Platoon based cooperative driving model with consideration of realistic inter-vehicle communication

Recent developments of information and communication technologies (ICT) have enabled vehicles to timely communicate with each other through wireless technologies, which will form future (intelligent) traffic systems (ITS) consisting of so-called connected vehicles. Cooperative driving with the connected vehicles is regarded as a promising driving pattern to significantly improve transportation efficiency and traffic safety. Nevertheless, unreliable vehicular communications also introduce packet loss and transmission delay when vehicular kinetic information or control commands are disseminated among vehicles, which brings more challenges in the system modeling and optimization. Currently, no data has been yet available for the calibration and validation of a model for ITS, and most research has been only conducted for a theoretical point of view. Along this line, this paper focuses on the (theoretical) development of a more general (microscopic) traffic model which enables the cooperative driving behavior via a so-called inter-vehicle communication (IVC). To this end, we design a consensus-based controller for the cooperative driving system (CDS) considering (intelligent) traffic flow that consists of many platoons moving together. More specifically, the IEEE 802.11p, the de facto vehicular networking standard required to support ITS applications, is selected as the IVC protocols of the CDS, in order to investigate how the vehicular communications affect the features of intelligent traffic flow. This study essentially explores the relationship between IVC and cooperative driving, which can be exploited as the reference for the CDS optimization and design.     

Using topology and neighbor information to overcome adverse vehicle density conditions

Vehicular networks supporting cooperative driving on the road have attracted much attention due to the plethora of new possibilities they offer to modern Intelligent Transportation Systems. However, research works regarding vehicular networks usually obviate assessing their proposals in scenarios including adverse vehicle densities, i.e., density values that significantly differ from the average values, despite such densities can be quite common in real urban environments (e.g. traffic jams). In this paper, we study the effect of these hostile conditions on the performance of different schemes providing warning message dissemination. The goal of these schemes is to maximize message delivery effectiveness, something difficult to achieve in adverse density scenarios. In addition, we propose the Neighbor Store and Forward (NSF) scheme, designed to be used under low density conditions, and the Nearest Junction Located (NJL) scheme, specially developed for high density conditions. Simulation results demonstrate that our proposals are able to outperform existing warning message dissemination schemes in urban environments under adverse vehicle density conditions. In particular, NSF reduces the warning notification time in low vehicle density scenarios, while increasing up to 23.3% the percentage of informed vehicles. As for high vehicle density conditions, NJL is able to inform the same percentage of vehicles than other existing approaches, while reducing the number of messages up to 46.73%.     

Analysis of timer-based message dissemination protocols for inter-vehicle communications

Message dissemination protocols are a key component of the communication infrastructure of the Intelligent Transportation System. They have been targeted by several research and standardization efforts. An especially interesting class of dissemination protocols are so called timer (or delay) based ones. The recently standardized GeoBroadcast service of the GeoNetworking protocol of ETSI falls into this category. This work lays out an analytical model of message coverage distance and delivery delay with timer-based dissemination protocols in a highway environment. The model is based on the assumption of (possibly non homogeneous) Poisson vehicle spatial distribution. The model results are compared with computer simulations and measured data driven experiments, including scenarios with traffic discontinuities (signalized intersections). The limits of applicability of the proposed model are assessed, showing that it provides accurate predictions with a wide range of system parameters for highway scenarios. It is also shown that one of the most popular timer-based dissemination protocols achieves the same connectivity and coverage performance of the ideal message flooding.     

Vehicular event sharing with a mobile peer-to-peer architecture

In vehicular ad hoc networks (VANETs), different types of information can be useful to drivers. Such networks are highly dynamic due to both the movements of the vehicles and the short range of the wireless communications. Thus, the information exchanges between vehicles about relevant information can only rely on short interactions. Therefore, an efficient mechanism to manage and disseminate the relevant information is required. Specifically, we present in this paper a system for data sharing in vehicular networks, which we call Vehicular Event Sharing with a mobile Peer-to-peer Architecture (VESPA). In this system, a new technique based on the concept of Encounter Probability is proposed for vehicles to share information using vehicle-to-vehicle communications. The objective is to facilitate the dissemination of information between vehicles when they meet each other, taking into account the relevance of the data to the drivers. Besides, the relevance must also be considered to inform a driver about the interesting events. Moreover, our proposal takes into account any type of event (e.g., available parking spaces, obstacles in the road, information relative to the coordination of vehicles in emergency situations, etc.) in the network. An experimental evaluation and the implemented prototype show the interest of the system.     

An ontological model to support communications of situation-aware vehicles

In an Intelligent Transport System (ITS) environment, the communication component is of great importance to support interactions between vehicles and roadside infrastructure. Previous studies have focused on the physical capability and capacity of the communication technologies, but the equally important development of suitable and efficient semantic content for transmission received notably less attention. Ontology is one promising approach for context modelling in ubiquitous computing environments, and in the transport domain it can be used both for context modelling and semantic contents for vehicular communications. This paper explores the development of an ontological model implementing relative geo-semantic information messages to support vehicle-to-vehicle communications. The proposed ontology model contains classes, objects, their properties/relations as well as some functions and query templates to represent and update the information of dynamic vehicles, inter-vehicle interactions and behaviour. This model was developed through a scenario enabling the evaluation of traffic conflict resolution approaches, by implementing a set of decision-making processes for intelligent vehicles. Given the scope of the proposed ontology modelling, it shows how vehicular communications can be used to update each vehicle’s context model. This work can be easily extended for more complex interactions among vehicles and the infrastructure.     

Enhanced cooperative car-following traffic model with the combination of V2V and V2I communication

Vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) communication are emerging components of intelligent transport systems (ITS) based on which vehicles can drive in a cooperative way and, hence, significantly improve traffic flow efficiency. However, due to the high vehicle mobility, the unreliable vehicular communications such as packet loss and transmission delay can impair the performance of the cooperative driving system (CDS). In addition, the downstream traffic information collected by roadside sensors in the V2I communication may introduce measurement errors, which also affect the performance of the CDS. The goal of this paper is to bridge the gap between traffic flow modelling and communication approaches in order to build up better cooperative traffic systems. To this end, we aim to develop an enhanced cooperative microscopic (car-following) traffic model considering V2V and V2I communication (or V2X for short), and investigate how vehicular communications affect the vehicle cooperative driving, especially in traffic disturbance scenarios. For these purposes, we design a novel consensus-based vehicle control algorithm for the CDS, in which not only the local traffic flow stability is guaranteed, but also the shock waves are supposed to be smoothed. The IEEE 802.11p, the defacto vehicular networking standard, is selected as the communication protocols, and the roadside sensors are deployed to collect the average speed in the targeted area as the downstream traffic reference. Specifically, the imperfections of vehicular communication as well as the measured information noise are taken into account. Numerical results show the efficiency of the proposed scheme. This paper attempts to theoretically investigate the relationship between vehicular communications and cooperative driving, which is needed for the future deployment of both connected vehicles and infrastructure (i.e. V2X).     

Vehicular Ad-Hoc Networks sampling protocols for traffic monitoring and incident detection in Intelligent Transportation Systems

Vehicular Ad-Hoc Networks (VANETs) are an emerging technology soon to be brought to everyday life. Many Intelligent Transport Systems (ITS) services that are nowadays performed with expensive infrastructure, like reliable traffic monitoring and car accident detection, can be enhanced and even entirely provided through this technology. In this paper, we propose and assess how to use VANETs for collecting vehicular traffic measurements. We provide two VANET sampling protocols, named SAME and TOME, and we design and implement an application for one of them, to perform real time incident detection. The proposed framework is validated through simulations of both vehicular micro-mobility and communications on the 68 km highway that surrounds Rome, Italy. Vehicular traffic is generated based on a large real GPS traces set measured on the same highway, involving about ten thousand vehicles over many days. We show that the sampling monitoring protocol, SAME, collects data in few seconds with relative errors less than 10%, whereas the exhaustive protocol TOME allows almost fully accurate estimates within few tens of seconds. We also investigate the effect of a limited deployment of the VANET technology on board of vehicles. Both traffic monitoring and incident detection are shown to still be feasible with just 50% of equipped vehicles.     

Infrastructure assisted adaptive driving to stabilise heterogeneous vehicle strings

Literature has shown potentials of Connected/Cooperative Automated Vehicles (CAVs) in improving highway operations, especially on roadway capacity and flow stability. However, benefits were also shown to be negligible at low market penetration rates. This work develops a novel adaptive driving strategy for CAVs to stabilise heterogeneous vehicle strings by controlling one CAV under vehicle-to-infrastructure (V2I) communications. Assumed is a roadside system with V2I communications, which receives control parameters of the CAV in the string and estimates parameters imperfectly of non-connected automated vehicles. It determines the adaptive control parameters (e.g. desired time gap and feedback gains) of the CAV if a downstream disturbance is identified and sends them to the CAV. The CAV changes its behaviour based on the adaptive parameters commanded by the roadside system to suppress the disturbance.The proposed adaptive driving strategy is based on string stability analysis of heterogeneous vehicle strings. To this end, linearised vehicle dynamics model and control law are used in the controller parametrisation and Laplace transform of the speed and gap error dynamics in time domain to frequency domain enables the determination of sufficient string stability criteria of heterogeneous strings. The analytical string stability conditions give new insights into automated vehicular string stability properties in relation to the system properties of time delays and controller design parameters of feedback gains and desired time gap. It further allows the quantification of a stability margin, which is subsequently used to adapt the feedback control gains and desired time gap of the CAV to suppress the amplification of gap and speed errors through the string.Analytical results are verified via systematic simulation of both homogeneous and heterogeneous strings. Simulation demonstrates the predictive power of the analytical string stability conditions. The performance of the adaptive driving strategy under V2I cooperation is tested in simulation. Results show that even the estimation of control parameters of non-connected automated vehicles are imperfect and there is mismatch between the model used in analytical derivation and that in simulation, the proposed adaptive driving strategy suppresses disturbances in a wide range of situations.     

Intelligent freight-transportation systems: Assessment and the contribution of operations research

While it is certainly too early to make a definitive assessment of the effectiveness of Intelligent Transportation Systems (ITS), it is not to take stock of what has been achieved and to think about what could be achieved in the near future. In our opinion, ITS developments have been up to now largely hardware-driven and have led to the introduction of many sophisticated technologies in the transportation arena, while the development of the software component of ITS, models and decision-support systems in particular, is lagging behind. To reach the full potential of ITS, one must thus address the challenge of making the most intelligent usage possible of the hardware that is being deployed and the huge wealth of data it provides. We believe that transportation planning and management disciplines, operations research in particular, have a key role to play with respect to this challenge. The paper focuses on Freight ITS: Commercial Vehicle Operations and Advanced Fleet Management Systems, City Logistics, and electronic business. The paper reviews main issues, technological challenges, and achievements, and illustrates how the introduction of better operations research-based decision-support software could very significantly improve the ultimate performance of Freight ITS.     

Locating fixed roadside units in a bus transport network for maximum communications probability

A key issue in solving the difficult bus-bunching problem is being able to have reliable information about the location of the buses in the network. Most advanced public transport systems have buses with GPS devices, but the problem remains of how to send reliable information from the buses to the control unit, particularly when the density of buses is low, but there are high communications reliability requirements. As a solution, we study locating roadside units (RSUs) along the route. The buses, together with the RSUs, form a linear vehicular ad-hoc network (VANET). The RSUs are deployed so to maximize the probability of a vehicle communicating with an RSU in at most two hops. Previous studies on RSU location never took into account two hops, a conceptually different type of network. Rather, they consider that a vehicle is able to communicate only directly to an RSU (one hop), which is a well-known Maximum Covering Problem, in which one of the parties is always immobile, similar to a mobile phone network. Oppositely, our method solves the problem in which two of the intervening parties are mobile and communicate with each other, not possible to solve as a Maximum Covering Problem. We estimate the probability of a vehicle accessing successfully an RSU either directly or through the relay of another vehicle. This probability is later embedded in an integer programming formulation that optimizes the RSU locations for maximum communications likelihood.Numerical examples show that the connection probability is strongly dependent on the coverage ratio of the transmitters and receivers and relatively independent on the vehicle density on the network, when densities are low. Results also show that it is possible to find some cost-efficient solutions which result in a smaller number of RSUs located while assuring a connection probability of 0.9 or higher.     

Objectives,Methods and Results of Surveys Carried out in the Field of Urban Freight Transport: An International Comparison

In industrialized countries, the number of studies and surveys in the field of urban goods movement (UGM) has increased considerably over recent years. This paper compares the objectives, methods and results in this sector and focuses on nine industrialized countries of Europe, America and Asia. This non‐extensive review shows that in spite of different framework methods and models, similar trends emerge at the economic and environmental levels. It is necessary to take into account urban logistics in the broadest meaning of the term. Cooperative action seems to bear fruit providing that information and dialogue take place in the long‐term with all the operators involved. The development of intelligent transport systems (ITS) and better management of urban facilities may improve these attempts. We present our viewpoint in order to shed light on research oriented towards the sustainable management of urban logistics.     

Adaptive data dissemination for time-constrained messages in dynamic vehicular networks

With the advent of emerging wireless communication technologies, tremendous efforts have been put on promoting the safety and efficiency of transportation services by developing innovative applications. In particular, there has been significant interest in accessing information stored at RSUs (Roadside Units). The unique characteristics in vehicular networks, such as dynamic traffic factors including vehicle arrival rate, dwell time and data access patterns, bring us new challenges on data dissemination. This work dedicates to the investigation of timely and adaptive data dissemination in the dynamically changing traffic environment. Firstly, we derive an analytical model to explore and examine the effects of the dynamic traffic factors. In light of the theoretical results, an on-line scheduling algorithm is proposed for adaptive data dissemination. Finally, we evaluate performance of the new algorithm in a variety of circumstances. The simulation results demonstrate satisfactory performance of the proposed algorithm.     

The use of space availability information in “PARC” systems to reduce search times in parking facilities

Two different ways to manage availability information in parking facilities were evaluated in this article. First, in level 4 PARC systems (Parking Access and Revenue Control), when occupancy percentages for all garage levels are above 90% and 95%, the information on variable message sign (VMS) panel will indicate that there are no free spaces – censoring information. In this article, zoning is understood as the second information management tool; it consists of placing vehicle detection systems at intermediary points around the facility in such a way as to separate it into internal zones. It is a variation applicable to facilities with level 2 PARC systems, such as those in shopping centres, where a modification of the vehicle counting algorithm in the main program of the PARC system allows the determination of the number of free spaces in specific zones within the parking facility. According to the simulations that were carried out after testing an existing choice model, level 4 PARC systems are sufficiently effective in small facilities; the option of preparing “false” information when 5 or 10 free spaces are left on a garage level in order to influence user decisions has few practical repercussions. However, the separation into internal zones proposed for level 2 PARC systems shows a 16.2% reduction in search time.     

Instantaneous emissions models set in GIS for the TRANSIMS outputs

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

Optimal placement of omnidirectional sensors in a transportation network for effective emergency response and crash characterization

Rapid motor vehicle crash detection and characterization is possible through the use of Intelligent Transportation Systems (ITS) and sensors are an integral part of any ITS system. The major focus of this paper is on developing optimal placement of accident detecting omnidirectional sensors to maximize incident detection capabilities and provide ample opportunities for data fusion and crash characterization. Both omnidirectional sensors (placed in suitable infrastructure locations) and mobile sensors are part of our analysis. The surrogates used are acoustic sensors (omnidirectional) and Advanced Automated Crash Notification (AACN) sensors (mobile). This data fusion rich placement is achieved through a hybrid optimization model comprising of an explicit–implicit coverage model followed by an evaluation and local search optimization using simulation. The compound explicit–implicit model delivers good initial solutions and improves the detection and data fusion capabilities compared to the explicit model alone. The results of the studies conducted quantify the use of a data fusion capable environment in crash detection scenarios, and the simulation tool developed helps a decision maker evaluate sensor placement strategy.     

How to assess the benefits of connected vehicles? A simulation framework for the design of cooperative traffic management strategies

Advances in Information and Communication Technologies (ICT) allow the transportation community to foresee dramatic improvements for the incoming years in terms of a more efficient, environmental friendly and safe traffic management. In that context, new ITS paradigms like Cooperative Systems (C-ITS) enable an efficient traffic state estimation and traffic control. C-ITS refers to three levels of cooperation between vehicles and infrastructure: (i) equipped vehicles with Advanced Driver Assistance Systems (ADAS) adjusting their motion to surrounding traffic conditions; (ii) information exchange with the infrastructure; (iii) vehicle-to-vehicle communication. Therefore, C-ITS makes it possible to go a step further in providing real time information and tailored control strategies to specific drivers. As a response to an expected increasing penetration rate of these systems, traffic managers and researchers have to come up with new methodologies that override the classic methods of traffic modeling and control. In this paper, we discuss some potentialities of C-ITS for traffic management with the methodological issues following the expansion of such systems. Cooperative traffic models are introduced into an open-source traffic simulator. The resulting simulation framework is robust and able to assess potential benefits of cooperative traffic control strategies in different traffic configurations.     

Current map-matching algorithms for transport applications: State-of-the art and future research directions

Map-matching algorithms integrate positioning data with spatial road network data (roadway centrelines) to identify the correct link on which a vehicle is travelling and to determine the location of a vehicle on a link. A map-matching algorithm could be used as a key component to improve the performance of systems that support the navigation function of intelligent transport systems (ITS). The required horizontal positioning accuracy of such ITS applications is in the range of 1 m to 40 m (95%) with relatively stringent requirements placed on integrity (quality), continuity and system availability. A number of map-matching algorithms have been developed by researchers around the world using different techniques such as topological analysis of spatial road network data, probabilistic theory, Kalman filter, fuzzy logic, and belief theory. The performances of these algorithms have improved over the years due to the application of advanced techniques in the map matching processes and improvements in the quality of both positioning and spatial road network data. However, these algorithms are not always capable of supporting ITS applications with high required navigation performance, especially in difficult and complex environments such as dense urban areas. This suggests that research should be directed at identifying any constraints and limitations of existing map matching algorithms as a prerequisite for the formulation of algorithm improvements. The objectives of this paper are thus to uncover the constraints and limitations by an in-depth literature review and to recommend ideas to address them. This paper also highlights the potential impacts of the forthcoming European Galileo system and the European Geostationary Overlay Service (EGNOS) on the performance of map matching algorithms. Although not addressed in detail, the paper also presents some ideas for monitoring the integrity of map-matching algorithms. The map-matching algorithms considered in this paper are generic and do not assume knowledge of ‘future’ information (i.e. based on either cost or time). Clearly, such data would result in relatively simple map-matching algorithms.     

Adaptive scheduling for real-time and temporal information services in vehicular networks

Vehicular networks represent a research area of significant importance in improving the safety, efficiency and sustainability of transportation systems. One of the key research problems in vehicular networks is real-time data dissemination, which is crucial to the satisfactory performance of many emergent applications providing real-time information services in vehicular networks. Specifically, the two issues need to be addressed in this problem are maintenance of temporal data freshness and timely dissemination of data. Most existing works only considered periodical data update via backbone wired networks in maintaining temporal data freshness. However, many applications rely on passing vehicles to upload their collected information via wireless network, which imposes new challenges as the uplink data update will have to compete with the downlink data dissemination for the limited wireless bandwidth. With such observations, we propose a temporal information service system, in which vehicles are able to collect up-to-date temporal information and upload them to the roadside units (RSU) along their trajectories. Meanwhile, RSU can disseminate its available data items to vehicles based on their specific requests. Particularly, in this paper, we first quantitatively analyze the freshness of temporal data and propose a mathematical model to evaluate the usefulness of the temporal data. Next, we give the formulation of the proposed real-time and temporal information service (RTIS) problem, and prove the NP-hardness of this problem by constructing a polynomial-time reduction from 0–1 knapsack problem. Subsequently, we establish a probabilistic model to theoretically analyze the tradeoff between timely temporal data update and requested data dissemination sharing a common communication resource, which provides a deeper insight of the proposed RTIS. Further, a heuristic algorithm, namely adaptive update request scheduling (AURS), is designed to enhance the efficacy of RTIS by synthesizing the broadcast effect, the real-time service requirement and the service quality in making scheduling decisions. The computational complexity and scalability analysis of AURS is also discussed. Last but not least, a simulation model is implemented and a comprehensive performance evaluation has been carried out to demonstrate the superiority of ARUS against several state-of-the-art approaches in a variety of application scenarios.     

An agent-based multimodal simulation model for capacity planning of a cross-border transit facility

Cross-border transit facilities constitute major public investment, and thus must serve the long-term needs of the communities, such as providing access to schools and businesses, contributing to a shared regional culture and lifestyle, fostering international trade, and supporting jobs for the region’s residents. Numerous studies have been conducted to evaluate the economic implications of vehicular flow delays at border crossings, however none of the studies focused on assessing cross-border flow of bus passengers and pedestrians. Since pedestrians are considered to be autonomous, intelligent, and perceptive, it is a challenging task to predict pedestrian movement and behavior in comparison to vehicular flows which follow a specific set of traffic rules. This paper presents a multiagent based multimodal simulation model to evaluate the capacity and performance of a cross-border transit facility. The significance of this research is the use of dynamic mode choice functionality in the model, which allows an individual person to make instantaneous choices between available modes of transportation. The scope of interest of the paper is limited to simulating access interface, circulation areas, ancillary and processing facilities. The developed model was calibrated to ensure realistic performance, and validated against specific performance criteria such as throughput per processing facility. In order to demonstrate the applicability of the developed simulation model, capacity and operational planning of a pedestrian transit facility was performed. The relative performance of alternative design or configuration was evaluated using the level of service criteria. Lastly, the effectiveness of each proposed capacity or operational improvement strategy was compared to the “do-nothing” scenario.