Shared versus private mobility: Modeling public interest in autonomous vehicles accounting for latent attitudes

Emerging autonomous vehicles (AVs) and shared mobility systems per se will transform urban passenger transportation. Coupled together, shared AVs (SAVs) can facilitate widespread use of shared mobility services by providing flexible public travel modes comparable to private AV. Hence, it may be conjectured that future urban mobility is likely an on-demand service and AV private ownership is unappealing. Nonetheless, it is still unclear what observable and latent factors will drive public interest in (S)AVs, the answer to which will have important implications on transportation system performance. This paper aims to jointly model public interest in private AVs and multiple SAV configurations (carsharing, ridesourcing, ridesharing, and access/egress mode) in daily and commute travels with explicit treatment of the correlations across the (S)AV types. To this end, multivariate ordered outcome models with latent variables are employed, whereby latent attitudes and preferences describing traveler safety concern about AV, green travel pattern, and mobility-on-demand savviness are accounted for using structural and measurement equations. Drawing from a stated preference survey in the State of Washington, important insights are gained into the potential user groups based on the socio-economic, built environment, and daily/commute travel behavior attributes. Key policies are also offered to promote public interest in (S)AVs by scrutinizing the marginal effects of the latent variables.     

Assessing public opinions of and interest in new vehicle technologies: An Austin perspective

Technological advances are bringing connected and autonomous vehicles (CAVs) to the ever-evolving transportation system. Anticipating public acceptance and adoption of these technologies is important. A recent internet-based survey polled 347 Austinites to understand their opinions on smart-car technologies and strategies. Results indicate that respondents perceive fewer crashes to be the primary benefit of autonomous vehicles (AVs), with equipment failure being their top concern. Their average willingness to pay (WTP) for adding full (Level 4) automation ($7253) appears to be much higher than that for adding partial (Level 3) automation ($3300) to their current vehicles.Ordered probit and other model specifications estimate the impact of demographics, built-environment variables, and travel characteristics on Austinites’ WTP for adding various automation technologies and connectivity to their current and coming vehicles. It also estimates adoption rates of shared autonomous vehicles (SAVs) under different pricing scenarios ($1, $2, and $3 per mile), choice dependence on friends’ and neighbors’ adoption rates, and home-location decisions after AVs and SAVs become a common mode of transport. Higher-income, technology-savvy males, who live in urban areas, and those who have experienced more crashes have a greater interest in and higher WTP for the new technologies, with less dependence on others’ adoption rates. Such behavioral models are useful to simulate long-term adoption of CAV technologies under different vehicle pricing and demographic scenarios. These results can be used to develop smarter transportation systems for more efficient and sustainable travel.     

Tracking a system of shared autonomous vehicles across the Austin,Texas network using agent-based simulation

This study provides a large-scale micro-simulation of transportation patterns in a metropolitan area when relying on a system of shared autonomous vehicles (SAVs). The six-county region of Austin, Texas is used for its land development patterns, demographics, networks, and trip tables. The agent-based MATSim toolkit allows modelers to track individual travelers and individual vehicles, with great temporal and spatial detail. MATSim’s algorithms help improve individual travel plans (by changing tour and trip start times, destinations, modes, and routes). Here, the SAV mode requests were simulated through a stochastic process for four possible fare levels: $0.50, $0.75, $1, and $1.25 per trip-mile. These fares resulted in mode splits of 50.9, 12.9, 10.5, and 9.2% of the region’s person-trips, respectively. Mode choice results show longer-distance travelers preferring SAVs to private, human-driven vehicles (HVs)—thanks to the reduced burden of SAV travel (since one does not have to drive the vehicle). For travelers whose households do not own an HV, SAVs (rather than transit, walking and biking) appear preferable for trips under 10 miles, which is the majority of those travelers’ trip-making. It may be difficult for traditional transit services and operators to survive once SAVs become available in regions like Austin, where dedicated rail lines and bus lanes are few. Simulation of SAV fleet operations suggest that higher fare rates allow for greater vehicle replacement (ranging from 5.6 to 7.7 HVs per SAV, assuming that the average SAV serves 17–20 person-trips per day); when fares rise, travel demands shift away from longer trip distances. Empty vehicle miles traveled by the fleet of SAVs ranged from 7.8 to 14.2%, across the scenarios in this study. Implications of mobility and sustainability benefits of SAVs are also discussed in the paper.     

Impacts of automated vehicles on travel behaviour and land use: an international review of modelling studies

ABSTRACT

Automated vehicles (AVs) could completely change mobility in the coming years and decades. As AVs are still under development and gathering empirical data for further analysis is not yet possible, existing studies mainly applied models and simulations to assess their impact. This paper provides a comprehensive review of modelling studies investigating the impacts of AVs on travel behaviour and land use. It shows that AVs are mostly found to increase vehicle miles travelled and reduce public transport and slow modes share. This particularly applies to private AVs, which are also leading to a more dispersed urban growth pattern. Shared automated vehicle fleets, conversely, could have positive impacts, including reducing the overall number of vehicles and parking spaces. Moreover, if it is assumed that automation would make the public transport system more efficient, AVs could lead to a favouring of urbanisation processes. However, results are very sensitive to model assumptions which are still very uncertain (e.g. the perception of time in AVs) and more research to gain further insight should have priority in future research as well as the development of the models and their further adaptation to AVs.     

The travel and environmental implications of shared autonomous vehicles,using agent-based model scenarios

Carsharing programs that operate as short-term vehicle rentals (often for one-way trips before ending the rental) like Car2Go and ZipCar have quickly expanded, with the number of US users doubling every 1–2 years over the past decade. Such programs seek to shift personal transportation choices from an owned asset to a service used on demand. The advent of autonomous or fully self-driving vehicles will address many current carsharing barriers, including users’ travel to access available vehicles.This work describes the design of an agent-based model for shared autonomous vehicle (SAV) operations, the results of many case-study applications using this model, and the estimated environmental benefits of such settings, versus conventional vehicle ownership and use. The model operates by generating trips throughout a grid-based urban area, with each trip assigned an origin, destination and departure time, to mimic realistic travel profiles. A preliminary model run estimates the SAV fleet size required to reasonably service all trips, also using a variety of vehicle relocation strategies that seek to minimize future traveler wait times. Next, the model is run over one-hundred days, with driverless vehicles ferrying travelers from one destination to the next. During each 5-min interval, some unused SAVs relocate, attempting to shorten wait times for next-period travelers.Case studies vary trip generation rates, trip distribution patterns, network congestion levels, service area size, vehicle relocation strategies, and fleet size. Preliminary results indicate that each SAV can replace around eleven conventional vehicles, but adds up to 10% more travel distance than comparable non-SAV trips, resulting in overall beneficial emissions impacts, once fleet-efficiency changes and embodied versus in-use emissions are assessed.     

Congestion-aware system optimal route choice for shared autonomous vehicles

We study the shared autonomous vehicle (SAV) routing problem while considering congestion. SAVs essentially provide a dial-a-ride service to travelers, but the large number of vehicles involved (tens of thousands of SAVs to replace personal vehicles) results in SAV routing causing significant congestion. We combine the dial-a-ride service constraints with the linear program for system optimal dynamic traffic assignment, resulting in a congestion-aware formulation of the SAV routing problem. Traffic flow is modeled through the link transmission model, an approximate solution to the kinematic wave theory of traffic flow. SAVs interact with travelers at origins and destinations. Due to the large number of vehicles involved, we use a continuous approximation of flow to formulate a linear program. Optimal solutions demonstrate that peak hour demand is likely to have greater waiting and in-vehicle travel times than off-peak demand due to congestion. SAV travel times were only slightly greater than system optimal personal vehicle route choice. In addition, solutions can determine the optimal fleet size to minimize congestion or maximize service.     

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.     

Preferences for shared autonomous vehicles

Shared autonomous vehicles (SAVs) could provide inexpensive mobility on-demand services. In addition, the autonomous vehicle technology could facilitate the implementation of dynamic ride-sharing (DRS). The widespread adoption of SAVs could provide benefits to society, but also entail risks. For the design of effective policies aiming to realize the advantages of SAVs, a better understanding of how SAVs may be adopted is necessary. This article intends to advance future research about the travel behavior impacts of SAVs, by identifying the characteristics of users who are likely to adopt SAV services and by eliciting willingness to pay measures for service attributes. For this purpose, a stated choice survey was conducted and analyzed, using a mixed logit model. The results show that service attributes including travel cost, travel time and waiting time may be critical determinants of the use of SAVs and the acceptance of DRS. Differences in willingness to pay for service attributes indicate that SAVs with DRS and SAVs without DRS are perceived as two distinct mobility options. The results imply that the adoption of SAVs may differ across cohorts, whereby young individuals and individuals with multimodal travel patterns may be more likely to adopt SAVs. The methodological limitations of the study are also acknowledged. Despite a potential hypothetical bias, the results capture the directionality and relative importance of the attributes of interest.     

Optimal deployment of autonomous vehicle lanes with endogenous market penetration

This paper develops a mathematical approach to optimize a time-dependent deployment plan of autonomous vehicle (AV) lanes on a transportation network with heterogeneous traffic stream consisting of both conventional vehicles (CVs) and AVs, so as to minimize the social cost and promote the adoption of AVs. Specifically, AV lanes are exclusive lanes that can only be utilized by AVs, and the deployment plan specifies when, where, and how many AV lanes to be deployed. We first present a multi-class network equilibrium model to describe the flow distributions of both CVs and AVs, given the presence of AV lanes in the network. Considering that the net benefit (e.g., reduced travel cost) derived from the deployment of AV lanes will further promote the AV adoption, we proceed to apply a diffusion model to forecast the evolution of AV market penetration. With the equilibrium model and diffusion model, a time-dependent deployment model is then formulated, which can be solved by an efficient solution algorithm. Lastly, numerical examples based on the south Florida network are presented to demonstrate the proposed models.     

Designing optimal autonomous vehicle sharing and reservation systems: A linear programming approach

Autonomous vehicle (AV) technology holds great promise for improving the efficiency of traditional vehicle sharing systems. In this paper, we investigate a new vehicle sharing system using AVs, referred to as autonomous vehicle sharing and reservation (AVSR). In such a system, travelers can request AV trips ahead of time and the AVSR system operator will optimally arrange AV pickup and delivery schedules and AV trip chains based on these requests. A linear programming model is proposed to efficiently solve for optimal solutions for AV trip chains and required fleet size through constructed AVSR networks. Case studies show that AVSR can significantly increase vehicle use rate (VUR) and consequentially reduce vehicle ownership significantly. In the meantime, it is found that the actual vehicle miles traveled (VMT) in AVSR systems is not significantly more than that of conventional taxis, despite inevitable empty hauls for vehicle relocation in AVSR systems. The results imply huge potential benefits from AVSR systems on improving mobility and sustainability of our current transportation systems.     

Evolution of the household vehicle fleet: Anticipating fleet composition, PHEV adoption and GHG emissions in Austin, Texas

In today’s world of volatile fuel prices and climate concerns, there is little study on the relationship between vehicle ownership patterns and attitudes toward vehicle cost (including fuel prices and feebates) and vehicle technologies. This work provides new data on ownership decisions and owner preferences under various scenarios, coupled with calibrated models to microsimulate Austin’s personal-fleet evolution.Opinion survey results suggest that most Austinites (63%, population-corrected share) support a feebate policy to favor more fuel efficient vehicles. Top purchase criteria are price, type/class, and fuel economy. Most (56%) respondents also indicated that they would consider purchasing a Plug-in Hybrid Electric Vehicle (PHEV) if it were to cost $6000 more than its conventional, gasoline-powered counterpart. And many respond strongly to signals on the external (health and climate) costs of a vehicle’s emissions, more strongly than they respond to information on fuel cost savings.Twenty five-year simulations of Austin’s household vehicle fleet suggest that, under all scenarios modeled, Austin’s vehicle usage levels (measured in total vehicle miles traveled or VMT) are predicted to increase overall, along with average vehicle ownership levels (both per household and per capita). Under a feebate, HEVs, PHEVs and Smart Cars are estimated to represent 25% of the fleet’s VMT by simulation year 25; this scenario is predicted to raise total regional VMT slightly (just 2.32%, by simulation year 25), relative to the trend scenario, while reducing CO₂ emissions only slightly (by 5.62%, relative to trend). Doubling the trend-case gas price to $5/gallon is simulated to reduce the year-25 vehicle use levels by 24% and CO₂ emissions by 30% (relative to trend).Two- and three-vehicle households are simulated to be the highest adopters of HEVs and PHEVs across all scenarios. The combined share of vans, pickup trucks, sport utility vehicles (SUVs), and cross-over utility vehicles (CUVs) is lowest under the feebate scenario, at 35% (versus 47% in Austin’s current household fleet). Feebate-policy receipts are forecasted to exceed rebates in each simulation year.In the longer term, gas price dynamics, tax incentives, feebates and purchase prices along with new technologies, government-industry partnerships, and more accurate information on range and recharging times (which increase customer confidence in EV technologies) should have added effects on energy dependence and greenhouse gas emissions.     

Estimating potential increases in travel with autonomous vehicles for the non-driving,elderly and people with travel-restrictive medical conditions

Automated vehicles represent a technology that promises to increase mobility for many groups, including the senior population (those over age 65) but also for non-drivers and people with medical conditions. This paper estimates bounds on the potential increases in travel in a fully automated vehicle environment due to an increase in mobility from the non-driving and senior populations and people with travel-restrictive medical conditions. In addition, these bounding estimates indicate which of these demographics could have the greatest increases in annual vehicle miles traveled (VMT) and highlight those age groups and genders within these populations that could contribute the most to the VMT increases. The data source is the 2009 National Household Transportation Survey (NHTS), which provides information on travel characteristics of the U.S. population. The changes to light-duty VMT are estimated by creating and examining three possible travel demand wedges. In demand wedge one, non-drivers are assumed to travel as much as the drivers within each age group and gender. Demand wedge two assumes that the driving elderly (those over age 65) without medical conditions will travel as much as a younger population within each gender. Demand wedge three makes the assumption that working age adult drivers (19–64) with medical conditions will travel as much as working age adults without medical conditions within each gender, while the driving elderly with medical any travel-restrictive conditions will travel as much as a younger demographic within each gender in a fully automated vehicle environment. The combination of the results from all three demand wedges represents an upper bound of 295 billion miles or a 14% increase in annual light-duty VMT for the US population 19 and older. Since traveling has other costs besides driving effort, these estimates serve to bound the potential increase from these populations to inform the scope of the challenges, rather than forecast specific VMT scenarios.     

Estimating the trip generation impacts of autonomous vehicles on car travel in Victoria,Australia

Autonomous vehicles (AVs) potentially increase vehicle travel by reducing travel and parking costs and by providing improved mobility to those who are too young to drive or older people. The increase in vehicle travel could be generated by both trip diversion from other modes and entirely new trips. Existing studies however tend to overlook AVs’ impacts on entirely new trips. There is a need to develop a methodology for estimating possible impacts of AVs on entirely new trips across all age groups. This paper explores the impacts of AVs on car trips using a case study of Victoria, Australia. A new methodology for estimating entirely new trips associated with AVs is proposed by measuring gaps in travel need at different life stages. Results show that AVs would increase daily trips by 4.14% on average. The 76+ age group would have the largest increase of 18.5%, followed by the 18–24 age group and the 12–17 age group with 14.6 and 11.1% respectively. If car occupancy remains constant in AV scenarios, entirely new trips and trip diversions from public transport and active modes would lead to a 7.31% increase in car trips. However increases in car travel are substantially magnified by reduced car occupancy rates, a trend evidenced throughout the world. Car occupancy would need to increase by at least 5.3–7.3% to keep car trips unchanged in AV scenarios.     

Impact of heavy vehicles on surrounding traffic characteristics

This work examines the impact of heavy vehicle movements on measured traffic characteristics in detail. Although the number of heavy vehicles within the traffic stream is only a small percentage, their impact is prominent. Heavy vehicles impose physical and psychological effects on surrounding traffic flow because of their length and size (physical) and acceleration/deceleration (operational) characteristics. The objective of this work is to investigate the differences in traffic characteristics in the vicinity of heavy vehicles and passenger cars. The analysis focuses on heavy traffic conditions (level of service E) using a trajectory data of highway I‐80 in California. The results show that larger front and rear space gaps exist for heavy vehicles compared with passenger cars. This may be because of the limitations in manoeuvrability of heavy vehicles and the safety concerns of the rear vehicle drivers, respectively. In addition, heavy vehicle drivers mainly keep a constant speed and do not change their speed frequently. This work also examines the impact of heavy vehicles on their surrounding traffic in terms of average travel time and number of lane changing manoeuvres using Advanced Interactive Microscopic Simulator for Urban and Non‐Urban Networks (AIMSUN) microscopic traffic simulation package. According to the results, the average travel time increases when proportion of heavy vehicles rises in each lane. To reflect the impact of heavy vehicles on average travel time, a term related to heavy vehicle percentage is introduced into two different travel time equations, Bureau of Public Roads and Akçelik's travel time equations. The results show that using an exclusive term for heavy vehicles can better estimate the travel times for more than 10%. Finally, number of passenger car lane changing manoeuvres per lane will be more frequent when more heavy vehicles exist in that lane. The influence of heavy vehicles on the number of passenger car lane changing is intensified in higher traffic densities and higher percentage of heavy vehicles. Large numbers of lane changing manoeuvres can increase the number of traffic accidents and potentially reduce traffic safety. The results show an increase of 5% in the likelihood of accidents, when percentage of heavy vehicles increases to 30% of total traffic. Copyright © 2014 John Wiley & Sons, Ltd.     

Resolving the property right of transportation emissions through public–private partnerships

The application of public–private partnerships (P3’s) in the transportation sector has grown in popularity worldwide. Despite this important shift in the provision of transportation service, there are clear gaps in knowledge about the impacts of P3 projects, especially on emissions from transportation systems as a whole. Not only should policy makers evaluate the emissions impacts from P3 projects, but they should also think about innovative models that address or charge for emissions into P3 contracts. This addition to P3 contracts could provide a new solution to the long-existing property right paradox: who owns (is responsible for) emissions from transportation systems? This study attempts to fill the research gap by analyzing these innovative models. Using the road network of Fresno, California, as our case study, we offer a number of interesting insights for policy makers. First, average peak emissions costs range from 1.37 cents per mile (the do-nothing case) to 1.20 cents per mile (profit-maximizing cases) per vehicle. Although emissions costs from the P3 projects are lowest for the profit-maximizing cases, the system-wide emissions costs of these cases are highest because of spillover effects. Second, charging project owners for the emissions costs of P3 projects is not an effective way to reduce emissions or the total costs of travel, especially on a VMT basis. Instead, the public sector should implement emissions-included social cost-based price ceilings. When employing these limits, project owners could still be charged for the emissions costs. Finally, using total travel time as the only objective function for evaluating P3 projects can be misleading. Several P3 projects have shown better outcomes using total travel cost with the inclusion of emissions and fuel consumption costs, instead of using total travel time as the only objective function.     

Integrated modeling framework for leasing urban roads: A case study of Fresno,California

Increasing private sector involvement in transportation services has significant implications for the management of road networks. This paper examines a concession model’s effects on a road network in the mid-sized city of Fresno, California. Using the existing transportation planning models of Fresno, we examine the effects of privatization on a number of typical system performance measures including total travel time and vehicle miles traveled (VMT), the possibility of including arterials, and the differences between social cost prices and profit maximizing prices. Some interesting insights emerge from our analysis: (1) roads cannot be considered as isolated elements in a concession model for a road network; (2) roads can function as complements at some levels of demand and become substitutes at other levels; (3) policy makers/officials should consider privatizing/pricing arterials along with privatizing highways; (4) temporally flexible but limited price schedule regulations should be part of leasing agreements; and (5) non-restricted pricing may actually worsen system performance, while limited pricing can raise enormous profits as well as improve system performance.     

Discussing the “positive utilities” of autonomous vehicles: will travellers really use their time productively?

ABSTRACT

Autonomous vehicles (AVs) are expected to reshape travel behaviour and demand in part by enabling productive uses of travel time—a primary component of the “positive utility of travel” concept—thus reducing subjective values of travel time savings (VOT). Many studies from industry and academia have assumed significant increases in travel time use and reductions in VOT for AVs. In this position paper, I argue that AVs’ VOT impacts may be more modest than anticipated and derive from a different source. Vehicle designs and operations may limit activity engagement during travel, with AV users feeling more like car passengers than train riders. Furthermore, shared AVs may attenuate travel time use benefits, and productivity gains could be limited to long-distance trips. Although AV riders will likely have greater activity participation during travel, many in-vehicle activities today may be more about coping with commuting burdens than productively using travel time. Instead, VOT reductions may be more likely to arise from a different “positive utility”—subjective well-being improvements through reduced stresses of driving or the ability to relax and mentally transition. Given high uncertainty, further empirical research on the experiential, time use, and VOT impacts of AVs is needed.     

Preferences of travellers for using automated vehicles as last mile public transport of multimodal train trips

In the recent years many developments took place regarding automated vehicles (AVs) technology. It is however unknown to which extent the share of the existing transport modes will change as result of AVs introduction as another public transport option. This study is the first where detailed traveller preferences for AVs are explored and compared to existing modes. Its main objective is to position AVs in the transportation market and understand the sensitivity of travellers towards some of their attributes, focusing particularly on the use of these vehicles as egress mode of train trips. Because fully-automated vehicles are not yet a reality and they entail a potentially high disruptive way on how we use automobiles today, we apply a stated preference experiment where the role of attitudes in perceiving the utility of AVs is particularly explored in addition to the classical instrumental variables and several socio-economic variables. The estimated discrete choice model shows that first class train travellers on average prefer the use of AVs as egress mode, compared to the use of bicycle or bus/tram/metro as egress. We therefore conclude that AVs as last mile transport between the train station and the final destination have most potential for first class train travellers. Results show that in-vehicle time in AVs is experienced more negatively than in-vehicle time in manually driven cars. This suggests that travellers do not perceive the theoretical advantage of being able to perform other tasks during the trip in an automated vehicle, at least not yet. Results also show that travellers’ attitudes regarding trust and sustainability of AVs are playing an important role in AVs attractiveness, which leads to uncertainty on how people will react when AVs are introduced in practice. We therefore state the importance of paying sufficient attention to these psychological factors, next to classic instrumental attributes like travel time and costs, before and during the implementation process of AVs as a public transport alternative. We recommend the extension of this research to revealed preference studies, thereby using the results of field studies.     

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.