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

ABSTRACT

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

Modeling the effects of congestion on fuel economy for advanced power train vehicles

Fuel-speed curves (FSC) are used to account for the aggregate effects of congestion on fuel consumption in transportation scenario analysis. This paper presents plausible FSC for conventional internal combustion engine (ICE) vehicles and for advanced vehicles such as hybrid electric vehicles, fully electric vehicles (EVs), and fuel cell vehicles (FCVs) using a fuel consumption model with transient driving schedules and a set of 145 hypothetical vehicles. The FSC shapes show that advanced power train vehicles are expected to maintain fuel economy (FE) in congestion better than ICE vehicles, and FE can even improve for EV and FCV in freeway congestion. In order to implement these FSC for long-range scenario modeling, a bounded approach is presented which uses a single congestion sensitivity parameter. The results in this paper will assist analysis of the roles that vehicle technology and congestion mitigation can play in reducing fuel consumption and greenhouse gas emissions from motor vehicles.     

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

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

Isolated intersection control for various levels of vehicle technology: Conventional,connected, and automated vehicles

Connected vehicle technology can be beneficial for traffic operations at intersections. The information provided by cars equipped with this technology can be used to design a more efficient signal control strategy. Moreover, it can be possible to control the trajectory of automated vehicles with a centralized controller. This paper builds on a previous signal control algorithm developed for connected vehicles in a simple, single intersection. It improves the previous work by (1) integrating three different stages of technology development; (2) developing a heuristics to switch the signal controls depending on the stage of technology; (3) increasing the computational efficiency with a branch and bound solution method; (4) incorporating trajectory design for automated vehicles; (5) using a Kalman filter to reduce the impact of measurement errors on the final solution. Three categories of vehicles are considered in this paper to represent different stages of this technology: conventional vehicles, connected but non-automated vehicles (connected vehicles), and automated vehicles. The proposed algorithm finds the optimal departure sequence to minimize the total delay based on position information. Within each departure sequence, the algorithm finds the optimal trajectory of automated vehicles that reduces total delay. The optimal departure sequence and trajectories are obtained by a branch and bound method, which shows the potential of generalizing this algorithm to a complex intersection.Simulations are conducted for different total flows, demand ratios and penetration rates of each technology stage (i.e. proportion of each category of vehicles). This algorithm is compared to an actuated signal control algorithm to evaluate its performance. The simulation results show an evident decrease in the total number of stops and delay when using the connected vehicle algorithm for the tested scenarios with information level of as low as 50%. Robustness of this algorithm to different input parameters and measurement noises are also evaluated. Results show that the algorithm is more sensitive to the arrival pattern in high flow scenarios. Results also show that the algorithm works well with the measurement noises. Finally, the results are used to develop a heuristic to switch between the different control algorithms, according to the total demand and penetration rate of each technology.     

Distributed algorithm for empty vehicles management in personal rapid transit (PRT) network

In this paper, an original heuristic algorithm of empty vehicles management in personal rapid transit network is presented. The algorithm is used for the delivery of empty vehicles for waiting passengers, for balancing the distribution of empty vehicles within the network, and for providing an empty space for vehicles approaching a station. Each of these tasks involves a decision on the trip that has to be done by a selected empty vehicle from its actual location to some determined destination. The decisions are based on a multi‐parameter function involving a set of factors and thresholds. An important feature of the algorithm is that it does not use any central database of passenger input (demand) and locations of free vehicles. Instead, it is based on the local exchange of data between stations: on their states and on the vehicles they expect. Therefore, it seems well‐tailored for a distributed implementation. The algorithm is uniform, meaning that the same basic procedure is used for multiple tasks using a task‐specific set of parameters. Copyright © 2016 John Wiley & Sons, Ltd.     

An interdisciplinary study to explore impacts from policies for the introduction of low carbon vehicles

Driven by concerns of climate change, governments across the world are introducing a number of policies to accelerate the uptake of low carbon vehicles (LCVs), with a specific focus on electric motors. However, there is uncertainty in the effectiveness of such policies and technology pathways, which are inherently interlinked. This article considers the short-term situation to 2020 and focuses on the concern that these policies may bring about some disproportionate impacts in society due to changes in mobility. An ethical framework is established that seeks to balance obligations to reduce greenhouse gas (GHG) emissions and rights to car ownership, then selected policies are modelled within this framework to assess acceptability of implementation. Although these policies are successful in introducing LCVs and reducing GHG emissions, findings also indicate uneven cost burdens and reduced affordability of car ownership. Following this, recommendations for policy amendments and model improvements are made.     

Energetic,environmental and economic performance of electric vehicles: Experimental evaluation

Fuelled by a rapidly rising human global population, an increasing demand for freedom to travel and the affordability made possible by modern manufacturing there has been an exponential rise in the number of automobiles – in the year 2013 there were in excess of a billion automobiles in use! Three factors that are of serious concern are the consequential energetic, environmental and economic impacts. One solution that is being seen by a number of national governments is the advent (or rather re-introduction) of electric vehicles (EVs). However, one of the key factors that will need to be explored will be the source of the required electricity for the EVs that will define the level of their sustainability.In this article an experimental evaluation of an electric vehicle has been undertaken. The Renault Zoe e-car has been used for this task with the ‘car chasing’ technique employed to measure the driving cycle. The speed and energy use were recorded for the vehicle that was driven along the principal arteries of the City of Edinburgh, Scotland. In a separate activity vehicle driving tests were also undertaken in one town in Slovenia (Celje). In both places urban and suburban routes were covered for different times of the day. Results are presented to quantify the energetic, environmental and economic performance indices for the driven vehicle. A discussion is also provided on the potential for reduction of carbon emissions from the transport sector by provision of environmentally-friendly means of generating electricity.     

The role of volume-delay functions in forecasting and evaluating congestion charging schemes: the Stockholm case

This paper uses observations from before and during the Stockkholm congestion charging trial in order to validate and improve a transportation model for Stockholm. The model overestimates the impact of the charges on traffic volumes while at the same time it substantially underestimates the impact on travel times. These forecast errors lead to considerable underestimation of economic benefits which are dominated by travel time savings. The source of error lies in the static assignment that is used in the model. Making the volume-delay functions (VDFs) steeper only marginally improves the quality of forecast but strongly impacts the result of benefit calculations. We therefore conclude that the dynamic assignment is crucial for an informed decision on introducing measures aimed at relieving congestion. However, in the absence of such a calibrated dynamic model for a city, we recommend that at least a sensitivity analysis with respect to the slope of VDFs is performed.     

Evaluation of a model predictive control framework for motorway traffic involving conventional and automated vehicles

A Model Predictive Control (MPC) strategy for motorway traffic management, which takes into account both conventional control measures and control actions executed by vehicles equipped with Vehicle Automation and Communication Systems (VACS), is presented and evaluated using microscopic traffic simulation. A stretch of the motorway A20, which connects Rotterdam to Gouda in the Netherlands, is taken as a realistic test bed. In order to ensure the reliability of the application results, extensive speed and flow measurements, collected from the field, are used to calibrate the site’s microscopic traffic simulation model. The efficiency of the MPC framework, applied to this real sizable and complex network under realistic traffic conditions, is examined for different traffic conditions and different penetration rates of equipped vehicles. The adequacy of the control application when only VACS equipped vehicles are used as actuators, is also considered, and the related findings underline the significance of conventional control measures during a transition period or in case of increased future demand.     

A commuting model for the analysis of the impacts of a tramway project: application to the Lens area

Road congestion is not only an issue for major European urban agglomerations, but also for smaller ones. It is also the case of the Lens urban area, where car use is much higher than the average for medium-sized urban agglomerations in France. Local authorities put forward tramway projects to deal with the strongly negative externalities of congestion: travel time losses and pollution. To analyse its medium-term impact, we have developed a commuting with congestion model, inspired by the four-step traditional model, but with data made available from an origin–destination matrix. The results are encouraging but insufficient, and it is necessary to adopt supplementary measures in order to retrieve and justify the sizeable investments needed. Some measures prove to be very efficient, such as parking fees and urban tolls. Other measures, such as the subsidization of public transport, are partially efficient since they have an impact mainly on intra-urban commutes.     

When human beings are like drunk robots: Driverless vehicles,ethics, and the future of transport

It is often argued that driverless vehicles will save lives. In this paper, we treat the ethical case for driverless vehicles seriously and show that it has radical implications for the future of transport. After briefly discussing the current state of driverless vehicle technology, we suggest that systems that rely upon human supervision are likely to be dangerous when used by ordinary people in real-world driving conditions and are unlikely to satisfy the desires of consumers. We then argue that the invention of fully autonomous vehicles that pose a lower risk to third parties than human drivers will establish a compelling case against the moral permissibility of manual driving. As long as driverless vehicles aren’t safer than human drivers, it will be unethical to sell them. Once they are safer than human drivers when it comes to risks to 3rd parties, then it should be illegal to drive them: at that point human drivers will be the moral equivalent of drunk robots. We also describe two plausible mechanisms whereby this ethical argument may generate political pressure to have it reflected in legislation. Freeing people from the necessity of driving, though, will transform the relationship people have with their cars, which will in turn open up new possibilities for the transport uses of the automobile. The ethical challenge posed by driverless vehicles for transport policy is therefore to ensure that the most socially and environmentally beneficial of these possibilities is realised. We highlight several key policy choices that will determine how likely it is that this challenge will be met.     

Public financing of private freight rail infrastructure to reduce highway congestion: A case study of public policy and decision making in the United States

As goods movement continues to increase it is expected to outpace infrastructure capacity in the United States. Moving a larger share of goods by rail rather than truck is a potentially cost effective part of a solution. Freight rail not only offers a substitute for truck trips but is a cleaner, more energy efficient, and safer alternative. Recently a number of private freight rail projects have received public funding. The public funds are aimed at increasing freight rail capacity with the goal of diverting some goods currently moved by truck to rail. While the benefits of moving goods by rail are relatively clear, it is unclear if public decision makers can effectively identify strategic rail investments that will achieve their policy goals. This study critically examines the analytical methods, models, and data that are commonly used to support decisions to provide public funds for private freight rail projects. This is accomplished through a case study of California’s Trade Corridors Improvement Fund program which provided $680 million for 11 freight rail projects. The study’s contributions include identifying critical analytical flaws and challenges affecting the benefit estimates that public funding decisions rely on. Improvements to current evaluation methods are also identified as are regulatory reforms and policy interventions that may offer more effective and reliable outcomes.     

Governing autonomous vehicles: emerging responses for safety,liability, privacy,cybersecurity, and industry risks

ABSTRACT

The benefits of autonomous vehicles (AVs) are widely acknowledged, but there are concerns about the extent of these benefits and AV risks and unintended consequences. In this article, we first examine AVs and different categories of the technological risks associated with them. We then explore strategies that can be adopted to address these risks, and explore emerging responses by governments for addressing AV risks. Our analyses reveal that, thus far, governments have in most instances avoided stringent measures in order to promote AV developments and the majority of responses are non-binding and focus on creating councils or working groups to better explore AV implications. The US has been active in introducing legislations to address issues related to privacy and cybersecurity. The UK and Germany, in particular, have enacted laws to address liability issues; other countries mostly acknowledge these issues, but have yet to implement specific strategies. To address privacy and cybersecurity risks strategies ranging from introduction or amendment of non-AV specific legislation to creating working groups have been adopted. Much less attention has been paid to issues such as environmental and employment risks, although a few governments have begun programmes to retrain workers who might be negatively affected.     

Lifecycle modeling and assessment of unmanned aerial vehicles (Drones) CO2e emissions

There are no studies that model the potential effectiveness of Unmanned Aerial Vehicles (UAVs) or drones to reduce CO₂e lifecycle (including both utilization and vehicle phase) emissions when compared to conventional diesel vans, electric trucks, electric vans, and tricycles. This study presents a novel analysis of lifecycle UAV and ground commercial vehicles CO₂e emissions. Different route and customer configurations are modeled analytically. Utilizing real-word data, tradeoffs and comparative advantages of UAVs are discussed. Breakeven points for operational emissions are obtained and the results clearly indicate that UAVs are more CO₂e efficient, for small payloads, than conventional diesel vans in a per-distance basis. Drastically different results are obtained when customers can be grouped in a delivery route. UAV deliveries are not more CO₂e efficient than tricycle or electric van delivery services if a few customers can be grouped in a route. Vehicle phase CO₂e emissions for UAVs are significant and must be taken into account. Ground vehicles are more efficient when comparing vehicles production and disposal emissions per delivery.     

The effect of attitudes on reference-dependent preferences: Estimation and validation for the case of alternative-fuel vehicles

Several recent studies in transportation have analysed how choices made by individuals are influenced by attitudes. Other studies have contributed to our understanding of apparently non-rational behaviour by examining how choices may reflect reference-dependent preferences. This paper examines how reference-dependent preferences and attitudes together may explain individual choices. In a modelling framework based on a hybrid choice model allowing for both concepts, we investigate how attitudes and reference-dependent preferences interact and how they affect willingness-to-pay measures and demand elasticities. Using a data set with stated choices among alternative-fuel vehicles, we see that allowing for reference-dependent preferences improves our ability to explain the stated choices in the data and that the attitude (appreciation of car features) explains part of the preference heterogeneity across individuals. The results indicate that individuals have reference-dependent preferences that could be explained by loss aversion and that these are indeed related to an individual’s attitude towards car features. The models are validated using a large hold-out sample. This shows that the inclusion of attitudes improves the models’ ability to explain behaviour in the hold-out sample. While neither reference-dependent preferences nor the attitude affect the average willingness-to-pay measures in our sample, their effect on choice behaviour has implications for policy recommendations as segments with varying attitudes and reference values will act differently when affected by policy instruments related to the demand for alternative-fuel vehicles, e.g. subsidies.     

The multi‐actor,multi‐criteria analysis methodology (MAMCA) for the evaluation of transport projects: Theory and practice

In this paper the multi‐actor multi‐criteria analysis (MAMCA) method to evaluate transport projects is presented. This evaluation method specifically focuses on the inclusion of qualitative as well as quantitative criteria with their relative importance, defined by the multiple stakeholders, into one comprehensive evaluation process in order to facilitate the decision making process by the different stakeholders. The MAMCA methodology is introduced by an overview of other evaluation methods for transport projects in the past and is illustrated by means of two practical cases. The introduction will lead us to the theoretical conception of the MAMCA method where we draw the attention to the proven usefulness of the MAMCA for the evaluation of transport projects and the inclusion of different kinds of stakeholders, individuals as well as groups, into the evaluation process.     

Modeling the impact of government guarantees on toll charge,road quality and capacity for Build-Operate-Transfer (BOT) road projects

Government guarantees are frequently used to attract private investors’ participation into Build-Operate-Transfer (BOT) road projects. In this paper, we investigate the impact of government guarantees on toll charge, road quality and road capacity by taking perspective of the private investor. The main results are: (1) Minimum traffic guarantee increases toll charge while decreasing road quality. Under a low guarantee level, minimum traffic guarantee has no impact on road capacity. However, it improves road capacity when a high guarantee level is performed. (2) Under minimum revenue guarantee, if the guarantee level is sufficiently high, the optimal toll charge will be sufficiently large, but road quality and road capacity will approach zero. (3) Price compensation guarantee decreases toll charge and increases both road quality and road capacity. This paper further investigates the impact of government guarantees when the contract is auctioned. We find that auction reduces the impact of government guarantees on toll charge while failing to affect the impact of government guarantees on road quality and capacity. Some policy implications are also derived from our model results.     

Expansion of a Controlled Parking Zone (CPZ) and its Influence on Modal Split: The Case of Edinburgh

Abstract

This article considers the inter-relationship between on-street parking and choice of mode for journeys to work in the Scottish city of Edinburgh. This city is typical of many in that its centre has significant on-street parking controls but, beyond a radius of 1 to 1 1/2 miles (1.5 to 2.5?km) from the centre, there are no controls and commuter parking on-street is commonplace. The article reviews the relevant literature, and then considers the results of a survey undertaken of Edinburgh city centre employees in order to ascertain their parking habits and likely response to the extension of existing on-street parking controls. The article concludes that the results are transferable to other cities but that the scale of the impacts in each will be related to site specific factors, particularly the demand for residential parking space on-street in areas close to the city centre.     

Development of the World-wide harmonized Light duty Test Cycle (WLTC) and a possible pathway for its introduction in the European legislation

This paper presents the World-wide harmonized Light duty Test Cycle (WLTC), developed under the Working Party on Pollution and Energy (GRPE) and sponsored by the European Union (with Switzerland) and Japan. India, Korea and USA have also actively contributed. The objective was to design the harmonized driving cycle from “real world” driving data in different regions around the world, combined with suitable weighting factors. To this aim, driving data and traffic statistics of light duty vehicles use were collected and analyzed as basic elements to develop the harmonized cycle. The regional driving data and weighting factors were then combined in order to develop a unified database representing the worldwide light duty vehicle driving behavior. From the unified database, short trips were selected and combined to develop a driving cycle as representative as possible of the unified database. Approximately 765,000 km of data were collected, covering a wide range of vehicle categories, road types and driving conditions. The resulting WLTC is an ensemble of three driving cycles adapted to three vehicle categories with different power-to-mass ratio (PMR). It has been designed as a harmonized cycle for the certification of light duty vehicles around the world and, together with the new harmonized test procedures (WLTP), will serve to check the compliance of vehicle pollutant emissions with respect to the applicable emissions limits and to establish the reference vehicle fuel consumption and CO₂ performance.