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%.     

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.     

Stochastic eco-routing in a signalized traffic network

In this paper, an eco-routing algorithm is developed for vehicles in a signalized traffic network. The proposed method incorporates a microscopic vehicle emission model into a Markov decision process (MDP). Instead of using GPS-based vehicle trajectory data, which are used by many existing eco-routing algorithm, high resolution traffic data including vehicle arrival and signal status information are used as primary inputs. The proposed method can work with any microscopic vehicle model that uses vehicle trajectories as inputs and gives related emission rates as outputs. Furthermore, a constrained eco-routing problem is proposed to deal with the situation where multiple costs present. This is done by transferring the original MDP based formulation to a linear programming formulation. Besides the primary cost, additional costs are considered as constraints. Two numerical examples are given using the field data obtained from City of Pasadena, California, USA. The eco-routing algorithm for single objective is compared against the traditional shortest path algorithm, Dijkstra’s algorithm. Average reductions of CO emission around 20% are observed.     

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.     

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.     

Network-wide impacts of eco-routing strategies: A large-scale case study

This paper quantifies the system-wide impacts of implementing a dynamic eco-routing system, considering various levels of market penetration and levels of congestion in downtown Cleveland and Columbus, Ohio, USA. The study concludes that eco-routing systems can reduce network-wide fuel consumption and emission levels in most cases; the fuel savings over the networks range between 3.3% and 9.3% when compared to typical travel time minimization routing strategies. We demonstrate that the fuel savings achieved through eco-routing systems are sensitive to the network configuration and level of market penetration of the eco-routing system. The results also demonstrate that an eco-routing system typically reduces vehicle travel distance but not necessarily travel time. We also demonstrate that the configuration of the transportation network is a significant factor in defining the benefits of eco-routing systems. Specifically, eco-routing systems appear to produce larger fuel savings on grid networks compared to freeway corridor networks. The study also demonstrates that different vehicle types produce similar trends with regard to eco-routing strategies. Finally, the system-wide benefits of eco-routing generally increase with an increase in the level of the market penetration of the system.     

Estimating fuel consumption and emissions based on reconstructed vehicle trajectories

Microscopic emission models are widely used in emission estimation and environment evaluation. Traditionally, microscopic traffic simulation models and probe vehicles are two sources of inputs to a microscopic emission model. However, they are not effective in reflecting all vehicles' real‐world operating conditions. Using each vehicle's spot speed data recorded by detectors, this paper provides a new method to estimate all vehicles' real‐world activities data. These data can then be used as inputs to a microscopic emission model to estimate vehicle fuel consumption and emissions. The main task is to reconstruct trajectory of each vehicle and calculate second‐by‐second speed and acceleration from the activities data. The Next Generation Simulation dataset and the Comprehensive Modal Emissions Model are used in this study to calculate and analyze the emission results for both lane‐level and link‐level. The results showed that using the proposed method for estimating vehicle fuel consumption and emissions is promising. Copyright © 2012 John Wiley & Sons, Ltd.     

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.     

An integrated modeling approach for facilitating emission estimations of alternative fueled vehicles

This paper develops an integrated model for reliable estimation of daily vehicle fuel savings and emissions using an integrated traffic emission modeling approach created by incorporating the US Environmental Protection Agency’s vehicle emission model, MOVES, and the PARAMICS microscopic traffic simulation package. A case study is conducted to validate the model using a well-calibrated road network in Greenville, South Carolina. For each transportation fuel considered, both emission and fuel consumption impacts are evaluated based on market shares.     

Instantaneous emissions models set in GIS for the TRANSIMS outputs

A novel methodology that provides more detailed estimates of vehicular polluting emissions is offered, in order to contribute to the improvement and the precision of emission inventories of vehicle sources through the consideration of instantaneous speed changes or acceleration instead of average vehicular speeds. This paper presents the construction and application of an instantaneous emissions model designated hereunder as “Transims’s Snapshots-Based Emissions”, which is set on a Geographic Information System that incorporates instantaneous fuel consumption factors and fuel-based emission factors to attain highest resolution of both, spatial and temporal distribution of vehicular polluting emissions based on traffic simulation through cellular automata with TRANSIMS. This work was applied to the road network of the Mexico City Metropolitan Area as case study. The development of this powerful tool led to obtaining 86,400 maps of the spatial and temporal distribution of vehicular emissions per vehicle circulating on the road network, including the following pollutants: carbon monoxide and carbon dioxide, nitrogen oxides, total hydrocarbons, sulfur oxides, polycyclic aromatic hydrocarbons, black carbon, particles PM₁₀ and PM_2.5. The said maps allowed identification with highest level of detail, of the emissions and Hot-spots of fuel consumption. Also, the model permitted to obtain the emissions’ longitudinal profiles of a given vehicle along its route. This study shows that the integration method of the polynomial regression models represents an opportunity for each city to develop more easily and openly its own regional emissions models without requiring deeper programming knowledge.     

Connectivity-based optimization of vehicle route and speed for improved fuel economy

Traditionally, vehicle route planning problem focuses on route optimization based on traffic data and surrounding environment. This paper proposes a novel extended vehicle route planning problem, called vehicle macroscopic motion planning (VMMP) problem, to optimize vehicle route and speed simultaneously using both traffic data and vehicle characteristics to improve fuel economy for a given expected trip time. The required traffic data and neighbouring vehicle dynamic parameters can be collected through the vehicle connectivity (e.g. vehicle-to-vehicle, vehicle-to-infrastructure, vehicle-to-cloud, etc.) developed rapidly in recent years. A genetic algorithm based co-optimization method, along with an adaptive real-time optimization strategy, is proposed to solve the proposed VMMP problem. It is able to provide the fuel economic route and reference speed for drivers or automated vehicles to improve the vehicle fuel economy. A co-simulation model, combining a traffic model based on SUMO (Simulation of Urban MObility) with a Simulink powertrain model, is developed to validate the proposed VMMP method. Four simulation studies, based on a real traffic network, are conducted for validating the proposed VMMP: (1) ideal traffic environment without traffic light and jam for studying the fuel economy improvement, (2) traffic environment with traffic light for validating the proposed traffic light penalty model, (3) traffic environment with traffic light and jam for validating the proposed adaptive real-time optimization strategy, and (4) investigating the effect of different powertrain platforms to fuel economy using two different vehicle platforms. Simulation results show that the proposed VMMP method is able to improve vehicle fuel economy significantly. For instance, comparing with the fastest route, the fuel economy using the proposed VMMP method is improved by up to 15%.     

Assessing methods for comparing emissions from gasoline and diesel light-duty vehicles based on microscale measurements

This paper assess whether a real-world second-by-second methodology that integrates vehicle activity and emissions rates for light-duty gasoline vehicles can be extended to diesel vehicles. Secondly it compares fuel use and emission rates between gasoline and diesel light-duty vehicles. To evaluate the methodology, real-world field data from two light-duty diesel vehicles are used. Vehicle specific power, a function of vehicle speed, acceleration, and road grade, is evaluated with respect to ability to explain variation in emissions rates. Vehicle specific power has been used previously to define activity-based modes and to quantify variation in fuel use and emission rates of gasoline vehicles taking into account idle, acceleration, cruise, and deceleration. The fuel use and emission rates for light-duty diesel vehicles can also be explained using vehicle specific power -based modes. Thus, the methodology enables direct comparisons for different vehicle fuels and technologies. Furthermore, the method can be used to estimate average fuel use and emission rates for a wide variety of driving cycles.     

Spatiotemporal intersection control in a connected and automated vehicle environment

Current research on traffic control has focused on the optimization of either traffic signals or vehicle trajectories. With the rapid development of connected and automated vehicle (CAV) technologies, vehicles equipped with dedicated short-range communications (DSRC) can communicate not only with other CAVs but also with infrastructure. Joint control of vehicle trajectories and traffic signals becomes feasible and may achieve greater benefits regarding system efficiency and environmental sustainability. Traffic control framework is expected to be extended from one dimension (either spatial or temporal) to two dimensions (spatiotemporal). This paper investigates a joint control framework for isolated intersections. The control framework is modeled as a two-stage optimization problem with signal optimization at the first stage and vehicle trajectory control at the second stage. The signal optimization is modeled as a dynamic programming (DP) problem with the objective to minimize vehicle delay. Optimal control theory is applied to the vehicle trajectory control problem with the objective to minimize fuel consumption and emissions. A simplified objective function is adopted to get analytical solutions to the optimal control problem so that the two-stage model is solved efficiently. Simulation results show that the proposed joint control framework is able to reduce both vehicle delay and emissions under a variety of demand levels compared to fixed-time and adaptive signal control when vehicle trajectories are not optimized. The reduced vehicle delay and CO₂ emissions can be as much as 24.0% and 13.8%, respectively for a simple two-phase intersection. Sensitivity analysis suggests that maximum acceleration and deceleration rates have a significant impact on the performance regarding both vehicle delay and emission reduction. Further extension to a full eight-phase intersection shows a similar pattern of delay and emission reduction by the joint control framework.     

Analysis of real driving gaseous emissions from light-duty diesel vehicles

Increasingly strict emissions standards are providing a major impetus to vehicle manufactures for developing advanced powertrain and after-treatment systems that can significantly reduce real driving emissions. The knowledge of the gaseous emissions from diesel engines under steady-state operation and under transient operation provides substantial information to analyze real driving emissions of diesel vehicles. While there are noteworthy advances in the assessment of road vehicle emissions from real driving and laboratory measurements, detailed information on real driving gaseous emissions are required in order to predict effectively the real-time gaseous emissions from a diesel vehicle under realistic driving conditions. In this work, experiments were performed to characterize the behavior of NOx, unburned HC, CO, and CO₂ emitted from light-duty diesel vehicles that comply with Euro 6 emissions standards. The driving route fully reflected various real-world driving conditions such as urban, rural, and highway. The real-time emission measurements were conducted with a Portable Emissions Measurement System (PEMS) including a Global Positioning System (GPS). To investigate the gaseous emission characteristics, authors determined the road load coefficients of vehicle specific power (VSP) and regression coefficient between fuel use rate and VSP. Furthermore, this work revealed the correlation between the rates of average fuel use and each gaseous emission.     

Eco-driving: An economic or ecologic driving style?

In this work the trade-off between economic, therefore fuel saving, and ecologic, pollutant emission reducing, driving is discussed. The term eco-driving is often used to refer to a vehicle operation that minimizes energy consumption. However, for eco-driving to be environmentally friendly not only fuel consumption but also pollutant emissions should be considered. In contrast to previous studies, this paper will discuss the advantages of eco-driving with respect to improvements in fuel consumption as well as pollutant gas emissions. Simulating a conventional passenger vehicle and applying numerical trajectory optimization methods best vehicle operation for a given trip is identified. With hardware-in-the-loop testing on an engine test bench the fuel and emissions are measured. An approach to integrate pollutant emission and dynamically choose the ecologically optimal gear is proposed.     

Evaluating the impacts of urban corridor traffic signal optimization on vehicle emissions and fuel consumption

This study investigates the impacts of traffic signal timing optimization on vehicular fuel consumption and emissions at an urban corridor. The traffic signal optimization approach proposed integrates a TRANSIMS microscopic traffic simulator, the VT-Micro model (a microscopic emission and fuel consumption estimation model), and a genetic algorithm (GA)-based optimizer. An urban corridor consisting of four signalized intersections in Charlottesville, VA, USA, is used for a case study. The result of the case study is then compared with the best traffic signal timing plan generated by Synchro using the TRANSIMS microscopic traffic simulator. The proposed approach achieves much better performance than that of the best Synchro solution in terms of air quality, energy and mobility measures: 20% less network-wide fuel consumption, 8–20% less vehicle emissions, and nearly 27% less vehicle-hours-traveled (VHT).     

Mesoscopic simulation of a dynamic link loading process

Passing from path flows to link flows requires non-linear and complex flow propagation models known as network loading models. In specific technical literature, different approaches have been used to study Dynamic Network Loading models, depending on whether the link performances are expressed in an aggregate or disaggregate way, and how vehicles are traced. When vehicle movements are traced implicitly and link performances are expressed in an aggregate way, the approach is macroscopic. When vehicle movements are traced explicitly, two cases are possible, depending on whether link performances are expressed in a disaggregate or aggregate way. In the first case, the approach is microscopic, otherwise it is mesoscopic.In this paper, a mesoscopic Dynamic Network Loading model is considered, based on discrete packets and taking into account the vehicle acceleration and deceleration. A simulation was carried out, first using theoretical input data to simulate over-saturation condition, and then real data to validate the model. The results show that the model appears realistic in the representation of outflow dynamics and is quite easy to calculate. It is worth noting that network loading models are usually used downstream of the assignment models from which they take path flows to calculate link flows. In the above mentioned simulation, we assumed that a generic assignment model provides sinusoidal path flow.     

An intersection turning movement estimation procedure based on path flow estimator

Estimation of intersection turning movements is one of the key inputs required for a variety of transportation analysis, including intersection geometric design, signal timing design, traffic impact assessment, and transportation planning. Conventional approaches that use manual techniques for estimation of turning movements are insensitive to congestion. The drawbacks of the manual techniques can be amended by integrating a network traffic model with a computation procedure capable of estimating turning movements from a set of link traffic counts and intersection turning movement counts. This study proposes using the path flow estimator, originally used to estimate path flows (hence origin–destination flows), to derive not only complete link flows, but also turning movements for the whole road network given some counts at selected roads and intersections. Two case studies using actual traffic counts are used to demonstrate the proposed intersection turning movement estimation procedure. Copyright © 2010 John Wiley & Sons, Ltd.     

Evaluating effects of traffic and vehicle characteristics on vehicular emissions near traffic intersections

Urban air quality is generally poor at traffic intersections due to variations in vehicles’ speeds as they approach and leave. This paper examines the effect of traffic, vehicle and road characteristics on vehicular emissions with a view to understand a link between emissions and the most likely influencing and measurable characteristics. It demonstrates the relationships of traffic, vehicle and intersection characteristics with vehicular exhaust emissions and reviews the traffic flow and emission models. Most studies have found that vehicular exhaust emissions near traffic intersections are largely dependent on fleet speed, deceleration speed, queuing time in idle mode with a red signal time, acceleration speed, queue length, traffic-flow rate and ambient conditions. The vehicular composition also affects emissions. These parameters can be quantified and incorporated into the emission models. There is no validated methodology to quantify some non-measurable parameters such as driving behaviour, pedestrian activity, and road conditions     

Airline emission charges: Effects on airfares,service quality,and aircraft design

This paper explores the effect of airline emissions charges on airfares, airline service quality, aircraft design features, and network structure, using a detailed and realistic theoretical model of competing duopoly airlines. These impacts are derived by analyzing the effects of an increase in the effective price of fuel, which is the path by which emissions charges will alter airline choices. The results show that emission charges will raise fares, reduce flight frequency, increase load factors, and raise aircraft fuel efficiency, while having no effect on aircraft size. Given that these adjustments occur in response to the treatment of an emissions externality that is currently unaddressed, they represent efficient changes that move society closer to a social optimum.