Energy saving potentials of connected and automated vehicles

Connected and automated vehicles (CAV) are marketed for their increased safety, driving comfort, and time saving potential. With much easier access to information, increased processing power, and precision control, they also offer unprecedented opportunities for energy efficient driving. This paper is an attempt to highlight the energy saving potential of connected and automated vehicles based on first principles of motion, optimal control theory, and a review of the vast but scattered eco-driving literature. We explain that connectivity to other vehicles and infrastructure allows better anticipation of upcoming events, such as hills, curves, slow traffic, state of traffic signals, and movement of neighboring vehicles. Automation allows vehicles to adjust their motion more precisely in anticipation of upcoming events, and save energy. Opportunities for cooperative driving could further increase energy efficiency of a group of vehicles by allowing them to move in a coordinated manner. Energy efficient motion of connected and automated vehicles could have a harmonizing effect on mixed traffic, leading to additional energy savings for neighboring vehicles.     

Comparing high-end and low-end early adopters of battery electric vehicles

Battery electric vehicle adoption research has been on going for two decades. The majority of data gathered thus far is taken from studies that sample members of the general population and not actual adopters of the vehicles. This paper presents findings from a study involving 340 adopters of battery electric vehicles. The data is used to corroborate some existing assumptions made about early adopters. The contribution of this paper, however, is the distinction between two groups of adopters. These are high-end adopters and low-end adopters. It is found that each group has a different socio-economic profile and there are also some psychographic differences. Further they have different opinions of their vehicles with high-end adopters viewing their vehicles more preferentially. The future purchase intentions of each group are explored and it is found that high-end adopters are more likely to continue with ownership of battery electric vehicles in subsequent purchases. Finally reasons for this are explored by comparing each adopter group’s opinions of their vehicles to their future purchase intentions. From this is it suggested that time to refuel and range for low-end battery electric vehicles should be improved in order to increase chances of drivers continuing with BEV ownership.     

User preferences regarding autonomous vehicles

This study gains insight into individual motivations for choosing to own and use autonomous vehicles and develops a model for autonomous vehicle long-term choice decisions. A stated preference questionnaire is distributed to 721 individuals living across Israel and North America. Based on the characteristics of their current commutes, individuals are presented with various scenarios and asked to choose the car they would use for their commute. A vehicle choice model which includes three options is estimated:

• (1)Continue to commute using a regular car that you have in your possession.
• (2)Buy and shift to commuting using a privately-owned autonomous vehicle (PAV).
• (3)Shift to using a shared-autonomous vehicle (SAV), from a fleet of on-demand cars for your commute.

A factor analysis determined five relevant latent variables describing the individuals’ attitudes: technology interest, environmental concern, enjoy driving, public transit attitude, and pro-AV sentiments. The effects that the characteristics of the individual and the autonomous vehicle have on use and acceptance are quantified through random utility models including logit kernel model taking into account panel effects.Currently, large overall hesitations towards autonomous vehicle adoption exist, with 44% of choice decisions remaining regular vehicles. Early AV adopters will likely be young, students, more educated, and spend more time in vehicles. Even if the SAV service were to be completely free, only 75% of individuals would currently be willing to use SAVs. The study also found various differences regarding the preferences of individuals in Israel and North America, namely that Israelis are overall more likely to shift to autonomous vehicles.Methods to encourage SAV use include increasing the costs for regular cars as well as educating the public about the benefits of shared autonomous vehicles.     

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.     

Electric vehicles for greenhouse gas reduction in China: A cost-effectiveness analysis

There have been ongoing debates over whether battery electric vehicles contribute to reducing greenhouse gas emissions in China’s context, and if yes, whether the greenhouse gas emissions reduction compensates the cost increment. This study informs such debate by examining the life-cycle cost and greenhouse gas emissions of conventional vehicles, hybrid electric vehicles and battery electric vehicles, and comparing their cost-effectiveness for reducing greenhouse gas emissions. The results indicate that under a wide range of vehicle and driving configurations (range capacity, vehicle use intensity, etc.), battery electric vehicles contribute to reducing greenhouse gas emissions compared with conventional vehicles, although their current cost-effectiveness is not comparable with hybrid electric vehicles. Driven by grid mix optimization, power generation efficiency improvement, and battery cost reduction, the cost-effectiveness of battery electric vehicles is expected to improve significantly over the coming decade and surpass hybrid electric vehicles. However, considerable uncertainty exists due to the potential impacts from factors such as gasoline price. Based on the analysis, it is recommended that the deployment of battery electric vehicles should be prioritized in intensively-used fleets such as taxis to realize high cost-effectiveness. Technology improvements both in terms of power generation and vehicle electrification are essential in improving the cost-effectiveness of battery electric vehicles.     

The return on investment for taxi companies transitioning to electric vehicles

We study whether taxi companies can simultaneously save petroleum and money by transitioning to electric vehicles. We propose a process to compute the return on investment of transitioning a taxi corporation’s fleet to electric vehicles. We use Bayesian data analysis to infer the revenue changes associated with the transition. We do not make any assumptions about the vehicles’ mobility patterns; instead, we use a time-series of GPS coordinates of the company’s existing petroleum-based vehicles to derive our conclusions. As a case study, we apply our process to a major taxi corporation, Yellow Cab San Francisco (YCSF). Using current prices, we find that transitioning their fleet to battery electric vehicles and plug-in hybrid electric vehicles is profitable for the company. Furthermore, given that gasoline prices in San Francisco are only 5.4 % higher than the rest of the United States, but electricity prices are 75 % higher; taxi companies with similar practices and mobility patterns in other cities are likely to profit more than YCSF by transitioning to electric vehicles.     

Consumer preferences for alternative fuel vehicles: A discrete choice analysis

This paper analyzes the potential demand for privately used alternative fuel vehicles using German stated preference discrete choice data. By applying a mixed logit model, we find that the most sensitive group for the adoption of alternative fuel vehicles embraces younger, well-educated, and environmentally aware car buyers, who have the possibility to plug-in their car at home, and undertake numerous urban trips. Moreover, many households are willing to pay considerable amounts for greater fuel economy and emission reduction, improved driving range and charging infrastructure, as well as for enjoying vehicle tax exemptions and free parking or bus lane access. The scenario results suggest that conventional vehicles will maintain their dominance in the market. Finally, an increase in the battery electric vehicles’ range to a level comparable with all other vehicles has the same impact as a multiple measures policy intervention package.     

US residential charging potential for electric vehicles

We assess existing and potential charging infrastructure for plug-in vehicles in US households using data from the American Housing Survey and the Residential Energy Consumption Survey. We estimate that less than half of US vehicles have reliable access to a dedicated off-street parking space at an owned residence where charging infrastructure could be installed. Specifically, while approximately 79% households have off-street parking for at least some of their vehicles, only an estimated 56% of vehicles have a dedicated off-street parking space – and only 47% at an owned residence. Approximately 22% vehicles currently have access to a dedicated home parking space within reach of an outlet sufficient to recharge a small plug-in vehicle battery pack overnight. Access to faster charging, required for vehicles with longer electric range, will usually require infrastructure investment ranging from several hundred to several thousand dollars, depending on panel and construction requirements. We discuss sensitivity of results to uncertain factors and implications for the potential of mainstream penetration of plug-in vehicles.     

Energy policies for passenger motor vehicles

This paper assesses the costs and effectiveness of several energy policies for light-duty motor vehicles in the United States, using a version of the National Energy Modeling System. The policies addressed are higher fuel taxes, tighter vehicle efficiency standards, and financial subsidies and penalties for the purchase of high- and low-efficiency vehicles (feebates). I find that tightening fuel-efficiency standards beyond those currently mandated through 2016, or imposing feebates designed to accomplish similar changes, can achieve by 2030 reductions in energy use by all light-duty passenger vehicles of 7.1–8.4%. A stronger feebate policy has somewhat greater effects, but at a significantly higher unit cost. High fuel taxes, on the order of $2.00 per gallon (2007$), have somewhat greater effects, arguably more favorable cost-effectiveness ratios, and produce their effects much more quickly because they affect the usage rate of both new and used vehicles. Policy costs vary greatly with assumptions about the reason for the apparent myopia commonly observed in consumer demand for fuel efficiency, and with the inclusion or exclusion of ancillary costs of congestion, local air pollution, and accidents.     

Deploying public charging stations for electric vehicles on urban road networks

This paper explores how to optimally locate public charging stations for electric vehicles on a road network, considering drivers’ spontaneous adjustments and interactions of travel and recharging decisions. The proposed approach captures the interdependency of different trips conducted by the same driver by examining the complete tour of the driver. Given the limited driving range and recharging needs of battery electric vehicles, drivers of electric vehicles are assumed to simultaneously determine tour paths and recharging plans to minimize their travel and recharging time while guaranteeing not running out of charge before completing their tours. Moreover, different initial states of charge of batteries and risk-taking attitudes of drivers toward the uncertainty of energy consumption are considered. The resulting multi-class network equilibrium flow pattern is described by a mathematical program, which is solved by an iterative procedure. Based on the proposed equilibrium framework, the charging station location problem is then formulated as a bi-level mathematical program and solved by a genetic-algorithm-based procedure. Numerical examples are presented to demonstrate the models and provide insights on public charging infrastructure deployment and behaviors of electric vehicles.     

Definition of a merging assistant strategy using intelligent vehicles

In the area of active traffic management, new technologies provide opportunities to improve the use of current infrastructure. Vehicles equipped with in-car communication systems are capable of exchanging messages with the infrastructure and other vehicles. This new capability offers many opportunities for traffic management. This paper presents a novel merging assistant strategy that exploits the communication capabilities of intelligent vehicles. The proposed control requires the cooperation of equipped vehicles on the main carriageway in order to create merging gaps for on-ramp vehicles released by a traffic light. The aim is to reduce disruptions to the traffic flow created by the merging vehicles. This paper focuses on the analytical formulation of the control algorithm, and the traffic flow theories used to define the strategy. The dynamics of the gap formation derived from theoretical considerations are validated using a microscopic simulation. The validation indicates that the control strategy mostly developed from macroscopic theory well approximates microscopic traffic behaviour. The results present encouraging capabilities of the system. The size and frequency of the gaps created on the main carriageway, and the space and time required for their creation are compatible with a real deployment of the system. Finally, we summarise the results of a previous study showing that the proposed merging strategy reduces the occurrence of congestion and the number of late-merging vehicles. This innovative control strategy shows the potential of using intelligent vehicles for facilitating the merging manoeuvre through use of emerging communications technologies.     

Impacts of replacement of engine powered vehicles by electric vehicles on energy consumption and CO2 emissions

This paper evaluates the impacts on energy consumption and carbon dioxide (CO₂) emissions from the introduction of electric vehicles into a smart grid, as a case study. The AVL Cruise software was used to simulate two vehicles, one electric and the other engine-powered, both operating under the New European Driving Cycle (NEDC), in order to calculate carbon dioxide (CO₂) emissions, fuel consumption and energy efficiency. Available carbon dioxide data from electric power generation in Brazil were used for comparison with the simulated results. In addition, scenarios of gradual introduction of electric vehicles in a taxi fleet operating with a smart grid system in Sete Lagoas city, MG, Brazil, were made to evaluate their impacts. The results demonstrate that CO₂ emissions from the electric vehicle fleet can be from 10 to 26 times lower than that of the engine-powered vehicle fleet. In addition, the scenarios indicate that even with high factors of CO₂ emissions from energy generation, significant reductions of annual emissions are obtained with the introduction of electric vehicles in the fleet.     

Who will buy electric vehicles? Identifying early adopters in Germany

Electric vehicles (EVs) have noteworthy potential to reduce global and local emissions and are expected to become a relevant future market for vehicle sales. Both policy makers and car manufacturers have an interest to understand the first large EV user group, frequently referred to as ‘early adopters’. However, there are only a few empirical results available for this important group. In this paper, we analyse and discuss several empirical data sets from Germany, characterising this user group from both a user and a product perspective, i.e. who is willing to buy an EV and who should buy one. Our results show that the most likely group of private EV buyers in Germany are middle-aged men with technical professions living in rural or suburban multi-person households. They own a large share of vehicles in general, are more likely to profit from the economical benefits of these vehicles due to their annual vehicle kilometres travelled and the share of inner-city driving. They state a higher willingness to buy electric vehicles than other potential adopter groups and their higher socio-economic status allows them to purchase EVs. In contrast to this, inhabitants of major cities are less likely to buy EVs since they form a small group of car owners in general, their mileage is too low for EVs to pay off economically and they state lower interest and lower willingness to pay for EVs than other groups. Our results indicate that transport policy promoting EVs should focus on middle-aged men with families from rural and sub-urban cities as first private EV buyers.     

Using vehicle simulations to understand strategies for accommodating oversize,overweight vehicles at roundabouts

There is considerable evidence that roundabouts are the safest and most efficient form of traffic control for most intersections. The potential use of roundabouts with all their inherent benefits may be greatly diminished if they are not able to accommodate oversize/overweight (OSOW) vehicles, sometimes called “Superloads.” The problem, therefore, is how to accommodate OSOW vehicles without sacrificing the integrity, safety and other benefits of roundabouts.This study uses TORUS software to design six standard roundabouts using guidance from the latest Federal Highway Administration (FHWA) roundabout guide. Six OSOW check vehicles from the Wisconsin Department of Transportation’s library were used to modify the designs to accommodate these selected check vehicles at the roundabouts. These six OSOW check vehicles were used to conduct swept path analysis using AutoTURN software at the selected six standard roundabouts for right turn, through, and left turn simulations. The space requirements for these maneuvers were analyzed in detail. Various strategies for better accommodating these OSOW check vehicles were suggested and experimented with in this study using AutoTURN software simulations. The effectiveness of using a straight passage through the center island for OSOW vehicles was also addressed in this study and was found to be effective. All the strategies investigated in this study proved to be effective in accommodating OSOW vehicles when compared to conventional ways of using a roundabout. The needed total truck apron was calculated and used as a reference to determine an effective strategy for accommodating OSOW vehicles. This research can be used as guidance for transportation engineers, planners and decision makers to determine possible ways of designing a roundabout at an intersection where certain OSOW vehicles are expected.     

Electric vehicles and the urban environment

Abstract

Due to the increased traffic volume, especially in urban areas, cars have become the dominant source of atmospheric pollution. Actions taken to limit the pollution have not been able to counteract the polluting effect of this increase in cars. Limited petroleum resources have initiated the search for alternative fuels for vehicles. These alternatives, except for hydrogen and electricity, will however only give a limited decrease of pollution and for some components, such as aldehydes, the pollution will increase.

Electric vehicles are attractive from both energy and environmental points of view and substantial development programmes are devoted to high energy density batteries which are expected to increase the range and market for this alternative.

The scope of this paper is to compare the overall atmospheric pollution for electric vehicles with the corresponding figures for internal combustion engined (ICE) vehicles using either gasoline or such alternatives as methanol and liquid petroleum gas.

It is shown that the total atmospheric emission for electric vehicles, including what is produced from the power plant, would on a per mile basis be 20% of the comparative figure for an ICE vehicle meeting Californian legislation, which is among the most stringent in the world. For ground emission, which is the most important parameter regarding influence on man and environment the corresponding figure will be substantially lower. Also, the noise level for electric vehicles is radically lower than for cars with internal combustion engines.     

Assessing the cost-optimal mileage of medium-duty electric vehicles with a numeric simulation approach

Electric freight vehicles have the potential to mitigate local urban road freight transport emissions, but their numbers are still insignificant. Logistics companies often consider electric vehicles as too costly compared to vehicles powered by combustion engines. Research within the body of the current literature suggests that increasing the driven mileage can enhance the competitiveness of electric freight vehicles. In this paper we develop a numeric simulation approach to analyze the cost-optimal balance between a high utilization of medium-duty electric vehicles – which often have low operational costs – and the common requirement that their batteries will need expensive replacements. Our work relies on empirical findings of the real-world energy consumption from a large German field test with medium-duty electric vehicles. Our results suggest that increasing the range to the technical maximum by intermediate (quick) charging and multi-shift usage is not the most cost-efficient strategy in every case. A low daily mileage is more cost-efficient at high energy prices or consumptions, relative to diesel prices or consumptions, or if the battery is not safeguarded by a long warranty. In practical applications our model may help companies to choose the most suitable electric vehicle for the application purpose or the optimal trip length from a given set of options. For policymakers, our analysis provides insights on the relevant parameters that may either reduce the cost gap at lower daily mileages, or increase the utilization of medium-duty electric vehicles, in order to abate the negative impact of urban road freight transport on the environment.     

A hybrid controller for autonomous vehicles driving on automated highways

This paper addresses the problem of the hybrid control of autonomous vehicles driving on automated highways. Vehicles are autonomous, so they do not communicate with each other nor with the infrastructure. Two problems have to be dealt with: a vehicle driving in a single-lane highway must never collide with its leading vehicle; and a vehicle entering the highway at a designated entry junction must be able to merge from the merging lane to the main lane, again without any collision. To solve these problems, we equip each vehicle with a hybrid controller, consisting of several continuous control laws embedded inside a finite state automaton. The automaton specifies when a given vehicle must enter the highway, merge into the main lane, yield to other vehicles, exit from the highway, and so on. The continuous control laws specify what acceleration the vehicle must have in order to avoid collisions with nearby vehicles. By carefully designing these control laws and the conditions guarding the automaton transitions, we are able to demonstrate three important results. First, we state the initial conditions guaranteeing that a following vehicle never collides with its leading vehicle. Second, we extend this first result to a lane of autonomous vehicles. Third, we prove that if all the vehicles are equipped with our hybrid controller, then no collision can ever occur, and all vehicles either merge successfully or are forced to drop out when they reach the end of their merging lane. Finally, we show the outcome of a highway microsimulation modelled after the Katy Corridor near Houston, Texas: our single-lane highway can accommodate 4000 vehicles per hour with neither drop-outs nor traffic congestion. It is entirely programmed in SHIFT, a hybrid systems simulation language developed at UC Berkeley by the PATH group. This shows that SHIFT is a well suited language for designing safe control laws for autonomous highway systems, among others.     

Electric vehicles: How much range is required for a day’s driving?

One full year of high-resolution driving data from 484 instrumented gasoline vehicles in the US is used to analyze daily driving patterns, and from those infer the range requirements of electric vehicles (EVs). We conservatively assume that EV drivers would not change their current gasoline-fueled driving patterns and that they would charge only once daily, typically at home overnight. Next, the market is segmented into those drivers for whom a limited-range vehicle would meet every day’s range need, and those who could meet their daily range need only if they make adaptations on some days. Adaptations, for example, could mean they have to either recharge during the day, borrow a liquid-fueled vehicle, or save some errands for the subsequent day. From this analysis, with the stated assumptions, we infer the potential market share for limited-range vehicles. For example, we find that 9% of the vehicles in the sample never exceeded 100 miles in one day, and 21% never exceeded 150 miles in one day. These drivers presumably could substitute a limited-range vehicle, like electric vehicles now on the market, for their current gasoline vehicle without any adaptation in their driving at all. For drivers who are willing to make adaptations on 2 days a year, the same 100 mile range EV would meet the needs of 17% of drivers, and if they are willing to adapt every other month (six times a year), it would work for 32% of drivers. Thus, it appears that even modest electric vehicles with today’s limited battery range, if marketed correctly to segments with appropriate driving behavior, comprise a large enough market for substantial vehicle sales. An additional analysis examines driving versus parking by time of day. On the average weekday at 5 pm, only 15% of the vehicles in the sample are on the road; at no time during the year are fewer than 75% of vehicles parked. Also, because the return trip home is widely spread in time, even if all cars plug in and begin charging immediately when they arrive home and park, the increased demand on the electric system is less problematic than prior analyses have suggested.     

Comparisons of the environmental footprint of heavy vehicles in the UK and Switzerland

The European Union project Eureka Logchain Footprint is an ongoing project to identify road and rail vehicles by means of their environmental footprint as characterised by dynamic load, noise, ground borne vibrations and gaseous emissions induced by the vehicle. Part of the project involves the installation of road and rail footprint monitoring stations throughout Europe. This paper presents results of the road stations in Switzerland and the UK. Individual vehicle data from weigh-in-motion and noise are compared. The results indicate that a significant number of vehicles surpass the limits set in both countries. It was shown that the UK sites are generating higher noise levels than their Swiss counterparts; in part due to the much coarser aggregate embedded in the running course of the pavement employed in the UK. Such data can be used to create an incentive for vehicle types with a low footprint and a penalty for vehicles with a large footprint.     

Network equilibrium models with battery electric vehicles

The limited driving ranges, the scarcity of recharging stations and potentially long battery recharging or swapping time inevitably affect route choices of drivers of battery electric vehicles (BEVs). When traveling between their origins and destinations, this paper assumes that BEV drivers select routes and decide battery recharging plans to minimize their trip times or costs while making sure to complete their trips without running out of charge. With different considerations of flow dependency of energy consumption of BEVs and recharging time, three mathematical models are formulated to describe the resulting network equilibrium flow distributions on regional or metropolitan road networks. Solution algorithms are proposed to solve these models efficiently. Numerical examples are presented to demonstrate the models and solution algorithms.