Dissipation of stop-and-go waves via control of autonomous vehicles: Field experiments

Traffic waves are phenomena that emerge when the vehicular density exceeds a critical threshold. Considering the presence of increasingly automated vehicles in the traffic stream, a number of research activities have focused on the influence of automated vehicles on the bulk traffic flow. In the present article, we demonstrate experimentally that intelligent control of an autonomous vehicle is able to dampen stop-and-go waves that can arise even in the absence of geometric or lane changing triggers. Precisely, our experiments on a circular track with more than 20 vehicles show that traffic waves emerge consistently, and that they can be dampened by controlling the velocity of a single vehicle in the flow. We compare metrics for velocity, braking events, and fuel economy across experiments. These experimental findings suggest a paradigm shift in traffic management: flow control will be possible via a few mobile actuators (less than 5%) long before a majority of vehicles have autonomous capabilities.     

Macroscopic modeling of lane‐changing for two‐lane traffic flow

We propose a macroscopic model of lane‐changing that is consistent with car‐following behavior on a two‐lane highway. Using linear stability theory, we find that lane‐changing affects the stable region and the propagation speeds of the first‐order and second‐order waves. In analyzing a small disturbance, our model effectively reproduces certain non‐equilibrium traffic‐flow phenomena—small disturbance instability, stop‐and‐go waves, and local clusters that are affected by lane‐changing. The model also gives the flow‐density relationships in terms of the actual flow rate, the lane‐changing rate, and the difference between the potential flow rate (the flow rate that would have occurred without lane‐changing) and the actual flow rate. The relationships between the actual flow rate and traffic density and between the lane‐changing rate and traffic density follow a reverse‐lambda shape, which is largely consistent with observed traffic phenomena.     

Ramp metering and freeway bottleneck capacity

This study aims to determine whether ramp meters increase the capacity of active freeway bottlenecks. The traffic flow characteristics at 27 active bottlenecks in the Twin Cities have been studied for seven weeks without ramp metering and seven weeks with ramp metering. A methodology for systematically identifying active freeway bottlenecks in a metropolitan area is proposed, which relies on two occupancy threshold values and is compared to an established diagnostic method – transformed cumulative count curves. A series of hypotheses regarding the relationships between ramp metering and the capacity of active bottlenecks are developed and tested against empirical traffic data. It is found that meters increase the bottleneck capacity by postponing and sometimes eliminating bottleneck activations, accommodating higher flows during the pre-queue transition period, and increasing queue discharge flow rates after breakdown. Results also suggest that flow drops after breakdown and the percentage flow drops at various bottlenecks follow a normal distribution. The implications of these findings on the design of efficient ramp control strategies, as well as future research directions, are discussed.     

Investigations of interactions between bus rapid transit and general traffic flows

Bus rapid transit (BRT) is a popular strategy to increase transit attraction because of its high‐capacity, comfortable service, and fast travel speed with the exclusive right‐of‐way. Various engineering designs of right‐of‐way and the violation enforcement influence interactions between BRT and general traffic flows. An empirical assessment framework is proposed to investigate traffic congestion and lane‐changing patterns at one typical bottleneck along a BRT corridor. The BRT bottleneck consists of bus lane, BRT station, video enforcement zone, and transit signal priority intersection. We analyze oblique cumulative vehicle counts and oblique cumulative lane‐changing maneuvers extracted from videos. The cumulative vehicle counts method widely applied in revealing queueing dynamics at freeway bottlenecks is extended to an urban BRT corridor. In the study site, we assume four lane‐changing patterns, three of which are verified by the empirical measurements. Investigations of interactions between buses and general traffic show that abnormal behaviors (such as lane violations and slow moving of the general traffic) induce 16% reduction in the saturation rate of general traffic and 17% increase in bus travel time. Further observations show that the BRT station and its induced increasing lane‐changing maneuvers increase the downstream queue discharge flows of general traffic. The empirical results also contribute to more efficient strategies of BRT planning and operations, such as alternative enforcement methods, various lane separation types, and optimized traffic operations. Copyright © 2014 John Wiley & Sons, Ltd.     

Mixed manual/semi-automated traffic: a macroscopic analysis

The use of advanced technologies and intelligence in vehicles and infrastructure could make the current highway transportation system much more efficient. Semi-automated vehicles with the capability of automatically following a vehicle in front as long as it is in the same lane and in the vicinity of the forward looking ranging sensor are expected to be deployed in the near future. Their penetration into the current manual traffic will give rise to mixed manual/semi-automated traffic. In this paper, we analyze the fundamental flow–density curve for mixed traffic using flow–density curves for 100% manual and 100% semi-automated traffic. Assuming that semi-automated vehicles use a time headway smaller than today’s manual traffic average due to the use of sensors and actuators, we have shown using the flow–density diagram that the traffic flow rate will increase in mixed traffic. We have also shown that the flow–density curve for mixed traffic is restricted between the flow–density curves for 100% manual and 100% semi-automated traffic. We have presented in a graphical way that the presence of semi-automated vehicles in mixed traffic propagates a shock wave faster than in manual traffic. We have demonstrated that the presence of semi-automated vehicles does not change the total travel time of vehicles in mixed traffic. Though we observed that with 50% semi-automated vehicles a vehicle travels 10.6% more distance than a vehicle in manual traffic for the same time horizon and starting at approximately the same position, this increase is marginal and is within the modeling error. Lastly, we have shown that when shock waves on the highway produce stop-and-go traffic, the average delay experienced by vehicles at standstill is lower in mixed traffic than in manual traffic, while the average number of vehicles at standstill remains unchanged.     

Increasing the capacity of an isolated merge by metering its on-ramp

Measurements taken downstream of freeway/on-ramp merges have previously shown that discharge flow diminishes when a merge becomes an isolated bottleneck. By means of observation and experiment, we show here that metering an on-ramp can recover the higher discharge flow at a merge and thereby increase the merge capacity. Detailed observations were collected at a single merge using video. These data revealed that the reductions in discharge flow are triggered by a queue that forms near the merge in the freeway shoulder lane and then spreads laterally, as drivers change lanes to maneuver around slow traffic. Our experiments show that once restrictive metering mitigated this shoulder lane queue, high outflows often returned to the median lane. High merge outflows could be restored in all freeway lanes by then relaxing the metering rate so that inflows from the on-ramp increased. Although outflows recovered in this fashion were not sustained for periods greater than 13 min, the findings are the first real evidence that ramp metering can favorably affect the capacity of an isolated merge. Furthermore, these findings point to control strategies that might generate higher outflows for more prolonged periods and increase merge capacity even more. Finally, the findings uncover details of merge operation that are essential for developing realistic theories of merging traffic.     

Lane-harmonised passenger car equivalents for heterogeneous expressway traffic

In order to account for variations in traffic composition during traffic analysis, passenger car equivalent (PCE) factors are used to convert flow rates of various vehicle classes into flow rates in terms of passenger car units (PCUs). Earlier studies have developed various methods to estimate PCE values but only a few of them are based on uninterrupted traffic flow, particularly for flow regimes with heterogeneous traffic where differential (lower) speed limits are imposed on commercial vehicles. This paper proposes a lane-harmonisation approach, which leverages on the high variation in traffic composition across the lanes, to estimate PCE factors for urban expressways. Multiple linear regression is used and the PCE factors obtained for motorcycles, light goods vehicles, and heavy goods vehicles are 0.65, 1.53, and 2.75, respectively. The estimated capacity flow rate after the application of the obtained PCE factors is around 2200 PCUs per hour per lane.     

A macroscopic traffic model for highway work zones: Formulations and numerical results

This study presents a multilane model for analyzing the dynamic traffic properties of a highway segment under a lane‐closure operation that often incurs complex interactions between mandatory lane‐changing vehicles and traffic at unblocked lanes. The proposed traffic flow formulations employ the hyperbolic model used in the non‐Newtonian fluid dynamics, and assume the lane‐changing intensity between neighboring lanes as a function of their difference in density. The results of extensive simulation experiments indicate that the proposed model is capable of realistically replicating the impacts of lane‐changing maneuvers from the blocked lanes on the overall traffic conditions, including the interrelations between the approaching flow density, the resulting congestion level, and the exiting flow rate from the lane‐closure zone. Our extensive experimental analyses also confirm that traffic conditions will deteriorate dramatically and evolve to the state of traffic jam if the density has exceeded its critical level that varies with the type of lane‐closure operations. This study also provides a convenient way for computing such a critical density under various lane‐closure conditions, and offers a theoretical basis for understanding the formation as well as dissipation of traffic jam.     

A dynamic traffic assignment model for the assessment of moving bottlenecks

Moving bottlenecks in highway traffic are defined as a situation in which a slow-moving vehicle, be it a truck hauling heavy equipment or an oversized vehicle, or a long convey, disrupts the continuous flow of the general traffic. The effect of moving bottlenecks on traffic flow is an important factor in the evaluation of network performance. This effect, though, cannot be assessed properly by existing transportation tools, especially when the bottleneck travels relatively long distances in the network.This paper develops a dynamic traffic assignment (DTA) model that can evaluate the effects of moving bottlenecks on network performance in terms of both travel times and traveling paths. The model assumes that the characteristics of the moving bottleneck, such as traveling path, physical dimensions, and desired speed, are predefined and, therefore, suitable for planned conveys.The DTA model is based on a mesoscopic simulation network-loading procedure with unique features that allow assessing the special dynamic characteristics of a moving bottleneck. By permitting traffic density and speed to vary along a link, the simulation can capture the queue caused by the moving bottleneck while preserving the causality principles of traffic dynamics.     

Extended bottlenecks, the fundamental relationship, and capacity drop on freeways

This paper presents evidence that the commonly used point bottleneck model is too simplistic for freeway bottlenecks, the actual mechanism appears to occur over an extended distance. We find evidence of subtle flow limiting and speed reducing phenomena more than a mile downstream of a lane drop bottleneck. These phenomena impact the fundamental relationship, FD. Close to the lane drop the free flow regime appears to come from a “parabolic” FD, but further downstream the relationship straightens to a “triangular” FD and throughput increases. We develop a theory to explain the underlying mechanisms. These insights should help resolve the decades long debate about the shape of the FD. The phenomena also provide a mechanism that may contribute to the empirically observed capacity drop often seen at bottlenecks. Although we study a lane drop, this work should be transferable to other bottlenecks where the capacity restriction persists for an extended distance, e.g., a corridor with a fixed number of lanes and an on-ramp bottleneck.     

A kinematic wave theory of lane-changing traffic flow

Frequent lane-changes in highway merging, diverging, and weaving areas could disrupt traffic flow and, even worse, lead to accidents. In this paper, we propose a simple model for studying bottleneck effects of lane-changing traffic and aggregate traffic dynamics of a roadway with lane-changing areas. Based on the observation that, when changing its lane, a vehicle affects traffic on both its current and target lanes, we propose to capture such lateral interactions by introducing a new lane-changing intensity variable. With a modified fundamental diagram, we are able to study the impacts of lane-changing traffic on overall traffic flow. In addition, the corresponding traffic dynamics can be described with a simple kinematic wave model. For a location-dependent lane-changing intensity variable, we discuss kinematic wave solutions of the Riemann problem of the new model and introduce a supply–demand method for its numerical solutions. With both theoretical and empirical analysis, we demonstrate that lane-changes could have significant bottleneck effects on overall traffic flow. In the future, we will be interested in studying lane-changing intensities for different road geometries, locations, on-ramp/off-ramp flows, as well as traffic conditions. The new modeling framework could be helpful for developing ramp-metering and other lane management strategies to mitigate the bottleneck effects of lane-changes.     

A novel traffic signal control formulation

A novel traffic signal control formulation is developed through a mixed integer programming technique. The formulation considers dynamic traffic, uses dynamic traffic demand as input, and takes advantage of a convergent numerical approximation to the hydrodynamic model of traffic flow. As inherent from the underlying hydrodynamic model, this formulation covers the whole range of the fundamental relationships between speed, flow, and density. Kinematic waves of the stop-and-go traffic associated with traffic signals are also captured. Because of this property, one does not need to tune or switch the model for the different traffic conditions. It “automatically” adjusts to the different traffic conditions. We applied the model to three demand scenarios in a simple network. The results seemed promising. This model produced timing plans that are consistent with models that work for unsaturated conditions. In gridlock conditions, it produced a timing plan that was better than conventional queue management practices.     

The smoothing effect of carpool lanes on freeway bottlenecks

Real data show that reserving a lane for carpools on congested freeways induces a smoothing effect that is characterized by significantly higher bottleneck discharge flows (capacities) in adjacent lanes. The effect is reproducible across days and freeway sites: it was observed, without exception, in all cases tested. Predicted by an earlier theory, the effect arises because disruptive vehicle lane changing diminishes in the presence of a carpool lane. We therefore conjecture that smoothing can also be induced by other means that would reduce lane changing.The benefits can be large. Queueing analysis shows that the smoothing effect greatly reduces the times spent by people and vehicles in queues. For example, by ignoring the smoothing effect at one of the sites we analyzed one would predict that its carpool lane increased both the people-hours and the vehicle-hours traveled by well over 300%. In reality, the carpool lane reduced both measures due to smoothing. The effect is so significant that even a severely underused carpool lane can in some instances increase a freeway bottleneck’s total discharge flow. This happens for the site we analyzed when carpool demand is as low as 1200 vph.     

Unravelling effects of cooperative adaptive cruise control deactivation on traffic flow characteristics at merging bottlenecks

Cooperative Adaptive Cruise Control (CACC) systems have the potential to increase roadway capacity and mitigate traffic congestion thanks to the short following distance enabled by inter-vehicle communication. However, due to limitations in acceleration and deceleration capabilities of CACC systems, deactivation and switch to ACC or human-driven mode will take place when conditions are outside the operational design domain. Given the lack of elaborate models on this interaction, existing CACC traffic flow models have not yet been able to reproduce realistic CACC vehicle behaviour and pay little attention to the influence of system deactivation on traffic flow at bottlenecks. This study aims to gain insights into the influence of CACC on highway operations at merging bottlenecks by using a realistic CACC model that captures driver-system interactions and string length limits. We conduct systematic traffic simulations for various CACC market penetration rates (MPR) to derive free-flow capacity and queue discharge rate of the merging section and compare these to the capacity of a homogeneous pipeline section. The results show that an increased CACC MPR can indeed increase the roadway capacity. However, the resulting capacity in the merging bottleneck is much lower than the pipeline capacity and capacity drop persists in bottleneck scenarios at all CACC MPR levels. It is also found that CACC increases flow heterogeneity due to the switch among different operation modes. A microscopic investigation of the CACC operational mode and trajectories reveals a close relation between CACC deactivation, traffic congestion and flow heterogeneity.     

A continuum model for the dispersion of traffic on two-lane roads

A continuum model for two-lane traffic flow is developed using the theory of kinematic waves in which the wavespeeds in the two lanes are assumed constant but unequal. The transient behaviour is found exactly using Riemann's method of characteristics and an asymptotic model of the long time flow is described. It is shown, that for large times, the traffic concentration moves with a weighted mean wavespeed of the two lanes and disperses about this mean speed as a result of interlane concentration differences generated by the relative wavespeeds. The dispersion can be described by a virtual coefficient of diffusion proportional to the square of the differences of the two wavespeeds and inversely proportional to the rate of lane changing. The technique is extended to describe three-lane traffic flow and to include the dependence of wavespeed upon concentration.     

Observing freeway ramp merging phenomena in congested traffic

This work conducts a comprehensive investigation of traffic behavior and characteristics during freeway ramp merging under congested traffic conditions. On the Tokyo Metropolitan Expressway, traffic congestion frequently occurs at merging bottleneck sections, especially during heavy traffic demand. The Tokyo Metropolitan Expressway public corporation, generally applies different empirical strategies to increase the flow rate and decrease the accident rate at the merging sections. However, these strategies do not rely either on any behavioral characteristics of the merging traffic or on the geometric design of the merging segments. There have been only a few research publications concerned with traffic behavior and characteristics in these situations. Therefore, a three‐year study is undertaken to investigate traffic behavior and characteristics during the merging process under congested situations. Extensive traffic data capturing a wide range of traffic and geometric information were collected using detectors, videotaping, and surveys at eight interchanges in Tokyo Metropolitan Expressway. Maximum discharged flow rate from the head of the queue at merging sections in conjunction with traffic and geometric characteristics were analyzed. In addition, lane changing maneuver with respect to the freeway and ramp traffic behaviors were examined. It is believed that this study provides a thorough understanding of the freeway ramp merging dynamics. In addition, it forms a comprehensive database for the development and implementation of congestion management techniques at merging sections utilizing Intelligent Transportation System.     

The effects of on‐street parking on the service rate of nearby intersections

An on‐street parking maneuver can often start a temporary bottleneck, leading to additional delay endured by the following vehicles. If the maneuver occurs near a signalized intersection, the service rate of the intersection might be reduced. In this paper, a model is built to analyze the effects of parking maneuvers on the intersection service rate. Based on the hydrodynamic theory of traffic flow, the perturbation caused by the parking maneuver is analyzed. Using dimensional analysis, we illustrate the relation between the background conditions, the distance from the parking area to the intersection, and the intersection service rate. Based on this relation, one can compute the service rate reduction caused by existing on‐street parking areas. A minimum distance between the parking area and the intersection to avoid such reduction can be accordingly found. Numerical examples based on empirical data from the city of Zurich, Switzerland, are provided to illustrate the practical applications. Although the analysis is based on streets with a single lane per direction, the findings can provide some insights regarding different situations. We hope such findings can be used as a basis for developing on‐street parking design guidelines. Copyright © 2015 John Wiley & Sons, Ltd.     

A multi-commodity Lighthill–Whitham–Richards model of lane-changing traffic flow

Systematic lane changes can seriously deteriorate traffic safety and efficiency inside lane-drop, merge, and other bottleneck areas. In our previous studies (Jin, 2010a, Jin, 2010b), a phenomenological model of lane-changing traffic flow was proposed, calibrated, and analyzed based on a new concept of lane-changing intensity. In this study, we further consider weaving and non-weaving vehicles as two commodities and develop a multi-commodity, behavioral Lighthill–Whitham–Richards (LWR) model of lane-changing traffic flow. Based on a macroscopic model of lane-changing behaviors, we derive a fundamental diagram with parameters determined by car-following and lane-changing characteristics as well as road geometry and traffic composition. We further calibrate and validate fundamental diagrams corresponding to a triangular car-following fundamental diagram with NGSIM data. We introduce an entropy condition for the multi-commodity LWR model and solve the Riemann problem inside a homogeneous lane-changing area. From the Riemann solutions, we derive a flux function in terms of traffic demand and supply. Then we apply the model to study lane-changing traffic dynamics inside a lane-drop area and show that the smoothing effect of HOV lanes is consistent with observations in existing studies. The new theory of lane-changing traffic flow can be readily incorporated into Cell Transmission Model, and this study could lead to better strategies for mitigating bottleneck effects of lane-changing traffic flow.     

基于元胞自动机的双车道变道交通流特性研究

在庞杂的城市交通环境下,驾驶员为了寻求更快的速度,常常采用主动的换道行为。由于汽车使用量逐年增长,换道引起的交通事故经常发生。研究车辆变道行为,寻求有效措施减少交通事故的发生,对提高道路安全性具有积极的意义。本文以多车道系统中车辆变道行为为研究对象,以元胞自动机理论为基础,对比分析单向单车道、单向双车道换道行为,并运用MATLAB仿真软件进行分析,获得变道交通流的相关特性曲线。     

A travel time reliability model of urban expressways with varying levels of service

Urban expressways usually experience several levels of service (LOS) because of the stop-and-go traffic flow caused by congestion. Moreover, multiple shock waves generate at different LOS interfaces. The dynamic of shock waves strongly influences the travel time reliability (TTR) of urban expressways. This study proposes a path TTR model that considers the dynamic of shock waves by using probability-based method to characterize the TTR of urban expressways with shock waves. Two model parameters are estimated, namely distribution of travel time (TT) per unit distance and travel distances in different LOS segments. Generalized extreme value distribution and generalized Pareto distribution are derived as distributions of TT per unit distance for six different LOS. Distribution parameters are estimated by using historical floating car data. Travel distances in different LOS segments are calculated based on shock wave theory. The range of TT along the path, which can help drivers arrange their trips, can be obtained from the TTR model. Finally, comparison is made among the proposed TTR model, generalized Pareto contrast model, which does not consider different LOS or existence of shock waves, and normal contrast model, which assumes TT per unit distance as normal distribution without considering shock wave. Results show that the proposed model achieves higher prediction accuracy and reduces the prediction range of TT. The conclusions can be further extended to TT prediction and assessment of measures to improve reliability of TT in a network.