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Existing Advanced Driver Assistance Systems primarily focus on the vehicle directly ahead, often overlooking potential risks from following vehicles. This oversight can lead to ineffective handling of high risk situations, such as high speed, closely spaced, multi vehicle scenarios where emergency braking by one vehicle might trigger a pile up collision. To overcome these limitations, this study introduces a novel deep reinforcement learning based algorithm for longitudinal control and collision avoidance. This proposed algorithm effectively considers the behavior of both leading and following vehicles. Its implementation in simulated high risk scenarios, which involve emergency braking in dense traffic where traditional systems typically fail, has demonstrated the algorithm ability to prevent potential pile up collisions, including those involving heavy duty vehicles.

Traffic flow modeling relies heavily on fundamental diagrams. However, deterministic fundamental diagrams, such as single or multi-regime models, cannot capture the uncertainty pattern that underlies traffic flow. To address this limitation, a sparse non-parametric regression model is proposed in this paper to formulate the stochastic fundamental diagram. Unlike parametric stochastic fundamental diagram models, a non-parametric model is insensitive to parameters, flexible, and applicable. The computation complexity and the huge memory required for training in the Gaussian process regression have been reduced by introducing the sparse Gaussian process regression. The paper also discusses how empirical knowledge influences the modeling process. The paper analyzes the influence of modeling empirical knowledge in the prior of the stochastic fundamental diagram model and whether empirical knowledge can improve the robustness and accuracy of the proposed model. By introducing several well-known single-regime fundamental diagram models as the prior and testing the model's robustness and accuracy with different sampling methods given real-world data, the authors find that empirical knowledge can only benefit the model under small inducing samples given a relatively clean and large dataset. A pure data-driven approach is sufficient to estimate and describe the pattern of the density-speed relationship.

The trajectory planning problem (TPP) has become increasingly crucial in the research of next-generation transportation systems, but it presents challenges due to the non-linearity of its constraints. One specific case within TPP, namely the Eco-trajectory Planning Problem (EPP), poses even greater computational difficulties due to its nonlinear, high-order, and non-convex objective function. This paper proposes a translatable explicit predictive model control (teMPC) framework to address the eco-trajectory planning problem in scenarios without lane-changing behavior. The teMPC framework consists of an offline module and an online module. In the offline module, an optimal eco-trajectory batch is constructed by solving a sequence of simplified optimization problems to minimize fuel consumption, considering various initial and terminal system states. Each candidate trajectory in the batch yields the lowest fuel consumption subject to a specific travel time from the vehicle entry to the departure from the intersection. In the online module, two dynamic trajectory planning algorithms are provided. Both algorithms greatly improve the computational efficiency of planning and only suffer from a limited extent of optimality losses through a batch-based selection process because optimization and calculation are pre-computed in the offline module. The latter algorithm can also handle possible emergencies and prediction errors. Theoretical analysis and numerical tests are presented and discussed to evaluate the computational quality and efficiency of the teMPC framework under a mixed-traffic flow environment that incorporates human-driving vehicles (HDV) and connected and automated vehicles (CAV) with different market penetration rates (MPR)

Full-field traffic state information (i.e., flow, speed, and density) is critical for the successful operation of Intelligent Transportation Systems (ITS) on freeways. However, incomplete traffic information tends to be directly collected from traffic detectors that are insufficiently installed in most areas, which is a major obstacle to the popularization of ITS. To tackle this issue, this paper introduces an innovative traffic state estimation (TSE) framework that hybrid regression machine learning techniques (e.g., artificial neural network (ANN), random forest (RF), and support vector machine (SVM)) with a traffic physics model (e.g., second-order macroscopic traffic flow model) using limited information from traffic sensors as inputs to construct accurate and full-field estimated traffic state for freeway systems. To examine the effectiveness of the proposed TSE framework, this paper conducted empirical studies on a real-world data set collected from a stretch of I-15 freeway in Salt Lake City, Utah. Experimental results show that the proposed method has been proved to estimate full-field traffic information accurately. Hence, the proposed method could provide accurate and full-field traffic information, thus providing the basis for the popularization of ITS., Comment: We found some problems of this paper