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.     

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.     

A platoon based cooperative eco-driving model for mixed automated and human-driven vehicles at a signalised intersection

The advancements in communication and sensing technologies can be exploited to assist the drivers in making better decisions. In this paper, we consider the design of a real-time cooperative eco-driving strategy for a group of vehicles with mixed automated vehicles (AVs) and human-driven vehicles (HVs). The lead vehicles in the platoon can receive the signal phase and timing information via vehicle-to-infrastructure (V2I) communication and the traffic states of both the preceding vehicle and current platoon via vehicle-to-vehicle (V2V) communication. We propose a receding horizon model predictive control (MPC) method to minimise the fuel consumption for platoons and drive the platoons to pass the intersection on a green phase. The method is then extended to dynamic platoon splitting and merging rules for cooperation among AVs and HVs in response to the high variation in urban traffic flow. Extensive simulation tests are also conducted to demonstrate the performance of the model in various conditions in the mixed traffic flow and different penetration rates of AVs. Our model shows that the cooperation between AVs and HVs can further smooth out the trajectory of the latter and reduce the fuel consumption of the entire traffic system, especially for the low penetration of AVs. It is noteworthy that the proposed model does not compromise the traffic efficiency and the driving comfort while achieving the eco-driving strategy.     

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.     

Parents’ perspectives on using autonomous vehicles to enhance children’s mobility

Prior research has estimated the impact of an autonomous vehicle (AV) environment on the mobility of underserved populations such as adult non-drivers. What is currently unknown is the impact of AVs on enhancing the mobility of children who are also mobility disadvantaged, as child passengers are likely part of AV ridership scenarios in the perceivable future. To address this question, our study collected perceived benefits and concerns of AVs from a US convenience sample of parents whose children relied on them for mobility. We found that parents’ intentions to travel in AV and their technology readiness as well as parent (sex, residence area) and child (age, restraint system) demographic profiles were important determinants of potential AV acceptance and impact. In addition, two groups of potential AV users emerged from the data: the curious and the practical. This study addresses a gap in the literature by assessing parents’ perspectives on using AVs to transport children. The results have great potentials to guide the design of mobility features, safety evaluations, and implementation policies, as a decline in public interest in AVs has been recently documented.     

The impact of private autonomous vehicles on vehicle ownership and unoccupied VMT generation

With 36 ventures testing autonomous vehicles (AVs) in the State of California, commercial deployment of this disruptive technology is almost around the corner (California Department of Transportation, 2016). Different business models of AVs, including Shared AVs (SAVs) and Private AVs (PAVs), will lead to significantly different changes in regional vehicle inventory and Vehicle Miles Travelled (VMT). Most prior studies have already explored the impact of SAVs on vehicle ownership and VMT generation. Limited understanding has been gained regarding vehicle ownership reduction and unoccupied VMT generation potentials in the era of PAVs. Motivated by such research gap, this study develops models to examine how much vehicle ownership reduction can be achieved once private conventional vehicles are replaced by AVs and the spatial distribution of unoccupied VMT accompanied with the vehicle reduction. The models are implemented using travel survey and synthesized trip profile from Atlanta Metropolitan Area. The results show that more than 18% of the households can reduce vehicles, while maintaining the current travel patterns. This can be translated into a 9.5% reduction in private vehicles in the study region. Meanwhile, 29.8 unoccupied VMT will be induced per day per reduced vehicles. A majority of the unoccupied VMT will be loaded on interstate highways and expressways and the largest percentage inflation in VMT will occur on minor local roads. The results can provide implications for evolving trends in household vehicles uses and the location of dedicated AV lanes in the PAV dominated future.     

Agricultural vehicles and sustainable safe road traffic: solving conflicts on arterial highways

Addressing the issues of traffic safety in rural areas presents a constant challenge. The mix of light and heavy vehicles and the considerable differences in speed among these traffic participants result in high risks and delays for the faster vehicles. Agricultural vehicles (AVs) in particular have such an impact on traffic, especially when using arterial highways. This paper reviews the problems of safety and delays that AVs cause on arterial highways, and the appropriate mitigation. The concept of 'sustainable safety' in The Netherlands focuses on these problems, because of the proposed construction of parallel roads alongside all arterial highways. However, Dutch accident statistics cannot justify the high costs for the construction of parallel roads alongside 7000 km of arterial highways. Delays experienced by fast traffic are another reason for separating AVs from other road users with parallel roads. Alternative measures alongside the arterial highway, such as passing bays, restricting AVs to travelling at off-peak only and improving the conspicuity of the AVs, may be more cost-effective ways of reducing delays and/or improving traffic safety on arterial highways. Another solution may be to eliminate the need for AVs to use the arterial highway by altering their routes. For this purpose, land reallocation projects (as practised in Holland) can provide a useful tool.     

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.

     

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.     

Dynamic autonomous vehicle fleet operations: Optimization-based strategies to assign AVs to immediate traveler demand requests

Motivated by the growth of ridesourcing services and the expected advent of fully-autonomous vehicles (AVs), this paper defines, models, and compares assignment strategies for a shared-use AV mobility service (SAMS). Specifically, the paper presents the on-demand SAMS with no shared rides, defined as a fleet of AVs, controlled by a central operator, that provides direct origin-to-destination service to travelers who request rides via a mobile application and expect to be picked up within a few minutes. The underlying operational problem associated with the on-demand SAMS with no shared rides is a sequential (i.e. dynamic or time-dependent) stochastic control problem. The AV fleet operator must assign AVs to open traveler requests in real-time as traveler requests enter the system dynamically and stochastically. As there is likely no optimal policy for this sequential stochastic control problem, this paper presents and compares six AV-traveler assignment strategies (i.e. control policies). An agent-based simulation tool is employed to model the dynamic system of AVs, travelers, and the intelligent SAMS fleet operator, as well as, to compare assignment strategies across various scenarios. The results show that optimization-based AV-traveler assignment strategies, strategies that allow en-route pickup AVs to be diverted to new traveler requests, and strategies that incorporate en-route drop-off AVs in the assignment problem, reduce fleet miles and decrease traveler wait times. The more-sophisticated AV-traveler assignment strategies significantly improve operational efficiency when fleet utilization is high (e.g. during the morning or evening peak); conversely, when fleet utilization is low, simply assigning traveler requests sequentially to the nearest idle AV is comparable to more-advanced strategies. Simulation results also indicate that the spatial distribution of traveler requests significantly impacts the empty fleet miles generated by the on-demand SAMS.     

Effects of neighborhood environments on perceived risk of self-driving: evidence from the 2015 and 2017 Puget Sound Travel Surveys

Autonomous vehicles (AVs), with an expectation of improving road safety, are closer to becoming a reality. A large number of people are still concerned about how AVs would operate in real-life driving environments. The present paper investigates the factors that affect people’s views of the interactions between AVs and other road users based on a large sample from the 2015 and 2017 Puget Sound Travel Surveys. We specifically highlight the effects of the neighborhood environment and road infrastructure. We estimate a generalized ordered logit model to demonstrate the extent to which certain neighborhood environment and road infrastructure features affect individuals’ safety perceptions of AVs, controlling for demographics, daily travel patterns, and general interest in riding AVs. The results reveal that designated bicycle facilities are positively associated with individuals’ safety perceptions related to AVs. We find that residents from neighborhoods with more pedestrian facilities are more likely to express higher levels of concern on AVs’ capabilities to react to the environment. Our results also suggest that people living in mixed-use neighborhoods are more confident in sharing the road with AVs. The findings provide useful implications for effective policy interventions and infrastructure provisions that may affect the market penetration rates of AVs while keeping up the standards for other road users, such as bicyclists and pedestrians.

     

Fully autonomous vehicles: analyzing transportation network performance and operating scenarios in the Greater Toronto Area,Canada

Fully autonomous vehicles (AVs) have the potential to considerably change urban mobility in the future. This study simulates potential AV operating scenarios in the Greater Toronto Area (GTA), Canada, and assesses transportation system performance on a regional level. For each scenario, the base capacities of certain types of road links are modified to simulate the theoretical increase in throughput enabled by AV driving behavior. Another scenario examines driverless parking operations in downtown Toronto. Simulation results indicate that the increased attractiveness of freeways relative to other routes leads to slightly increased average travel distance as vehicles divert to access higher capacity road links. Average travel time is found to decrease by up to one-fifth at the 90% AV market penetration level. Concurrently, localized increases in congestion suggest that proactive transportation planning will be needed to mitigate negative consequences of AV adoption, especially in relation to induced demand for personal automobile travel.     

Incorporating features of autonomous vehicles in activity-based travel demand model for Columbus,OH

Transportation - Autonomous vehicles (AVs) could change travel patterns of the population significantly and with the rapid improvements in AV technology, transportation planners should address AV...     

An equilibrium analysis of commuter parking in the era of autonomous vehicles

This study is the first in the literature to model the joint equilibrium of departure time and parking location choices when commuters travel with autonomous vehicles (AVs). With AVs, walking from parking spaces to the work location is not needed. Instead, AVs will drop off the commuters at the workplace and then drive themselves to the parking spaces. In this context, the equilibrium departure/arrival profile is different from the literature with non-autonomous vehicles (non-AVs). Besides modeling the commuting equilibrium, this study further develops the first-best time-dependent congestion tolling scheme to achieve the system optimum. Also, a location-dependent parking pricing scheme is developed to replace the tolling scheme. Furthermore, this study discusses the optimal parking supply to minimize the total system cost (including both the travel cost and the social cost of parking supply) under either user equilibrium or system optimum traffic flow pattern. It is found that the optimal planning of parking can be different from the non-AV situation, since the vehicles can drive themselves to parking spaces that are further away from the city center and walking of commuters is avoided. This paper sheds light on future parking supply planning and traffic management.     

Eliciting preferences for adoption of fully automated vehicles using best-worst analysis

Autonomous mobility is one of the rapidly evolving aspects of smart transportation which carries the potential of reshaping both demand and supply sides of transportation systems. While understanding public opinions about autonomous vehicles (AVs) is a compelling step towards their successful implementation, still little is known about to which extent people will embrace this new technology and how the vehicle features will affect their adoption decision. This study presents a new approach for modeling the adoption behavior of fully AVs using the profile-case best-worst scaling model. In this approach, an AV profile which is characterized in terms of the main vehicle attributes and their associated levels is presented to the decision maker and he/she is asked to select the most and the least attractive attributes. Further, a binary adoption question at the end of the choice task inquires if the respondent is willing to purchase the described AV. Utilizing this method, we can recognize the difference between the intrinsic impacts of the vehicle attributes and the impact of the attribute levels on the adoption decision. Results of the analysis indicate that people are much more sensitive to the purchase price and incentive policies such as taking liability away from the “driver” in case of accidents and provision of exclusive lanes for AVs compared to other factors such as fuel efficiency, safety, or environmental friendliness. Further, it is found that millennials with higher income, those who live in the downtown area, and the majority of people who have experienced an accident in the past have greater interests in adopting this technology.     

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.     

Will autonomous vehicles change residential location and vehicle ownership? Glimpses from Georgia

Many studies have begun investigating possible transportation landscapes in the autonomous vehicle (AV) era, but empirical results on longer-term decisions are limited. We address this gap using data collected from a survey designed and implemented for Georgia residents in 2017–2018. Focusing on a hypothetical all-AV future, this section of the survey included questions regarding advantages/disadvantages of AVs, short-term mode choice impacts, medium-term impacts on activity patterns, and long-term behavioral changes – specifically, whether/how AVs will influence individuals to change residential location and the number of cars in the household. We hypothesize that AVs could act in concert with attitudinal preferences to stimulate changes in these long-term decisions, and that some medium-term activity changes triggered by AVs could motivate people to relocate their residence or shed household vehicles. We applied exploratory factor analysis to measure the perceived likelihood that AVs would prompt various medium-term changes. We then included some of those measures, among other variables, in a cross-nested logit (CNL) model of the choice of the residential location/vehicle ownership bundle. Although more than half of respondents expected “no change” in their bundle, we found that younger, lower income, pro-suburban, and pro-non-car-mode individuals were more likely to anticipate changing their selections. In addition, some expected medium-term impacts of AVs influenced changes in these longer-term choices. We further applied the CNL model to two population segments (Atlanta and non-Atlanta-region residents). We found notable improvement in goodness of fit and different effects of factors across segments, signifying the existence of geography-related taste heterogeneity.     

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.     

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.     

An empirical investigation on consumers’ intentions towards autonomous driving

Major steps towards implementation of autonomous and connected transport are being taken nowadays. The trend of automation technology being used in vehicles by the most important vehicle manufacturing industries is expected to move closer to high or fully Autonomous Vehicles (AVs) through technological advancements in sectors of robotics and artificial intelligence. Vehicles with autonomous driving capabilities are planning to be available on market, in full scale, in the next years. In the longer term substantial benefits are mainly expected for accessibility to transport, safety, traffic flow, emissions, fuel use and comfort. All these potential societal benefits will not be achieved unless AVs are accepted and used by a critical mass of people. Addressing these challenges, this paper: (a) proposes a technology acceptance modelling process by extending the original Technology Acceptance Model (TAM) to explain and predict consumers’ intensions towards AVs, (b) based on the proposed TAM-extended framework, a 30-question survey was conducted in order to investigate the factors influencing consumers’ intensions to use and accept AVs. Results show that the constructs of perceived usefulness, perceived ease to use, perceived trust and social influence, are all useful predictors of behavioral intentions to have or use AVs, with perceived usefulness having the strongest impact. The insights derived from this study could significantly contribute to ongoing research related to technology acceptance of AVs and are expected to allow automobile industries to improve their design and technology.