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Accurately monitoring road traffic state is crucial for various applications, including travel time prediction, traffic control, and traffic safety. However, the lack of sensors often results in incomplete traffic state data, making it challenging to obtain reliable information for decision-making. This paper proposes a novel method for imputing traffic state data using Gaussian processes (GP) to address this issue. We propose a kernel rotation re-parametrization scheme that transforms a standard isotropic GP kernel into an anisotropic kernel, which can better model the congestion propagation in traffic flow data. The model parameters can be estimated by statistical inference using data from sparse probe vehicles or loop detectors. Moreover, the rotated GP method provides statistical uncertainty quantification for the imputed traffic state, making it more reliable. We also extend our approach to a multi-output GP, which allows for simultaneously estimating the traffic state for multiple lanes. We evaluate our method using real-world traffic data from the Next Generation simulation (NGSIM) and HighD programs, along with simulated data representing a traffic bottleneck scenario. Considering current and future mixed traffic of connected vehicles (CVs) and human-driven vehicles (HVs), we experiment with the traffic state estimation (TSE) scheme from 5% to 50% available trajectories, mimicking different CV penetration rates in a mixed traffic environment. We also test the traffic state estimation when traffic flow information is obtained from loop detectors. The results demonstrate the adaptability of our TSE method across different CV penetration rates and types of detectors, achieving state-of-the-art accuracy in scenarios with sparse observations. • Using Gaussian process (GP) for Traffic State Estimation (TSE). • Capturing congestion propagation in traffic wave with a rotation kernel. • Leveraging inter-lane correlation to improve TSE accuracy. • Model works well on small datasets and can quantify the TSE uncertainty. • Experiments on real-world and simulated data show GP-TSE accuracy and robustness. [ABSTRACT FROM AUTHOR]

• Propose a state transfer risk decision (STRD) method for a large-scale traffic network. • This method is based on the conditional risk decision model. • This method provides an acceptable traffic flow range at the sub-region boundary by risk interval. • Proposed method improves the state stability compared to PI and NSTRD. Network state degradation probabilities increase with traffic density. Specifically, at critical or congested densities, any over-input traffic flow may cause degradation, local traffic jams, and even hysteresis of the road network. Existing macroscopic traffic control methods usually target the maximum capacity or minimum delay to improve the road network efficiency and do not consider the negative effect of perimeter control on the state transfer of the road network. This study provides a method to prevent the transfer of the network state when implementing boundary control. First, according to the data detected for the road network, the concept of a conditional value at risk is used to establish a risk decision model that considers the influence of the boundary input flow rate on sub-region state degradation. Then, based on the risk decision model, we propose a state transfer risk decision (STRD) perimeter control method for a large-scale traffic network with multiple sub-regions. This perimeter control method predicts the traffic demand of every sub-region, selects an acceptable traffic flow range at the sub-region boundary by risk interval, regards the maximum trip completion flow and the minimum total travel time as the decision-making objectives, and controls multiple sub-region boundaries. The simulation results show that compared with proportional integral (PI) control and no STRD (NSTRD) control, the STRD control scheme can effectively prevent the state transfer of all sub-regions, improve the trip completion flow, and decrease the travel delay of the network. [ABSTRACT FROM AUTHOR]

• Designing a macroscopic modeling framework for perimeter gating control and dynamic user equilibrium. • Designing a routing scheme with instantaneous dynamic user equilibrium and predictive travel time. • Application of Proportional-Integral (PI) controller for traffic control. • Investigating the impact of perimeter gating control on routing inside-and-outside the reservoir. • Analysis of emissions in the traffic network. In recent years, several perimeter control strategies have been proposed for traffic management in cities. The common factor found in these works is the use of Macroscopic Fundamental Diagram (MFD) models to describe the dynamics of the network and optimize traffic inside the perimeter by manipulating perimeter inflows. Perimeter gating control strategies are attractive for traffic management inside the inner city. However, it inevitably creates a negative impact on the traffic outside. Most of the works in this research area have neglected vehicle re-routing outside the controlled perimeter, i.e., they do not consider demand elasticity to the central region resulting from gating and the related queues. In this paper, we propose a global modeling framework capable of assessing the effect of perimeter gating control (in terms of queue, emission, and total time spent) on the full network, considering demand elasticity resulting from Dynamic User Equilibrium (DUE). Classical Proportional-Integral (PI) control scheme is used to control traffic congestion inside a central region (reservoir). The modeling framework is comprised of: (i) an accumulation-based MFD model to reproduce traffic dynamics inside the reservoir, (ii) point-queue model to represent queuing vehicles on inbound links to the gating points, and (iii) a time-dependent travel time profile based on a steady-state approximation of MFD dynamics to characterize the alternative road network (bypass). DUE is then implemented, considering instantaneous predicted travel time. This determines how the demand to the inner region is affected by the gating. The functioning of the global system is assessed by total time spent and NOx and CO 2 emissions inside the reservoir and for the full network. The presented simulation results show that the perimeter gating control helps to maintain congestion at the desired level with significant improvements in the total time spent and the mean speed in the network. However, it shows a slight increase in the queues. As expected, deviation to the bypass alternative is significant and should not be neglected when carrying out a global assessment of gating system performance. [ABSTRACT FROM AUTHOR]

• This paper proposes a network-wide method to identify intersection traffic congestion in a road network. • The proposed method is solely based on low-frequency probe vehicle data, i.e., map-independent. • It is able to rapidly and approximately detect intersection congestion along all turning directions. • It is a computer-aided method in the era of big data can greatly decrease traffic engineers' workload. Locating the bottlenecks in cities where traffic congestion usually occurs is essential prior to solving congestion problems. Therefore, this paper proposes a low-frequency probe vehicle data (PVD)-based method to identify turn-level intersection traffic congestion in an urban road network. This method initially divides an urban area into meter-scale square cells and maps PVD into those cells and then identifies the cells that correspond to road intersections by taking advantage of the fixed-location stop-and-go characteristics of traffic passing through intersections. With those rasterized road intersections, the proposed method recognizes probe vehicles' turning directions and provides preliminary analysis of traffic conditions at all turning directions. The proposed method is map-independent (i.e., no digital map is needed) and computationally efficient and is able to rapidly screen most of the intersections for turn-level congestion in a road network. Thereby, this method is expected to greatly decrease traffic engineers' workloads by providing information regarding where and when to investigate and solve traffic congestion problems. [ABSTRACT FROM AUTHOR]

• A decentralized DRL signal control for multi-modal traffic networks is introduced based on a microscopic environment. • Car traffic and bus performances are improved simultaneously and traded off. • The proposed method is applicable to different bus lane layouts and multiple bus lines. • The scalability and transferability of the model are verified. Managing traffic flow at intersections in a large-scale network remains challenging. Multi-modal signalized intersections integrate various objectives, including minimizing the queue length and maintaining constant bus headway. Inefficient traffic signals and bus headway control strategies may cause severe traffic jams, high delays for bus passengers, and bus bunching that harms bus line operations. To simultaneously improve the level of service for car traffic and the bus system in a multi-modal network, this paper integrates bus priority and holding with traffic signal control via decentralized controllers based on Reinforcement Learning (RL). The controller agents act and learn from a synthetic traffic environment built with the microscopic traffic simulator SUMO. Action information is shared among agents to achieve cooperation, forming a Multi-Agent Reinforcement Learning (MARL) framework. The agents simultaneously aim to minimize vehicles' total stopping time and homogenize the forward and backward space headways for buses approaching intersections at each decision step. The Deep Q-Network (DQN) algorithm is applied to manage the continuity of the state space. The tradeoff between the bus transit and car traffic objectives is discussed using various numerical experiments. The introduced method is tested in scenarios with distinct bus lane layouts and bus line deployments. The proposed controller outperforms model-based adaptive control methods and the centralized RL method regarding global traffic efficiency and bus transit stability. Furthermore, the remarkable scalability and transferability of trained models are demonstrated by applying them to several different test networks without retraining. [ABSTRACT FROM AUTHOR]

• Systematic review on urban traffic control under mixed traffic with CAVs. • Cover signal timing, CAV trajectory/route planning, and their cooperative control. • Summarize mixed traffic control methods at intersections with CAV-dedicated facilities. • Outline promising research directions and challenges. Efficient traffic control can alleviate traffic congestion, reduce fuel consumption, and improve traffic safety. With the development of communication and automation technologies, regular vehicles (RVs), connected vehicles (CVs), and connected and automated vehicles (CAVs) will coexist on urban roads in the near future. In this paper, we systematically review the studies on urban traffic control under the mixed traffic environment, which utilize CVs and CAVs to improve the performance of urban traffic control. We first give a glance at the evolution of urban traffic control with the deployment of CVs and CAVs to identify the important and promising research fields in the mixed traffic control. We then review the recent advances in traffic signal timing with CAV/CV trajectory data, CAV trajectory/route planning, and the cooperative control of CAV trajectories and traffic signals from the intersection level to the network level under the mixed traffic environment. Besides, we summarize two types of studies on mixed traffic control at intersections with CAV-dedicated facilities: 1) traffic signal timing and vehicle trajectory planning at intersections with CAV-dedicated lanes, and 2) deployment of CAV-dedicated facilities including CAV-dedicated lanes, links, and zones. Finally, the future research directions and challenges are discussed. We hope that this review could provide researchers with a helpful roadmap for future research on urban traffic control under the mixed traffic environment. [ABSTRACT FROM AUTHOR]

Highlights • Provide a systematic review of CAV based UTC studies in the last few decades. • Highlight the change of design philosophy for UTC. • Summarize the benefits and drawbacks of current CAV-based UTC methods. • Predict the future study directions. Abstract Inefficient traffic control is pervasive in modern urban areas, which would exaggerate traffic congestion as well as deteriorate mobility, fuel economy and safety. In this paper, we systematically review the potential solutions that take advantage of connected and automated vehicles (CAVs) to improve the control performances of urban signalized intersections. We review the methods and models to estimate traffic flow states and optimize traffic signal timing plans based on CAVs. We summarize six types of CAV-based traffic control methods and propose a conceptual mathematical framework that can be specified to each of six three types of methods by selecting different state variables, control inputs, and environment inputs. The benefits and drawbacks of various CAV-based control methods are explained, and future research directions are discussed. We hope that this review could provide readers with a helpful roadmap for future research on CAV-based urban traffic control and draw their attention to the most challenging problems in this important and promising field. [ABSTRACT FROM AUTHOR]

Highlights • Image processing algorithm developed for accurate vehicle trajectory tracking. • Development of stop-and-go traffic observed as a result of human driving. • Stronger traffic waves lead to higher fuel consumption. Abstract The traffic experiment conducted by Sugiyama et al. (2007) has been a seminal work in transportation research. In the experiment, a group of vehicles are instructed to drive on a circular track starting with uniform spacing. The isolated experimental environment provides a safe, economic, and controlled environment to study free flow traffic and phantom traffic waves. This article introduces a novel method that automates the data collection process in such an environment. Specifically, the vehicle trajectories are measured using a 360-degree camera, and the fuel rates are recorded via on-board diagnostics (OBD-II) scanners. The video data from the 360-degree camera is then processed by an offline unsupervised computer vision algorithm. To validate the data collection method, the technique is then evaluated on a series of eight experiments. Analysis shows that the collected data are highly accurate, with a mean positional bias of less than 0.002 m and a small standard deviation of 0.11 m. The positional data also yields reliable velocity estimates: the derived velocities are biased by only 0.02 m/s with a small standard deviation of 0.09 m/s. The produced trajectory and fuel rate data can be readily used to study human driving behaviors, to calibrate microsimulation models, to develop fuel consumption models, and to investigate engine emissions. To facilitate future research, the source code and the data are made publicly available online. [ABSTRACT FROM AUTHOR]

Highlights • A new mobility model combines the advantages of mobile phone and transportation data. • The model can capture ordinary and anomalous human mobility in a real-time manner. • We apply the model to predict crowd gatherings that usually cause traffic jams. Abstract Even though a variety of human mobility models have been recently developed, models that can capture real-time human mobility of urban populations in a sustainable and economical manner are still lacking. Here, we propose a novel human mobility model that combines the advantages of mobile phone signaling data (i.e., comprehensive penetration in a population) and urban transportation data (i.e., continuous collection and high accuracy). Using the proposed human mobility model, travel demands during each 1-h time window were estimated for the city of Shenzhen, China. Significantly, the estimated travel demands not only preserved the distribution of travel demands, but also captured real-time bursts of mobility fluxes during large crowding events. Finally, based on the proposed human mobility model, a predictive model is deployed to predict crowd gatherings that usually cause severe traffic jams. [ABSTRACT FROM AUTHOR]

• A lane-level VSL (LVSL) approach with actor-critic framework is proposed to provide differential VSL control. • A hybrid reward function is presented to adjust relationship between the reducing crash risk and improving traffic efficiency. • A twin delayed deep deterministic policy gradient (TD3)-based LVSL approach is established for the first time. • The TD3LVSL shows better performance than baseline models in terms of improving traffic safety and traffic efficiency. Variable speed limit (VSL) control plays a vital role in the emerging connected automated vehicle highway (CAVH) system, which can alleviate recurrent traffic congestion caused by capacity drop and accidents. However, the effect of the VSL on improving traffic efficiency is still controversial. It is necessary to study how to explore the potential benefits of the VSL by balancing its influence on reducing crash risk and enhancing traffic efficiency. To fill the technological gap above, this paper proposes a reinforcement learning-based lane-level VSL (LVSL) control approach to conduct refined traffic control on the mainlines. Firstly, an actor-critic framework is developed to generate and evaluate the discrete speed limits of each lane in continuous action space. To optimize traffic control performance, a hybrid reward function is developed by synchronously considering traffic safety and traffic efficiency of the bottleneck area. Then, to solve the overestimation bias problem of the actor-critic methods caused by function approximation error, a twin delayed deep deterministic policy gradient (TD3) method is introduced to train the framework of the LVSL method. Finally, a real-world recurrent bottleneck of the State Route 91 highway in California is simulated with consideration of the connected automated vehicles to examine the performance of the TD3-based LVSL (TD3LVSL) controller. The simulation results reveal that the proposed method is capable of reducing crash risk and improving traffic efficiency synchronously. Compared with the LVSL controller based on the deep deterministic policy gradient approach, the TD3LVSL controller shows better performance in terms of traffic safety and efficiency. These findings indicate that the proposed controller could contribute to future traffic control in a CAVH environment. [ABSTRACT FROM AUTHOR]

With rapid population growth and urban development, traffic congestion has become an inescapable issue, especially in large cities. Many congestion reduction strategies have been proposed in the past, ranging from roadway extension to transportation demand management. In particular, congestion pricing schemes have been used as negative reinforcements for traffic control. In this paper, we study an alternative approach of offering positive incentives to drivers to take different routes. More specifically, we propose an algorithm to reduce traffic congestion and improve routing efficiency via offering (personalized) incentives to drivers. We propose to exploit the wide accessibility of smart devices to communicate with drivers and develop an incentive offering mechanism using individuals' preferences and aggregate traffic information. The incentives are offered after solving a large-scale optimization problem in order to minimize the total travel time (or minimize any cost function of the network such as total carbon emission). Since this massive-size optimization problem needs to be solved continually in the network, we developed a distributed computational approach. The proposed distributed algorithm is guaranteed to converge under a mild set of assumptions that are verified with real data. We evaluated the performance of our algorithm using traffic data from the Los Angeles area. Our experiments show congestion reduction of up to 5% in arterial roads and highways. • Reducing congestion by improving routing efficiency. • Offering incentives to reduce congestion using individuals' preferences of drivers. • A distributed computational approach to incentive offering. • The methods are evaluated on a large-scale real-world dataset. [ABSTRACT FROM AUTHOR]

Increase of congestion at container deep seaports and shortage of capacity has led inland transport systems worldwide to rely more and more on inland terminals, and on the use of high capacity modes of transport to generate economies of scale and reduce negative effects of trucking. In this setting, planning the transport of maritime containers between a deep seaport and a final inland destination must also consider due dates and soft time windows, the latter known as Demurrage and Detention (D&D). In this paper, we formalize the concept of D&D, model the multimodal planning problem, and assess the impact of different D&D regimes on the emerging inland transport systems. By means of an experimental framework, we compare different D&D policies and provide managerial insights. The experiments highlight the effects of existing D&D regimes on transport efficiency and provide guidelines for their choice in practice. D&D are shown to have a twofold effect: first to limit consolidation opportunities and force the use of trucks as buffer, and second to push containers to dwell unnecessarily at the seaports. [ABSTRACT FROM AUTHOR]

Traffic congestion threats the growth and vitality of cities. Policy measures like punishments or rewards often fail to create a long term remedy. The rise of Information and Communication Technologies (ICT) enable provision of travel information through advanced traveler information systems (ATIS). Current ATIS based on shortest path routing might expedite traffic to converge towards the suboptimal User Equilibrium (UE) state. We consider that ATIS can persuade drivers to cooperate, pushing the road network in the long run towards the System Optimum (SO) instead. We develop an agent based model that simulates day-to-day evolution of road traffic on a simple binary road network, where the behavior of agents is reinforced by their previous experiences. Scenarios are generated based on various network designs, information recommendation allocations and incentive mechanisms and tested regarding efficiency, stability and equity criteria. Results show that agents learn to cooperate without incentives, but this is highly sensitive to the type of recommendation allocation and network-specific design. Punishment or rewards are useful incentives, especially when cooperation between agents requires them to change behavior against their natural tendencies. The resulting system optimal states are to most parts efficient, stable and not least equitable. The implications for future ATIS design and operations are further discussed. [ABSTRACT FROM AUTHOR]

Congestion pricing has long been considered an efficient tool for tackling road traffic congestion, but tolls are generally unpopular. Interest is growing in tradable permits as an alternative. Tolls and tradable permits are interchangeable if travel conditions are unchanging, but not if conditions vary and tolls and permit quantities are inflexible and cannot be adapted to current conditions. We compare the allocative efficiency of tolls and tradable permits on a bimodal network under uncertainty. Road links are congestion prone and public transit may be crowded. Road traffic entering a cordon area around the downtown is controlled using either a toll or a tradable permit. Two groups of travelers can drive or take transit. Group 1 travels downtown, and if it drives it must either pay the toll or use a permit. Group 2 travels to a suburb, and can avoid the cordon by taking a bypass. All demand and cost parameters of the model can vary, either systematically or irregularly. Each parameter combination constitutes a state. Travelers learn the state in advance, and adapt their mode and route choices accordingly. A planner minimizes expected total travel costs by either setting the level of the toll or choosing the quota of permits to distribute. Two cases are considered. In the first, the toll and quota are flexible and can be adjusted to daily travel conditions. In the second, the instruments are inflexible and must be set at the same level regardless of the state. If travelers have identical preferences, the optimal flexible toll is invariant to the numbers of travelers in each group and the capacity of the link entering the cordon. The toll is robust in the sense that inflexibility causes no welfare loss if these parameters vary. By contrast, the quota is not robust. We derive a general rule for ranking the efficiency of a fixed toll and fixed quota. We then explore a numerical example. In most instances, the fixed toll outperforms the fixed quota by a significant margin although the quota can do better in some states. We also compare the welfare-distributional effects of tolls and permits, and find that suburban travelers fare better than downtown travelers from both forms of regulation. • Tradable Permit Schemes (TPS) are a promising tool to control traffic congestion. • We compare the efficiency of TPS and tolls on a bimodal network under uncertainty. • Neither the toll nor the permit quota can depend on demand or link capacities. • The toll is invariant to some model parameters, whereas the permit quota is not. • The toll also outperforms the TPS numerically in most instances examined. [ABSTRACT FROM AUTHOR]

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. [ABSTRACT FROM AUTHOR]

Macroscopic fundamental diagram (MFD) describes the macro relationship between a network vehicle density and a network space mean flow, without requiring the mastery of complex origin to destination data. Thus, MFD provides an opportunity for the macro control of urban road network. However, most of the existing MFD control methods ignore the active role of traffic guidance in solving congestion problems. This study presents a traffic guidance–perimeter control coupled (TGPCC) method to improve the performance of macroscopic traffic networks. The method considers the optimal cumulative volume of a network as the goal and establishes a programming function according to the network equilibrium rule of traffic flow amongst multiple MFD sub-regions, which regards the minimum delay of network, as the objective. The Logit model for the compliance rate of driver route guidance is established by the stated preference survey. Moreover, the perimeter control (PC) method is proposed for adjusting the phase split of intersections. Finally, three schemes, namely, the TGPCC, PC and the method without PC and guidance are tested on a network with four well-defined MFD sub-regions. Results show that the TGPCC addresses the issue of congestion and decreases the total delay accordingly. [ABSTRACT FROM AUTHOR]

Location-based systems can be very helpful to mobile users if they are able to suggest shortest paths to destination taking into account the actual traffic conditions. This would allow to inform the drivers not only about the current shortest paths to destination but also about alternative, timely computed paths to avoid being trapped in the traffic jams signaled by cyber-physical-social systems. To this aim, the paper proposes a set of algorithms that solve very fast the All Pair Shortest Paths problem in both the free flow and congested traffic regimes, for road networks of medium-large size, thus enabling location-based systems to deal with emergencies and critical traffic conditions in city and metropolitan areas, whose transport networks typically range from some hundreds to many thousands of nodes, respectively. The paths to avoid being trapped in the traffic jams are computed by using a simulation of the shockwave propagation, instead of historical data. A parallel version of the algorithms is also proposed to solve the All Pair Shortest Paths problem for metropolitan areas with very large road networks. A time performance analysis of the proposed algorithms for transport networks of various size is carried out. [ABSTRACT FROM AUTHOR]

Information and communications technologies (ICT) and future and emerging technologies (FET) are expected to revolutionize transportation in the next generation. Travelers’ behavioral adaptation is a key to their success. We discuss the notion of managing traffic congestion by enhancing cooperation in road networks enabled with ICT and FET. Cooperation is an emergent social state related to the dynamics and complexity of road traffic and reinforced learning. Game theory and research in behavioral economics show that cooperation can be leveraged to efficiently solve social dilemmas similar to traffic congestion. We review the applicability of behavioral economics and game theory concepts to route, mode and departure time choice problems. Beyond advancing theory, research on cooperation in the context of transportation is still in its infancy. We discuss state-of-the-art methodologies and their weaknesses and review the unexplored opportunities inherent in game-based methodologies. A behavioral-technological research agenda for FET is also discussed. [ABSTRACT FROM AUTHOR]

With increasing auto demands, efficient parking management is by no means less important than road traffic congestion control. This is due to shortages of parking spaces within the limited land areas of the city centers in many metropolises. The parking problem becomes an integrated part of traffic planning and management. On the other hand, it is a fact that many private parking spots are available during daytime in nearby residential compound because those residents drive their cars out to work. These temporarily vacant parking lots can be efficiently utilized to meet the parking demand of other drivers who are working at nearby locations or drivers who come for shopping or other activities. This paper proposes a framework and a simple model for embracing shared use of residential parking spaces between residents and public users. The proposed shared use is a winning strategy because it maximizes the use of private resources to benefit the community as a whole. It also creates a new business model enabled by the fast-growing mobile apps in our daily lives. [ABSTRACT FROM AUTHOR]

One of the main triggers of traffic congestion on highways is vehicle merging at on-ramps. The development of automated procedures for cooperative vehicle merging is aimed to ensure safety and alleviate congestion problems. In this work, a longitudinal trajectory planning methodology is presented, developed to assist the merging of vehicles on highways; it achieves safe and traffic-efficient merging, while minimizing the engine effort and passenger discomfort through the minimization of acceleration and its first and second derivatives during the merging maneuver. The problem is formulated as a finite-horizon optimal control problem and is solved analytically. This enables the solution to be stored on-board, saving computational time and rendering the methodology suitable for practical applications. The tunable weights, used for taking into account the different optimization criteria, may serve as parameters to match the individual driver’s preferences. The proposed methodology is first developed for a pair of cooperating vehicles, a merging one and its putative leader. Moreover, an alternative solution procedure via a time-variant Linear-Quadratic Regulator approach is also presented. A Model Predictive Control (MPC) scheme is utilized to compensate possible disturbances in the trajectories of the cooperating vehicles, whereby the analytical optimal solution is applied repeatedly in real time, using updated measurements, until the merging procedure is actually finalized. Subsequently, the methodology is generalized for a set of vehicles inside the merging area. Various numerical simulations illustrate the validity and applicability of the method. [ABSTRACT FROM AUTHOR]

• The paper proposes a traffic signal control method at a perimeter with time-varying geometry. • The geometry of the perimeter adapts to the spatio-temporal evolution of traffic congestion, modeled using percolation theory. • The proposed control effectively mitigates the spatial heterogeneity of congestion to boost the network-level traffic capacity. • The performance of the proposed control is compared with multiple well-established methods through simulation-based analysis. Perimeter control regulates the traffic flows between different regions of a road network by coordinating the signal timings at region boundaries with the aim of improving the overall network performance. The method is proved to be effective in optimizing urban road traffic and is a crucial component of the modern intelligent transportation systems. A possible shortcoming of classical perimeter control is its limiting perception of congestion propagation dynamics, viewing congestion only through aggregated or local properties, e.g., traffic accumulation within the perimeter or queue length at each intersection. Furthermore, restricting traffic via gating by conventional perimeter control may trigger formation of congested queues at the control boundary. In this work, we tackle this problem with control at a dynamic perimeter where the geometry of the boundary evolves over time according to the congestion propagation dynamics. The proposed dynamic perimeter control utilizes percolation theory, a well-established theory for studying statistical physics of spreading phenomena, to analyze the evolving congestion and adapt the shape of the perimeter accordingly. The percolation-based dynamic perimeter effectively adjusts to propagating congestion and prevent small congestion pockets from merging into a larger congested cluster. We demonstrate the performance of the proposed approach in a typical grid network. Our results show that i) the percolation analysis is able to effectively characterize the spatio-temporal evolution of the congestion for the purpose of traffic signal control, ii) adjusting the control dynamically according to percolation-based analysis of congestion successfully balances the traffic leading to boosting the flow capacity of the network, and iii) the percolation-based dynamic perimeter control significantly improves the network traffic performance, compared to the classic fixed perimeter control. This study applies percolation theory and for the first time incorporates an account for the geometrical properties of congestion propagation in traffic signal control, aiming at preventing the emergence of large-scale connected jams. [ABSTRACT FROM AUTHOR]

Traffic congestion in urban environment is one of the most critical issue for drivers and city planners for both environment and efficiency reasons. Traffic lights are one of the main tools used to regulate traffic by diverting the drivers between different paths. Rational drivers, in turn, react to the traffic light duration by evaluating their options and, if necessary, by changing direction in order to reach their destination quicker. In this paper, we introduce a macroscopic traffic model for urban intersections that incorporates this rational behavior of the drivers. Then, we exploit it to show that, by providing additional information about the expected red-time duration to the drivers, one can decrease the amount of congestion in the network and the overall length of the queues at the intersections. Additionally, we develop a control policy for the traffic lights that exploits the reaction of the drivers in order to divert them to a different route to further increase the performances. These claims are supported by extensive numerical simulations. • A traffic-flow macroscopic model of the drivers' rational decision-making. • It considers origin-destination pairs and the ability to show the red time duration. • Numerical simulations illustrate the effectiveness of showing the red time duration. • A novel control policy that exploit the drivers' reaction to the red time duration. • The increased efficiency of the controller is validated with extensive simulations. [ABSTRACT FROM AUTHOR]

Aiming to alleviate traffic jams, many traffic management strategies/policies are adopted to nudge travelers to re-arrange their departure time or switch from driving to public transit or non-motorized mode. Analytical travel behavior model is needed to predict travelers’ departure time choice and mode switch under such strategies. In this paper, we developed an agent-based model for travellers’ choices of mode and departure time. Departing from the traditional utility maximization theory, this model focuses on the decision-making process based on imperfect information, bounded and distinctive rationalities. In the modeling framework, travelers accumulate experiences and update their spatial and temporal knowledge through a Bayesian learning process. Before making a trip, travelers decide whether to search for alternative departure time and/or travel mode according to their expected search gain and cost. When an additional search happens, travelers decide whether or not to switch to the new departure time and travel mode according to a series of decision conditions. Both the search and decision processes are represented by production (if–then) rules derived from a joint revealed/stated-preference survey data collected in Beijing. Then the agent-based model is applied to evaluate congestion charge policies with various demand scenarios in the 2nd ring road of Beijing. Results suggest that the model can display the peak spreading and mode switch process practically. [ABSTRACT FROM AUTHOR]

The automotive industry is witnessing a revolution with the advent of advanced vehicular technologies, smart vehicle options, and fuel alternatives. However, there is very limited research on consumer preferences for such advanced vehicular technologies. The deployment and penetration of advanced vehicular technologies in the marketplace, and planning for possible market adoption scenarios, calls for the collection and analysis of consumer preference data related to these emerging technologies. This study aims to address this need, offering a detailed analysis of consumer preference for alternative fuel types and technology options using data collected in stated choice experiments conducted on a sample of consumers from six metropolitan cities in South Korea. The results indicate that there is considerable heterogeneity in consumer preferences for various smart technology options such as wireless internet, vehicle connectivity, and voice command features, but relatively less heterogeneity in the preference for smart vehicle applications such as real-time traveler information on parking and traffic conditions. [ABSTRACT FROM AUTHOR]

Based on previous studies of a highway reservation system, this paper proposed an auction-based implementation, in which the users can bid for the right to use a route during a certain period of time. This paper models the auction system with MATSim using an agent-based simulation technique. The agents adopt their own bidding logic in the auction, and the price converges after around 130 iterations, when the number of users using the reserved highway and the total collected revenue become stable. When the overall demand changes, the collected revenue ranges from 5 to 11 dollars per user, and from 0.7 to 1.5 dollars per mile. The auction system can transfer more consumer surplus to the toll road operators, since it is a personalized tolling mechanism. The users are using the reservation system as insurance of a guaranteed congestion-free travel. The auction-based highway reservation shows great potential as a new traffic management system. [ABSTRACT FROM AUTHOR]

Time of day partition of bus operating hours is a prerequisite of bus schedule design. Reasonable partition plan is essential to improve the punctuality and level of service. In most mega cities, bus vehicles have been equipped with global positioning system (GPS) devices, which is convenient for transit agency to monitor bus operations. In this paper, a new algorithm is developed based on GPS data to partition bus operating hours into time of day intervals. Firstly, the impacts of passenger demand and network traffic state on bus operational performance are analyzed. Then bus dwell time at stops and inter-stop travel time, which can be attained based on GPS data, are selected as partition indexes. For buses clustered in the same time-of-day interval, threshold values of differences in dwell time at stops and inter-stop travel time are determined. The buses in the same time-of-day interval should have adjacent dispatching numbers, which is set as a constraint. Consequently, a partition algorithm with three steps is developed. Finally, a bus route in Suzhou China is taken as an example to validate the algorithm. Three partition schemes are given by setting different threshold values for the two partition indexes. The present scheme in practice is compared with the three proposed schemes. To balance the number of ToD intervals and partition precision, a Benefit Evaluation Index is proposed, for a better time-of-day interval plan. [ABSTRACT FROM AUTHOR]

Congestion pricing has been proposed and investigated as an effective means of optimizing traffic assignment, alleviating congestion, and enhancing traffic operation efficiencies. Meanwhile, advanced traffic information dissemination systems, such as Advanced Traveler Information System (ATIS), have been developed and deployed to provide real-time, accurate, and complete network-wide traffic information to facilitate travelers’ trip plans and routing selections. Recent advances in ATIS technologies, especially telecommunication technology, allow dynamic, personalized, and multimodal traffic information to be disseminated and impact travelers’ choices of departure times, alternative routes, and travel modes in the context of congestion pricing. However, few studies were conducted to determine the impact of traffic information dissemination on toll road utilizations. In this study, the effects of the provisions of traffic information on toll road usage are investigated and analyzed based on a stated preference survey conducted in Texas. A Bayesian Network (BN)-based approach is developed to discover travelers’ opinions and preferences for toll road utilization supported by network-wide traffic information provisions. The probabilistic interdependencies among various attributes, including routing choice, departure time, traffic information dissemination mode, content, coverage, commuter demographic information, and travel patterns, are identified and their impacts on toll road usage are quantified. The results indicate that the BN model performs reasonably well in travelers’ preference classifications for toll road utilization and knowledge extraction. The BN Most Probable Explanation (MPE) measurement, probability inference and variable influence analysis results illustrate travelers using highway advisory radio and internet as their primary mode of receiving traffic information are more likely to comply with routing recommendations and use toll roads. Traffic information regarding congested roads, road hazard warnings, and accident locations is of great interest to travelers, who tend to acquire such information and use toll roads more frequently. Travel time formation for home-based trips can considerably enhance travelers’ preferences for toll road usage. Female travelers tend to seek traffic information and utilize toll roads more frequently. As expected, the information provided at both pre-trip and en-route stages can positively influence travelers’ preferences for toll road usage. The proposed methodology and research findings advance our previous study and provide insight into travelers’ behavioral tendencies concerning toll road utilization in support of traffic information dissemination. [ABSTRACT FROM AUTHOR]

A high level objective for many international governments and local operators is that highways should be managed in a way that is sustainable in terms of a Low Carbon Energy future. Recent initiatives such as the Strategic Transport Technology Plan and the policy and legal framework promoted by the European Commissions’ Intelligent Transport System (ITS) Directive and ITS Action Plan may assist with this objective. However, many levels of complexity are inherent within the (ITS) schemes that are now part of highway management, due to the linkage of various technological components to complex systems and services. Maintaining efficient, sustainable co-operative performance is therefore a major task, with inconsistencies between product suppliers, network managers and operators. As a result, it is of considerable interest to the highway operators and high level policy makers to be able to assess the performance of individual ITS schemes and furthermore, to be able to compare performance between ITS schemes. In this paper, an illustration is provided of a methodology that can be used to assess the performance of ITS schemes according to a set of sustainability criteria. A case study is introduced which compares the performance of anticipated Active Traffic Management (ATM) schemes for what the road network operator (Highways England) perceive to be the four most congested highways in England (in terms of annual average daily traffic flows). Appropriate action can then be taken to improve the energy and sustainable management of Information Communication Technology (ICT) and transport systems for the benefit of a smarter, sustainable and efficient future. [ABSTRACT FROM AUTHOR]

We study in this paper the structure of traffic under hypercongestion, which is a controversial issue between traditional two-phase traffic theory and Kerner’s three-phase theory. By analyzing video traffic data from a section of the Nanjing Airport Highway, it is found that traffic states inside hypercongestion are not homogeneous, which contradicts the existence of a “Homogeneous Congested Traffic” state claimed in two-phase traffic theory. Analysis of vehicle trajectories and velocities obtained from an experimental car-following study with a platoon of 25 vehicles also confirms the above findings. Furthermore, it is also found from the video traffic data that the structure of hypercongested traffic varies only slightly with location, which might be due to small jams inside hypercongested traffic merging into larger ones slowly and/or larger jams sometimes breaking into small ones. Finally, the implications of our observations on traffic modeling have been discussed. [ABSTRACT FROM AUTHOR]

Guaranteeing the quality of transit service is of great importance to promote the attractiveness of buses and alleviate urban traffic issues such as congestion and pollution. Emerging technologies of automated driving and V2X communication have the potential to enable the accurate control of vehicles and the efficient organization of traffic to enhance both the schedule adherence of buses and the overall network mobility. This study proposes a novel network-level control scheme for heterogeneous automated traffic composed of buses and private cars under a full connected and automated environment. Inheriting the idea of network-level rhythmic control proposed by Lin et al. (2021b), an innovative rhythmic control scheme for heterogeneous traffic, i.e., RC-H, is established to organize the mixed traffic in a rhythmic manner. Realized virtual platoons are designed for accommodating vehicles to pass through the network, including dedicated virtual platoons for buses to provide exclusive right-of-ways (ROWs) on their trips and regular virtual platoons for private cars along with an optimal assignment plan to minimize the total travel cost. A mixed-integer linear program (MILP) is formulated to optimize the RC-H scheme with the objective of minimizing the weighted travel costs of both buses and private cars. A bilevel heuristic solution method is designed to relieve the computational burden of MILP. Numerical examples and simulation experiments are conducted to evaluate the performance of the RC-H scheme under different scenarios. The results show that the bus punctuality can be guaranteed and the traveler delay can be minimized under various demand levels with transit priority. Moreover, compared with traffic signal control (TSC) strategies, including those with fixed timing and those with bus priority, the RC-H scheme shows significant advantages in handling heavy traffic demand, in terms of both reducing vehicle delay and enhancing network throughput. • An innovative network-level control scheme for heterogeneous automated traffic. • Different realized virtual platoons for accommodating vehicles to pass through the network. • An optimal design model of RC-H scheme considering bus priority. • A bilevel heuristic solution method to relieve the computational burden. • Simulation experiments to test the performance of RC-H scheme and compare with TSC. [ABSTRACT FROM AUTHOR]

Proposed or emerging vehicle automation and communication systems (VACS) may contribute to the mitigation of motorway traffic congestion on the basis of appropriate traffic control strategies. In this context, this paper presents a novel first-order multi-lane macroscopic traffic flow model for motorways which is mainly intended for use within a related optimal control problem formulation. The model’s starting point is close to the well-known CTM (cell-transmission model), which is modified and extended to consider additional aspects of the traffic dynamics, such as lane changing and the capacity drop, via appropriate procedures for computing lateral and longitudinal flows. The model has been derived with a view to combine realistic traffic flow description with a simple (linear or piecewise linear) mathematical form, which can be exploited for efficient optimal control problem formulations, as described in a companion (Part II) paper. Although the model has been primarily derived for use in future traffic conditions including VACS, it may also be used for conventional traffic flow representation. In fact, the accuracy of the proposed modelling approach is demonstrated through calibration and validation procedures using real data from an urban motorway located in Melbourne, Australia. [ABSTRACT FROM AUTHOR]

This paper examines the design and efficiency of a highway use reservation system where commuters need reservations to access a highway facility at specific times. We show that, by accommodating reservation requests to the level that the highway capacity allows, traffic congestion can be relieved. Generally, a more differentiated design of the reservation system yields a higher reduction of travel cost and thus achieves a higher efficiency. The efficiency bound of the system is established. We also show that braking or tactical waiting behaviors of drivers would cause a loss of efficiency, which thus need be proactively accommodated. Given that user heterogeneity cause further loss of efficiency, we explore how two specific types of user heterogeneity affect the system efficiency. Auction-based reservation is then proposed to mitigate the efficiency loss. [ABSTRACT FROM AUTHOR]

The objective of this paper is the regulation of freeway traffic by means of optimal control techniques. A first innovative aspect of the proposed approach is the adopted objective function in which, besides the reduction of traffic congestion (which is typically considered in traffic control schemes), the minimization of traffic emissions is also included. Moreover, a multi-class framework is defined in which two classes of vehicles (cars and trucks) are explicitly modelled, and specific control actions for each vehicle class are sought. This results in the formulation of a multi-objective optimal control problem which is described in the paper and for which a specific solution algorithm is developed and used. The algorithm exploits a specific version of the feasible direction algorithm whose effectiveness is demonstrated in the paper by means of simulation results. [ABSTRACT FROM AUTHOR]

Floor field cellular automata (FFCA) models for pedestrian simulation are known for their highly efficient reproduction of important human movement behaviors at operational level. Numerous studies have attempted to extend FFCA, such that it would consider intelligent tactical-level behaviors such as route and destination choice. This study aims to incorporate the long-term congestion anticipation and aversion in the pedestrians’ choice of destinations and routes into FFCA models. The first contribution of this study is the innovative time-dependent static field, which is represented by a time–space network. The steps of the proposed methodology include path prediction, congestion identification, and time-dependent travel cost calculation, all of which are demonstrated with several illustrative examples. The local structure of FFCA and its high efficiency can be maintained, because the proposed extension of FFCA is focused on calculating the time-dependent static field. Another contribution of this study is that the key parameters, namely, congestion threshold and percentage of congestion-averse pedestrians, are calibrated with actual data. Finally, the proposed methodology is validated with a numerical example, and the results are satisfactory in terms of departure rate. [ABSTRACT FROM AUTHOR]

The cooperative vehicle-infrastructure technologies have enabled vehicles to collect and exchange traffic information in real time. Therefore, it is possible to use Vehicular Ad-hoc NETworks (VANETs) for detecting traffic congestion on urban expressways. However, because of the special topology of urban expressways (consisting of both major and auxiliary roadways), the existing traffic congestion detection methods using VANETs do not work very well. In addition, the existing dissemination methods of congestion information lack the necessary control mechanism, so the information may be disseminated to irrelevant geographical areas. This paper proposes a congestion detection and notification scheme using VANETs for urban expressways. The scheme adopts a simplified Doppler frequency shift method to estimate and differentiate traffic conditions for major and auxiliary roadways. Vehicular cooperation and human cognition are introduced to improve the estimation accuracy and to describe the overall traffic conditions. Additionally, the scheme develops a spatial–temporal effectiveness model based on the potential energy theory to control the dissemination area and survival time of the congestion information. Meanwhile, the proposed scheme uses several broadcast control mechanisms to alleviate vehicular network congestion. Simulations through TransModeler indicate that our scheme ensures the accuracy of the estimation of congestion degree. Consequently, the scheme can provide effective references for driving decision-making and path-planning. [ABSTRACT FROM AUTHOR]

Vehicular cyber physical system (VCPS) can comprehensively acquire road traffic safety related information, and provide drivers with early warning or driving assistance in emergency, in order to assist them avoid vehicle crash in the driving process. Literature review shows that previous studies mainly rely on observed vehicle motion/location data for assessing vehicle collision risk, where predicted vehicle motion/location, driver behavior and road geometry (e.g., curvature) are rarely considered. In this study, based on the simulated VCPS, a collision avoidance system that can explicitly consider the above issues is designed and presented in detail. Within the proposed collision avoidance system, an assessment method, which can predict collision risk by comprehensively considering vehicles motion/location, driver behavior and road geometry information from the VCPS, is developed. Firstly, the short-term motion of the objective vehicle and surrounding vehicles are predicted based on the Kalman Filter (KF) algorithm and the vehicle motion model. Furthermore, the proposed method that can explicitly take driver behavior and road curvature into account is used to predict vehicle location and calculate the traveled distance among vehicles in real-time. Then, the predicted vehicle gaps are compared with a safe distance threshold and the vehicle collision risk is predicted. Finally, the accuracy of the proposed collision risk assessment method is examined with a receiver operating characteristic (ROC) curve analysis over a section of curved road. Simulation results show that the proposed method is effective for detecting collision risk and providing accurate warnings in a timely fashion. [ABSTRACT FROM AUTHOR]

This paper investigates the cost of travel time variability for car users at the peak hour. In particular, we derive the marginal social cost of travel time variability, which takes the feedback of travel time unreliability on the congestion profile into account. This is in contrast with the value of travel time variability, which treats congestion as an exogenous phenomenon. Congestion is modeled using the standard bottleneck model of road congestion, which we amend by adding a random delay. For individuals with ( α , β , γ ) preferences and uniformly distributed delays, the marginal social cost of travel time variability is strictly lower than the value of travel time variability. Moreover, we show that the former tends toward the latter when σ , the standard deviation of the random delay, tends toward +∞. For normally distributed delays, numerical application leads to similar conclusions. Analysis of data from the Paris area suggests that given the plausible range of σ , the marginal social cost of travel time variability is markedly lower than the value of travel time variability. When appraising the economic benefits of reliability improvements, one should prefer the marginal social cost of travel time variability for the peak period, and the value of travel time variability for the off-peak period. [ABSTRACT FROM AUTHOR]

Active Traffic Management (ATM) systems have been emerging in recent years in the US and Europe. They provide control strategies to improve traffic flow and reduce congestion on freeways. This study investigates the feasibility of utilizing a Variable Speed Limits (VSL) system, one key part of ATM, to improve traffic safety on freeways. A proactive traffic safety improvement VSL control algorithm is proposed. First, an extension of the METANET (METANET: A macroscopic simulation program for motorway networks) traffic flow model is employed to analyze VSL’s impact on traffic flow. Then, a real-time crash risk evaluation model is estimated for the purpose of quantifying crash risk. Finally, optimal VSL control strategies are achieved by employing an optimization technique to minimize the total crash risk along the VSL implementation corridor. Constraints are setup to limit the increase of average travel time and the differences of the posted speed limits temporarily and spatially. This novel VSL control algorithm can proactively reduce crash risk and therefore improve traffic safety. The proposed VSL control algorithm is implemented and tested for a mountainous freeway bottleneck area through the micro-simulation software VISSIM. Safety impacts of the VSL system are quantified as crash risk improvements and speed homogeneity improvements. Moreover, three different driver compliance levels are modeled in VISSIM to monitor the sensitivity of VSL effects on driver compliance. Conclusions demonstrated that the proposed VSL system could improve traffic safety by decreasing crash risk and enhancing speed homogeneity under both the high and moderate compliance levels; while the VSL system fails to significantly enhance traffic safety under the low compliance scenario. Finally, future implementation suggestions of the VSL control strategies and related research topics are also discussed. [ABSTRACT FROM AUTHOR]

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. [ABSTRACT FROM AUTHOR]

Reducing stationary or very slowly moving queues is one way of reducing congestion, pollution, inefficient stop–start travel and carbon emissions in cities. This paper considers traffic signal control and road pricing together; aiming to eliminate queueing in at least a subnetwork. Link-exit green-times and link-exit bottleneck delays are considered first in some detail; largely using a simple network. The paper then shows that policy P 0 , specified in Smith (1980, 2015), is capacity-maximising for a general network with vertical queueing delays. Then link exit prices, co-ordinated with green-times and also red times, are considered. It is shown that using prices (instead of delays) in the P 0 control policy maximises the capacity of a general steady state network, with zero queues. This steady state capacity-maximisation ＋ zero-queue result is then extended to dynamic networks in two ways; an equilibrium extension and a day-to-day stability extension. The equilibrium extension shows that P 0 -with-prices maximises network capacity with zero queues in a dynamic network and the stability extension shows that a smoothed version of the P 0 -with-prices policy, called P 0 f , is able to deliver some stability as well as zero queue capacity maximisation. A simple example network has been given to illustrate several of the control-with-prices policies. It is shown that a biased version of P 0 -with-prices, P h -with-prices, yields, for this simple network , higher utility than P 0 -with-prices itself. • P 0 signal control with prices maximises network capacity at equilibrium with zero queues. • This result is shown initially for certain steady state networks. • The zero-queue + max-capacity, equilibrium, result is shown to hold in a dynamic model. • Under certain conditions, a special zero-queue + max-capacity policy is stable in a dynamic model. [ABSTRACT FROM AUTHOR]

• Propose a cooperative signal-free intersection control framework under V2X communications. • Proposed framework integrates virtual platooning control and traffic flow regulation. • Virtual platooning controller mitigates effects of parametric inaccuracies and unparameterized disturbances. • Virtual platooning controller guarantees string stability. • Traffic flow regulation alleviates traffic spillbacks and travel delays. The emerging technologies of connectivity and automation enable the potential for signal-free intersection control. In this context, virtual platooning is posited to be an innovative, decentralized control strategy that maps two-dimensional vehicle movements onto a one-dimension virtual platoon to enable intersection operations. However, the effectiveness of virtual platooning-based control can be limited or degraded by parametric inaccuracies and unparameterized disturbances in vehicle dynamics, heavy traffic congestion, and/or uncoordinated platoons in multi-lane intersections. To explicitly address these limitations, this study proposes a hybrid cooperative intersection control framework consisting of microscopic-level virtual platooning control and macroscopic-level traffic flow regulation for traffic environments with connected autonomous vehicles. In virtual platooning control, vehicles approaching an intersection are organized into coordinated independent virtual platoons to avoid potential conflicts triggered by platoon formation changes. Through coordination, vehicles in a platoon are grouped into compatible passing sets to maintain desired safe spacing when proceeding through the intersection. We propose a distributed adaptive sliding mode controller (DASMC) which uses the backstepping control method and model reference adaptive control method to address parametric inaccuracies, and the sliding mode control method to consistently suppress the negative effects of the unparameterized disturbances. Each vehicle approaching the intersection utilizes the kinematic information from neighboring vehicles to implement the DASMC in a distributed manner such that vehicles within the same virtual platoon can achieve consensus safely. However, virtual platooning control cannot preclude excessive traffic from approaching the intersection, which can cause undesired spillbacks and degrade intersection control performance. To address this issue, traffic flow regulation is integrated with the virtual platooning control using an iterative feedback loop mechanism. In each iteration of the iterative feedback loop, a constrained finite-time optimal control (CFTOC) problem is solved to determine the optimal input flow permitted to proceed through the intersection, and the virtual platooning control provides feedback on the queue status to the CFTOC to initiate the next iteration. The effectiveness of the proposed intersection control framework is evaluated through numerical experiments. The results indicate that the proposed virtual platooning DASMC controller can mitigate the effects of parametric inaccuracies and unparameterized disturbances to achieve consensus for approaching vehicles, as well as guarantee string stability. Further, the proposed framework can alleviate traffic spillbacks and travel delays effectively through traffic flow regulation. [ABSTRACT FROM AUTHOR]

Highlights: [•] A novel algorithm is proposed to forecast short-term traffic volume. [•] Overlapping is avoided in selecting k-nearest neighbors. [•] A linearly sewing principle component algorithm is developed. [•] The new algorithm outperformed the competing algorithms in most cases. [Copyright &y& Elsevier]

Highlights: [•] An adaptive vehicle route guidance system is developed. [•] The system is based on the ant colony behavior and the hierarchical fuzzy model. [•] The system allows adjusting efficiently the road traffic according to the real-time changes in road networks. [•] Multiagent simulations explain the improvement of the global road traffic quality in the road network. [•] The system deals with traffic congestion phenomenon. [Copyright &y& Elsevier]

Abstract: Currently, the applicability of macroscopic Dynamic Network Loading (DNL) models for large-scale problems such as network-wide traffic management, reliability and vulnerability studies, network design, traffic flow optimization and dynamic origin–destination (OD) estimation is computationally problematic. The main reason is that these applications require a large number of DNL runs to be performed. Marginal DNL simulation, introduced in this paper, exploits the fact that the successive simulations often exhibit a large overlap. Through marginal simulation, repeated DNL simulations can be performed much faster by approximating each simulation as a variation to a base scenario. Thus, repetition of identical calculations is largely avoided. The marginal DNL algorithm that is presented, the Marginal Computation (MaC) algorithm, is based on first order kinematic wave theory. Hence, it realistically captures congestion dynamics. MaC can simulate both demand and supply variations, making it useful for a wide range of DNL applications. Case studies on different types of networks are presented to illustrate its performance. [Copyright &y& Elsevier]

Highlights: [•] Introduces several two-phase methods for ground delay program planning. [•] Finds unsupported Pareto-optimal policies minimizing delay and inequity. [•] Does not require translating delay and inequity into common units. [•] Allows the user to bound the computational complexity of ground delay program planning. [ABSTRACT FROM AUTHOR]

Highlights: [•] A Dynamic Flexibility Model is offered that can estimate the “system flexibility”. [•] The model offered can evaluate and compare the flexibility of highway networks. [•] The model is able to compare different networks in regard to their perceived congestion. [ABSTRACT FROM AUTHOR]

Highlights: [•] Provide a critical review on the approaches to estimating work zone capacity and traffic delay in work zones. [•] Identify the limitations and shortcomings of these approaches. [•] Provide some directions and recommendations for future research. [ABSTRACT FROM AUTHOR]

Abstract: Some attempts have been done to alleviate the airspace congestion in Terminal Manoeuvring Area (TMA): reduced vertical separation minima, negotiation of voluntary reductions in scheduled service, construction of additional runways at major airports. However, there is still a pending matter to be solved regarding the efficiency of the airspace use, by avoiding non-efficient procedures such as holdings. In line with the requirements of the future air traffic management (ATM) concepts proposed by SESAR and NextGen, the air-traffic flow needs to be more predictable to offer the possibility of more effective use of airspace and airport capacity. In the context of SESAR, 4D trajectory management is expected to improve air traffic operations, in particular to increase the overall predictability of traffic, with benefit to airlines and air traffic management. A deep knowledge concerning the events that take place in the air traffic management of 4D trajectories and their interactions in a TMA is essential to remove non-effective operations, avoid delay propagation between arrivals and optimise the occupancy of the runway. The present paper describes a discrete event model, based on Coloured Petri-Nets formalism, useful to specify a conflict detection and conflict resolution algorithm focusing on the arrival phase of flight. The causal model developed considers different alternative pre-defined turning points for each flight by evaluating path shortening/path stretching of all trajectories upwards the assigned merging points in a TMA. [Copyright &y& Elsevier]

Highlights: [•] Uses large scale GPS traces of taxi cabs in New York City. [•] A model for estimating link travel times is developed using large scale data. [•] Developed insights into the congestion issues in New York City. [•] Rigorous numerical results are performed to test the approach. [ABSTRACT FROM AUTHOR]

Highlights: [•] Network fundamental diagrams, based on a reduced amount of measurements, are derived. [•] Reduced NFDs exhibit a critical range of traffic states equivalent to the complete NFD. [•] Efficient feedback-based gating is possible by applying few real-time measurements. [•] Delay and mean speed improved by 30% in cases with complete and reduced measurements. [ABSTRACT FROM AUTHOR]