Improved vehicle classification from dual-loop detectors in congested traffic

Vehicle classification is an important traffic parameter for transportation planning and infrastructure management. Length-based vehicle classification from dual loop detectors is among the lowest cost technologies commonly used for collecting these data. Like many vehicle classification technologies, the dual loop approach works well in free flow traffic. Effective vehicle lengths are measured from the quotient of the detector dwell time and vehicle traversal time between the paired loops. This approach implicitly assumes that vehicle acceleration is negligible, but unfortunately at low speeds this assumption is invalid and length-based classification performance degrades in congestion.To addresses this problem, we seek a solution that relies strictly on the measured effective vehicle length and measured speed. We analytically evaluate the feasible range of true effective vehicle lengths that could underlie a given combination of measured effective vehicle length, measured speed, and unobserved acceleration at a dual loop detector. From this analysis we find that there are small uncertainty zones where the measured length class can differ from the true length class, depending on the unobserved acceleration. In other words, a given combination of measured speed and measured effective vehicle length falling in the uncertainty zones could arise from vehicles with different true length classes. Outside of the uncertainty zones, any error in the measured effective vehicle length due to acceleration will not lead to an error in the measured length class. Thus, by mapping these uncertainty zones, most vehicles can be accurately sorted to a single length class, while the few vehicles that fall within the uncertainty zones are assigned to two or more classes. We find that these uncertainty zones remain small down to about 10 mph and then grow exponentially as speeds drop further.Using empirical data from stop-and-go traffic at a well-tuned loop detector station the best conventional approach does surprisingly well; however, our new approach does even better, reducing the classification error rate due to acceleration by at least a factor of four relative to the best conventional method. Meanwhile, our approach still assigns over 98% of the vehicles to a single class.     

A virtual vehicle probe model for time-dependent travel time estimation on signalized arterials

Estimation of time-dependent arterial travel time is a challenging task because of the interrupted nature of urban traffic flows. Many research efforts have been devoted to this topic, but their successes are limited and most of them can only be used for offline purposes due to the limited availability of traffic data from signalized intersections. In this paper, we describe a real-time arterial data collection and archival system developed at the University of Minnesota, followed by an innovative algorithm for time-dependent arterial travel time estimation using the archived traffic data. The data collection system simultaneously collects high-resolution “event-based” traffic data including every vehicle actuations over loop detector and every signal phase changes from multiple intersections. Using the “event-based” data, we estimate time-dependent travel time along an arterial by tracing a virtual probe vehicle. At each time step, the virtual probe has three possible maneuvers: acceleration, deceleration and no-speed-change. The maneuver decision is determined by its own status and surrounding traffic conditions, which can be estimated based on the availability of traffic data at intersections. An interesting property of the proposed model is that travel time estimation errors can be self-corrected, because the trajectory differences between a virtual probe vehicle and a real one can be reduced when both vehicles meet a red signal phase and/or a vehicle queue. Field studies at a 11-intersection arterial corridor along France Avenue in Minneapolis, MN, demonstrate that the proposed model can generate accurate time-dependent travel times under various traffic conditions.     

Recursive estimation of average vehicle time headway using single inductive loop detector data

Vehicle time headway is an important traffic parameter. It affects roadway safety, capacity, and level of service. Single inductive loop detectors are widely deployed in road networks, supplying a wealth of information on the current status of traffic flow. In this paper, we perform Bayesian analysis to online estimate average vehicle time headway using the data collected from a single inductive loop detector. We consider three different scenarios, i.e. light, congested, and disturbed traffic conditions, and have developed a set of unified recursive estimation equations that can be applied to all three scenarios. The computational overhead of updating the estimate is kept to a minimum. The developed recursive method provides an efficient way for the online monitoring of roadway safety and level of service. The method is illustrated using a simulation study and real traffic data.     

Vehicle reidentification and travel time measurement on congested freeways

The paper presents an algorithm for matching individual vehicles measured at a freeway detector with the vehicles’ corresponding measurements taken earlier at another detector located upstream. Although this algorithm is potentially compatible with many vehicle detector technologies, the paper illustrates the method using existing dual-loop detectors to measure vehicle lengths. This detector technology has seen widespread deployment for velocity measurement. Since the detectors were not developed to measure vehicle length, these measurements can include significant errors. To overcome this problem, the algorithm exploits drivers’ tendencies to retain their positions within dense platoons. The otherwise complicated task of vehicle reidentification is carried out by matching these platoons rather than individual vehicles. Of course once a vehicle has been matched across neighboring detector stations, the difference in its arrival time at each station defines the vehicle’s travel time on the intervening segment.Findings from an application of the algorithm over a 1/3 mile long segment are presented herein and they indicate that a sufficient number of vehicles can be matched for the purpose of traffic surveillance. As such, the algorithm extracts travel time data without requiring the deployment of new detector technologies. In addition to the immediate impacts on traffic monitoring, the work provides a means to quantify the potential benefits of emerging detector technologies that promise to extract more detailed information from individual vehicles.     

Coordinated platooning with multiple speeds

In a platoon, vehicles travel one after another with small intervehicle distances; trailing vehicles in a platoon save fuel because they experience less aerodynamic drag. This work presents a coordinated platooning model with multiple speed options that integrates scheduling, routing, speed selection, and platoon formation/dissolution in a mixed-integer linear program that minimizes the total fuel consumed by a set of vehicles while traveling between their respective origins and destinations. The performance of this model is numerically tested on a grid network and the Chicago-area highway network. We find that the fuel-savings factor of a multivehicle system significantly depends on the time each vehicle is allowed to stay in the network; this time affects vehicles’ available speed choices, possible routes, and the amount of time for coordinating platoon formation. For problem instances with a large number of vehicles, we propose and test a heuristic decomposed approach that applies a clustering algorithm to partition the set of vehicles and then routes each group separately. When the set of vehicles is large and the available computational time is small, the decomposed approach finds significantly better solutions than does the full model.     

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

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

Vehicle reidentification and travel time measurement across freeway junctions using the existing detector infrastructure

Conventional vehicle detectors are capable of monitoring discrete points along the freeway but do not provide information about conditions on the link between detectors. Knowledge of conditions on the link is useful to operating agencies for enabling timely decisions in response to various delay causing events and hence to reduce the resulting congestion of the freeway system. This paper presents an approach that matches vehicle measurements between detector stations to provide information on the conditions over the link between the detectors rather than relying strictly on the aggregate point measurements from the detectors. In particular this work reidentifies measurements from distinct vehicles using the existing loop detector infrastructure. Here the distinct vehicles are the long vehicles, but depending on the vehicle population or type of detector used, one might chose to use some other reproducible feature.This new methodology represents an important advancement over preceding loop based vehicle reidentification, as illustrated herein, it enables vehicle reidentification across a major diverge and a major merge. The examples include a case where the reidentification algorithm responded to delay between two detector stations an hour before the delay was locally observable at either of the stations used for reidentification. While previous loop based reidentification work was limited to dual loop detectors, the present effort also extends the methodology to single loop detectors; thereby making it more widely applicable. Although the research uses loop detector data, the algorithm would be equally applicable to data obtained from many other traffic detectors that provide reproducible vehicle features.     

Eco-driving advisory strategies for a platoon of mixed gasoline and electric vehicles in a connected vehicle system

As electric vehicles (EVs) have gained an increasing market penetration rate, the traffic on urban roads will tend to be a mix of traditional gasoline vehicles (GVs) and EVs. These two types of vehicles have different energy consumption characteristics, especially the high energy efficiency and energy recuperation system of EVs. When GVs and EVs form a platoon that is recognized as an energy-friendly traffic pattern, it is critical to holistically consider the energy consumption characteristics of all vehicles to maximize the energy efficiency benefit of platooning. To tackle this issue, this paper develops an optimal control model as a foundation to provide eco-driving suggestions to the mixed-traffic platoon. The proposed model leverages the promising connected vehicle technology assuming that the speed advisory system can obtain the information on the characteristics of all platoon vehicles. To enhance the model applicability, the study proposes two eco-driving advisory strategies based on the developed optimal control model. One strategy provides the lead vehicle an acceleration profile, while the other provides a set of targeted cruising speeds. The acceleration-based eco-driving advisory strategy is suitable for platoons with an automated leader, and the speed-based advisory strategy is more friendly for platoons with a human-operated leader. Results of numerical experiments demonstrate the significance when the eco-driving advisory system holistically considers energy consumption characteristics of platoon vehicles.     

Stochastic eco-routing in a signalized traffic network

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

Platooning on two-lane two-way highways: An empirical investigation

This paper presents an empirical investigation into platooning on two-lane two-way highways. The main objective is to better understand this phenomenon that has important implications on traffic performance and safety. Field data from three study sites in the state of Montana were used in this study. Separate investigations were performed to examine the relationships among platoon-related variables, namely; time headway, travel speed, and platoon size. The study confirmed that interaction between successive vehicles in the traffic stream generally diminishes beyond a time headway threshold value that fell in the range of 5–7 seconds. Also, the study revealed that very short headways (less than one second) are more associated with aggressive driving and higher speeds than with slow-moving platoons due to lack of passing opportunities. Further, the study found that amount of impedance to traffic is proportional to the size of platoon as evidenced by the relative difference between mean speed of various size platoons and the mean speed of unimpeded vehicles. The study provided other valuable insights into the platooning phenomenon on two-lane highways that are essential in developing a better understanding of traffic operation on two-lane highways.     

A data fusion approach for real-time traffic state estimation in urban signalized links

Real-time estimation of the traffic state in urban signalized links is valuable information for modern traffic control and management. In recent years, with the development of in-vehicle and communication technologies, connected vehicle data has been increasingly used in literature and practice. In this work, a novel data fusion approach is proposed for the high-resolution (second-by-second) estimation of queue length, vehicle accumulation, and outflow in urban signalized links. Required data includes input flow from a fixed detector at the upstream end of the link as well as location and speed of the connected vehicles. A probability-based approach is derived to compensate the error associated with low penetration rates while estimating the queue tail location, which renders the proposed methodology more robust to varying penetration rates of connected vehicles. A well-defined nonlinear function based on traffic flow theory is developed to attain the number of vehicles inside the queue based on queue tail location and average speed of connected vehicles. The overall scheme is thoroughly tested and demonstrated in a realistic microscopic simulation environment for three types of links with different penetration rates of connected vehicles. In order to test the efficiency of the proposed methodology in case that data are available at higher sampling times, the estimation procedure is also demonstrated for different time resolutions. The results demonstrate the efficiency and accuracy of the approach for high-resolution estimation, even in the presence of measurement noise.     

Mobility and environment improvement of signalized networks through Vehicle-to-Infrastructure (V2I) communications

Traffic signals, even though crucial for safe operations of busy intersections, are one of the leading causes of travel delays in urban settings, as well as the reason why billions of gallons of fuel are burned, and tons of toxic pollutants released to the atmosphere each year by idling engines. Recent advances in cellular networks and dedicated short-range communications make Vehicle-to-Infrastructure (V2I) communications a reality, as individual cars and traffic signals can now be equipped with communication and computing devices. In this paper, we first presented an integrated simulator with V2I, a car-following model and an emission model to simulate the behavior of vehicles at signalized intersections and calculate travel delays in queues, vehicle emissions, and fuel consumption. We then present a hierarchical green driving strategy based on feedback control to smooth stop-and-go traffic in signalized networks, where signals can disseminate traffic signal information and loop detector data to connected vehicles through V2I communications. In this strategy, the control variable is an individual advisory speed limit for each equipped vehicle, which is calculated from its location, signal settings, and traffic conditions. Finally, we quantify the mobility and environment improvements of the green driving strategy with respect to market penetration rates of equipped vehicles, traffic conditions, communication characteristics, location accuracy, and the car-following model itself, both in isolated and non-isolated intersections. In particular, we demonstrate savings of around 15% in travel delays and around 8% in fuel consumption and greenhouse gas emissions. Different from many existing ecodriving strategies in signalized road networks, where vehicles’ speed profiles are totally controlled, our strategy is hierarchical, since only the speed limit is provided, and vehicles still have to follow their leaders. Such a strategy is crucial for maintaining safety with mixed vehicles.     

A conceptualization of vehicle platoons and platoon operations

Vehicle platooning, a coordinated movement strategy, has been proposed to address a range of current transport challenges such as traffic congestion, road safety, energy consumption and pollution. But in order to form platoons in an ad-hoc manner the vehicles have to ‘speak the same language’, which is in current practice limited to vehicles of particular manufacturers. There is no standard language yet. Also in research, while the current literature focuses on platoon control strategies, intra-platoon communication, or platooning impacts on traffic, the conceptualization of platooning objects and their operations remained unattended. This paper aims to fill this fundamental gap by developing a formal model of platooning concepts. The paper proposes an ontological model of platooning objects and properties and abstract basic building blocks of platoon operations that can then be aggregated to complex platooning behavior. The presented ontological model provides the logical reasoning to support vital decision-making during platoon lifecycles. The ontological model is implemented and demonstrated.     

Using high-resolution event-based data for traffic modeling and control: An overview

Research on using high-resolution event-based data for traffic modeling and control is still at early stage. In this paper, we provide a comprehensive overview on what has been achieved and also think ahead on what can be achieved in the future. It is our opinion that using high-resolution event data, instead of conventional aggregate data, could bring significant improvements to current research and practices in traffic engineering. Event data records the times when a vehicle arrives at and departs from a vehicle detector. From that, individual vehicle’s on-detector-time and time gap between two consecutive vehicles can be derived. Such detailed information is of great importance for traffic modeling and control. As reviewed in this paper, current research has demonstrated that event data are extremely helpful in the fields of detector error diagnosis, vehicle classification, freeway travel time estimation, arterial performance measure, signal control optimization, traffic safety, traffic flow theory, and environmental studies. In addition, the cost of event data collection is low compared to other data collection techniques since event data can be directly collected from existing controller cabinet without any changes on the infrastructure, and can be continuously collected in 24/7 mode. This brings many research opportunities as suggested in the paper.     

A real-time adaptive signal control in a connected vehicle environment

The state of the practice traffic signal control strategies mainly rely on infrastructure based vehicle detector data as the input for the control logic. The infrastructure based detectors are generally point detectors which cannot directly provide measurement of vehicle location and speed. With the advances in wireless communication technology, vehicles are able to communicate with each other and with the infrastructure in the emerging connected vehicle system. Data collected from connected vehicles provides a much more complete picture of the traffic states near an intersection and can be utilized for signal control. This paper presents a real-time adaptive signal phase allocation algorithm using connected vehicle data. The proposed algorithm optimizes the phase sequence and duration by solving a two-level optimization problem. Two objective functions are considered: minimization of total vehicle delay and minimization of queue length. Due to the low penetration rate of the connected vehicles, an algorithm that estimates the states of unequipped vehicle based on connected vehicle data is developed to construct a complete arrival table for the phase allocation algorithm. A real-world intersection is modeled in VISSIM to validate the algorithms. Results with a variety of connected vehicle market penetration rates and demand levels are compared to well-tuned fully actuated control. In general, the proposed control algorithm outperforms actuated control by reducing total delay by as much as 16.33% in a high penetration rate case and similar delay in a low penetration rate case. Different objective functions result in different behaviors of signal timing. The minimization of total vehicle delay usually generates lower total vehicle delay, while minimization of queue length serves all phases in a more balanced way.     

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.     

Calibration of nonlinear car-following laws for traffic oscillation prediction

Frequency-domain analysis has been successfully used to (i) predict the amplification of traffic oscillations along a platoon of vehicles with nonlinear car-following laws and (ii) measure traffic oscillation properties (e.g., periodicity, magnitude) from field data. This paper proposes a new method to calibrate nonlinear car-following laws based on real-world vehicle trajectories, such that oscillation prediction (based on the calibrated car-following laws) and measurement from the same data can be compared and validated. This calibration method, for the first time, takes into account not only the driver’s car-following behavior but also the vehicle trajectory’s time-domain (e.g., location, speed) and frequency-domain properties (e.g., peak oscillation amplitude). We use Newell’s car-following model (1961) as an example and calibrate its parameters based on a penalty-based maximum likelihood estimation procedure. A series of experiments using Next Generation Simulation (NGSIM) data are conducted to illustrate the applicability and performance of the proposed approach. Results show that the calibrated car-following models are able to simultaneously reproduce observed driver behavior, time-domain trajectories, and oscillation propagation along the platoon with reasonable accuracy.     

Controlling road congestion via a low-complexity route reservation approach

This work introduces a novel route reservation architecture to manage road traffic within an urban area. The developed routing architecture decomposes the road infrastructure into slots in the spatial and temporal domains and for every vehicle, it makes the appropriate route reservations to avoid traffic congestion while minimizing the traveling time. Under this architecture, any road segment is admissible to be traversed only during time-slots when the accumulated reservations do not exceed its critical density. A road-side unit keeps track of all reservations which are subsequently used to solve the routing problem for each vehicle. Through this routing mechanism, vehicles can either be delayed at their origin or are routed through longer but non-congested routes such that their traveling time is minimized. In this work, the proposed architecture is presented and the resulting route reservation problem is mathematically formulated. Through a complexity analysis of the routing problem, it is shown that for certain cases, the problem reduces to an NP-complete problem. A heuristic solution to the problem is also proposed and is used to conduct realistic simulations across a particular region of the San Francisco area, demonstrating the promising gains of the proposed solution to alleviate traffic congestion.     

Passing Bays for Slow Moving Vehicles on Rural Two‐lane Roads

Abstract

Slow‐moving vehicles, including agricultural vehicles, on arterial highways can cause serious delays to other traffic as well as posing an extra safety risk. This paper elaborates on a small‐scale solution for these problems: the passing bay. It investigates the impacts of a passing bay on the total delay for other motorized vehicles, the number of passing manoeuvres and hindered vehicles, and the mean delay per hindered vehicle. The latter is also considered to be an indicator for traffic safety. The calculations are performed for two characteristic trips with a slow‐moving vehicle. The passing bay is an effective solution to reducing delays on arterial highways when two‐way hourly volumes exceed 600–1000 vehicles. The effects depend on the trip length and speed of the slow‐moving vehicle, and on the passing sight distance limitations of the road. A distance of 2–4?km between the passing bays seems an acceptable compromise between the reduction of delay for other motorized vehicles and the extra discomfort and delay for drivers of slow‐moving vehicles. This result also shows that passing bays are not effective in regions where slow‐moving vehicles mainly make trips shorter than this distance.