designed to support the goal of decarbonising the energy sector. While the Swiss government has decided to phase out nuclear electricity, deployment of electric cars can affect electricity supply and emission trajectories. Therefore, potential interactions between the electricity and transport sectors must be considered in assessing the future role of electric mobility. We analyse a set of scenarios using the Swiss TIMES energy system model with high temporal resolution. We generate insights into cross-sectoral trade-offs between electricity supply and electrification/decarbonisation of car fleets. E-mobility supports decarbonisation of car fleet even if electricity is supplied from large gas power plants or relatively low cost sources of imported electricity. However, domestic renewable based electricity generation is expected to be too limited to support e-mobility. Stringent abatement targets without centralised gas power plants render e-mobility less attractive, with natural gas hybrids becoming cost effective. Thus the cost effectiveness of electric mobility depends on policy decisions in the electricity sector. The substitution of fossil fuels with electricity in transport has the potential to reduce revenues from fuel taxation. Therefore it is necessary to ensure consistency between electricity sector and transport energy policies.     

A methodology to evaluate driving efficiency for professional drivers based on a maturity model

Over the last decade, transport companies have tried to reduce fuel consumption using efficient driving programs. In them, motorists have to apply different specific techniques while driving. Thus, to succeed in this learning process there are two key elements: the knowledge of efficient driving techniques and the drivers’ motivation. The latter is a human factor which companies usually bring about by using reward systems. In this case, having a fair evaluation mechanism is the keystone to determine goal fulfilment. This paper presents a complete methodology to evaluate driving efficiency of drivers in professional fleets. The evaluation methodology is based on a continuous process which determines the maturity of the motorist in different aspects, such as the efficiency during the start of the vehicle movement, during motion or in stop events. In addition, the evaluation methodology includes an early-classification method to establish the initial efficiency level of the individual drivers which permits an adaptation of the learning process from the beginning. A dashboard has also been developed to support the evaluation methodology. 880 professional drivers have been evaluated with this methodology. Results show that the evaluation methodology identifies drivers’ weaknesses, to be improved in successive iterations of the learning process.     

Modelling dual carriageway lane changing using neural networks

Neural networks offer a potential alternative method of modelling driver behaviour within road traffic systems. This paper explores the application of neural networks to modelling the lane-changing decisions of drivers on dual carriageways. Two approaches are considered. The first, preliminary approach uses a prediction type of neural network with a single hidden layer and the back propagation learning algorithm to model the behaviour of an individual driver. A series of consecutive time-scan traffic patterns, which describe the driver's environment and changes over time as the selected vehicle travels along a link, are input to the neural network, which then predicts the new lane and position of the vehicle. Training data are collected from a human subject using an interactive driving simulation. The trained neural network successfully exhibited the rudiments of driving behaviour in terms of lane and speed changes. A major disadvantage of this approach was the difficulty in recording real-life data, which are required to train the neural network, for individual drivers. The second approach concentrates specifically on lane changing and makes use of a learning vector quantization classification type of neural network. Input to the neural network still consists primarily of time-scan traffic patterns, but the format is changed to facilitate the possibility of data acquisition using image processing. The neural network output classifies the input data by determining the new lane for the vehicle concerned. Performance in both testing and training was very good for data generated by the rule-based driver-decision model of a microscopic simulation. Performance in testing was less satisfactory for data taken directly from a road and highlighted the need for extensive data sets for successful training.