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The massive amount of data generated daily by various sensors equipped with connected autonomous vehicles (CAVs) can lead to a significant performance issue of data processing and transfer. Network Function Virtualization (NFV) is a promising approach to improving the performance of a CAV system. In an NFV framework, Virtual Network Function (VNF) instances can be placed in edge and cloud servers and connected together to enable a flexible CAV service with low latency. However, protecting a service function chain composed of several VNFs from a failure is challenging in an NFV-based CAV system (VCAV). We propose an integer linear programming (ILP) model and two approximation algorithms for resilient services to minimize the service disruption cost in a VCAV system when a failure occurs. The ILP model, referred to as TERO, allows us to obtain the optimal solution for traffic engineering, including the VNF placement and routing for resilient services with regard to dynamic routing. Our proposed algorithms based on heuristics (i.e., TERH) and reinforcement learning (i.e., TERA) provide an approximation solution for resilient services in a large-scale VCAV system. Evaluation results with real datasets and generated network topologies show that TERH and TERA can provide a solution close to the optimal result. It also suggests that TERA should be used in a highly dynamic VCAV system.

With the development of autonomous driving technology utilizing machine learning, AI, and sensors, research on autonomous driving control has become more active, and a large number of innovative studies are underway. In the near future, all autonomous vehicle fleets will be able to communicate with each other for sharing information and overall optimal traffic control will be achieved. One of the vehicle control systems that are based on the premise of such a fully automated society is the "signal-less intersection." There is an intersection traffic control method that achieves safe and rational route selection by using virtual walls (VWs), which are virtual obstacles, but there are issues in terms of total route length and reduction of computation time. To address the issues, we propose a method that (1) prunes unneeded paths and (2) arranges VWs in a stepwise manner. The effectiveness of the proposed method was evaluated by simulation, and the results showed that the total route length and execution time were reduced. [ABSTRACT FROM AUTHOR]

The utilization of autonomous vehicles (AVs) has emerged as a pivotal factor in addressing the rising costs and safety concerns associated with modern travel. As technology advances and traffic challenges intensify, enhancing accessibility stands out as a critical goal for transportation experts. Accessibility, constrained by factors like travel time, underscores the increasing need for AVs to mitigate these limitations. This study aimed to model the influence of AVs on the accessibility index within transportation networks and discuss system optimization based on user equilibrium (UE) and system optimum (SO) outcomes. The research conducted numerical analysis employing the Hearn network as a fundamental system to validate a mixed assignment model and ascertain baseline accessibility. Additionally, the Sioux Falls network, a medium-sized network, was employed for analysis. A hybrid heuristic assignment algorithm was introduced, concurrently assigning different percentages of AV presence alongside the remaining non-AV percentage in three distinct scenarios. These scenarios ranged from 0 to 100% AV presence: the first scenario maintained constant network capacity, the second scenario adjusted network capacity based on AV presence, and the third scenario incorporated capacity adjustments in the assignment stage. In all three scenarios, network accessibility was evaluated using gravity and accessibility index methods derived from the hybrid assignment model output. The findings demonstrated that as the percentage of AVs increased, accessibility improved in both Hearn and Sioux Falls networks across all scenarios. The second and third scenarios exhibited higher accessibility increases compared to the first, attributable to augmented capacity resulting from increased AV presence. In the Sioux Falls network, the first scenario showed enhanced SO and UE due to increased AV presence and enhanced system operator management. Conversely, the second and third scenarios, with increased AVs and subsequent capacity increments, displayed reduced UE and SO results. Despite the decline in UE and SO, traffic flow assignment and overall network accessibility improved. These findings highlight the positive correlation between AV presence, network capacity, and enhanced accessibility. The study underscores the potential benefits of AV integration in optimizing transportation networks and improving overall accessibility, albeit with nuances in capacity adjustments impacting traffic flow dynamics. Further research avenues could explore complex traffic flow scenarios and delve into more specific optimization strategies. [ABSTRACT FROM AUTHOR]

Connected and autonomous vehicles (CAVs), with their potential to enhance the interactive perception of vehicle behavior, are expected to benefit traffic congestion and travel efficiency. However, the research scenarios in most current literature are oversimplified and limited, such as a road section or an intersection. To address this issue, this paper proposes a congestion avoidance routing strategy for CAVs to reduce the occurrence and propagation of congestion at the network level. Unlike rerouting after detecting the congestion downstream, the floating-car data are utilized to extract the network congestion patterns, based on which the routes of CAVs are optimized and updated. A simulation framework was built to model the network consisting of CAVs and human-driven vehicles (HDVs). Cooperative adaptive cruise control (CACC) and intelligent driver model (IDM) car-following models were set to characterize the driving behavior of CAVs and HDVs. Simulation experiments were conducted to examine the performance of the proposed routing strategy. The results indicate that the proposed CAV routing strategy can significantly improve the overall congestion state of the network. Compared with the full HDV environment, the vehicles' average delay can be reduced by up to 46.7% and the travel time by up to 28.2% if all vehicles are switched to CAVs. The sensitivity analysis on CAV penetration rate and vehicle inflow rate shows that the vehicles' average delay and travel time decreases with the CAV penetration rate increase, and the travel efficiency of CAVs outperforms HDV users sufficiently. Moreover, the benefits of CAVs would be weakened with the increase in vehicle inflow rates. Finally, the findings also provide a reference for CAVs' centralized control strategy in urban intelligent transportation construction. [ABSTRACT FROM AUTHOR]

With the emergence of connected and automated technologies, Connected Autonomous Vehicles (CAVs) are able to communicate and interact with other vehicles and signal controllers. Vehicle to Vehicle (V2V) and Vehicle to Infrastructure (V2I) communications open up an opportunity to improve routing and signal timing efficiency with additional information from CAVs, such as prior travel time and signal green time. Most of the existing research on routing and signal timing for Human Driven Vehicles (HDVs) has to face the fact that human drivers only have partial knowledge about travel costs and traffic status on the road network, which typically reduces the system efficiency. In this paper, the impacts of additional information from CAVs on routing and signal timing efficiency in terms of total travel time have been investigated. An Optimal Routing and Signal Timing (ORST) control strategy for CAVs has been proposed and compared with four existing routing and signal timing strategies where drivers have different levels of information. The results of the simulation demonstrate that with additional information from CAVs, ORST can reduce about 49% of the total travel time compared with Stochastic User Equilibrium (SUE) and about 10% of the total travel time compared with User Equilibrium (UE). [ABSTRACT FROM AUTHOR]

As autonomous vehicle technology advances, the development of energy-efficient control methodologies emerges as a critical area in the literature. This includes the behavior control of vehicles near signalized intersections, which still needs comprehensive exploration. Through connectivity, the adoption of promising eco-driving approaches can manage a vehicle's speed profile to improve energy consumption. This study focuses on controlling the speed of an autonomous electric vehicle (AEV) both up and downstream of a signalized intersection in the presence of preceding vehicles. In order to achieve this, a dynamic pro-active predictive cruise control eco-driving (eco-PPCC) framework is developed that, instead of merely reacting to the preceding vehicle's speed changes, uses the preceding vehicle's upcoming data to actively adjust and optimize the speed profile of the AEV. The proposed algorithm is compared to the conventional Gipps and eco-PCC models for benchmarking and performance analysis through numerous scenarios. Additionally, real-world measurements are performed and taken to consider practical use cases. The results demonstrate that when compared to the two baseline methods, the proposed framework can add significant value to reducing energy consumption, preventing unnecessary stops at intersections, and improving travel time. [ABSTRACT FROM AUTHOR]

Artificial intelligence is gaining tremendous attractiveness and showing great success in solving various problems, such as simplifying optimal control derivation. This work focuses on the application of Neuroevolution to the control of Connected and Autonomous Vehicle (CAV) cohorts operating at uncontrolled intersections. The proposed method implementation's simplicity, thanks to the inclusion of heuristics and effective real-time performance are demonstrated. The resulting architecture achieves nearly ideal operating conditions in keeping the average speeds close to the speed limit. It achieves twice as high mean speed throughput as a controlled intersection, hence enabling lower travel time and mitigating energy inefficiencies from stop-and-go vehicle dynamics. Low deviation from the road speed limit is hence continuously sustained for cohorts of at most 50 m long. This limitation can be mitigated with additional lanes that the cohorts can split into. The concept also allows the testing and implementation of fast-turning lanes by simply replicating and reconnecting the control architecture at each new road crossing, enabling high scalability for complex road network analysis. The controller is also successfully validated within a high-fidelity vehicle dynamic environment, showing its potential for driverless vehicle control in addition to offering a new traffic control simulation model for future autonomous operation studies. [ABSTRACT FROM AUTHOR]

An automatic vehicle classification (AVC) system designed from either still images or videos has the potential to bring significant benefits to the development of a traffic control system. On AVC, numerous articles have been published in the literature. Over the years, researchers in this domain have created and used a variety of datasets, but most often, these datasets may not reflect the exact scenarios of the Indian subcontinent due to specific peculiarities of the road conditions, road congestion nature, and vehicle types usually seen in Indian subcontinent. The primary goal of this paper is to create a new still image dataset, called JUIVCDv1, which contains 12 different local vehicle classes that are collected using mobile cameras in a different way for developing an automated vehicle management system. We have also discussed the characteristics of the current datasets, and various other factors taken into account while creating the dataset for the Indian scenario. Apart from this, we have benchmarked the results on the developed dataset using eight state-of-the-art pre-trained convolutional neural network (CNN) models, namely Xception, InceptionV3, DenseNet121, MobileNetV2, and VGG16, NasNetMobile, ResNet50 and ResNet152. Among these, the Xception, InceptionV3 and DenseNet121 models produce the best classification accuracy scores of 0.94, 0.93 and 0.92 respectively. These models are further utilized to make an ensemble model to enhance the performance of the overall categorization model. Majority voting-based ensemble, Weighted average-based ensemble, and Sum rule-based ensemble approaches are used as ensemble models that give accuracy scores of 0.95, 0.94, and 0.94, respectively. [ABSTRACT FROM AUTHOR]

Introduction: The rise of autonomous vehicles has brought about a transformative shift in transportation, witnessing the coexistence of human-driven and autonomous vehicles on highways in the United States, Europe, and China. This coexistence poses challenges to traffic operations, particularly in intricate scenarios like highway ramps. The interaction between autonomous truck platoons, displaying heightened maneuverability, and human-driven vehicles has emerged as a critical concern. Consequently, this research aims to propose and investigate three avoidance modes (overall, gap and cross) employed by truck platoons, evaluating their comprehensive impact on human-driven vehicles. Methods: Multiple scenarios are simulated utilizing the Simulation of Urban Mobility (SUMO) software, collecting data on three distinctive avoidance modes concerning Travel Time (TT) and Time to Collision (TTC). Employing principles of game theory, a comprehensive assessment is undertaken to evaluate the traffic efficiency and safety of each mode. Comparative analyses against a noavoidance baseline are conducted, offering a holistic evaluation of each mode's applicability across diverse scenarios. Results: The findings highlight the commendable performance of gap mode and overall mode in enhancing traffic efficiency, while cross mode excels in fortifying traffic safety. Overall, the gap mode emerges as the optimal choice among the three. Discussion: This study introduces a game-theoretic approach to managing humanmachine mixed traffic flow, establishing a foundational framework for theoretical research in decision-making for emerging mixed traffic environments. It considers safety and efficiency perspectives across different types of traffic entities. The insights gained contribute to the evolving discourse on the integration of autonomous vehicles into existing traffic systems, addressing the intricate challenges posed by the coexistence of various vehicle types on highways. [ABSTRACT FROM AUTHOR]

Connected and automated vehicles (CAVs) are being developed and designed to operate on existing roads. Their safe and efficient operation during roadworks, where traffic management measures are often introduced, is crucial. Two alternative measures are commonly applied during roadworks on motorways: (i) closing one or multiple lanes (ii) narrowing one or all lanes. The former can cause delays and increased emissions, while the latter can pose safety risks. This study uses a VISSIM‐based traffic microsimulation to compare the effectiveness of these two strategies on traffic efficiency and safety, considering various market penetration rates (MPR) of CAVs. The model was calibrated and validated with the data collected from M1 motorway in the United Kingdom. Results show that average delays per vehicle‐kilometre‐travelled decreased from 102.7 to 2.5 s (with lane closure) and 23.6 to 0.6 s (with narrow lanes) with 0% and 100% CAV MPR, respectively. Moreover, safety in narrow lanes improved by 4.8 times compared to 1.5 times improvement in lane closure with a 100% CAV MPR; indicating that narrow lanes would result in better safety performance. These findings could assist transport authorities in designing temporary traffic management measure that results in better CAV performance when navigating through roadworks. [ABSTRACT FROM AUTHOR]

Adaptive cruise control (ACC) is the core building block of future full autonomous driving. Numerous recent research demonstrated that Autonomous Vehicles (AVs) adopting shorter headways generally increase road capacity and may relieve congestion at bottlenecks for moderate demand scenarios. However, with high demand scenarios, bottlenecks can still be activated causing capacity breakdown. Therefore, extra control measures as dynamic traffic control near bottlenecks is necessary. The challenge is harder on urban freeways with consecutive bottlenecks which affect each other. This paper aims to improve the performance of ACC systems in a high demand scenario. A multi‐bottleneck dynamic headway control strategy based on deep reinforcement learning (DRL) that adapts headways to optimize traffic flow and minimize delay is proposed. The controller dynamically assigns an optimal headway for each controlled section, based on state measurement representing the current traffic conditions. The case study is a freeway stretch with three consecutive bottlenecks which is then extended to include eight bottlenecks. Three different RL agent configurations are presented and compared. It is quantitatively demonstrated that the proposed control strategy improves traffic and enhances the system delay by up to 22.30%, and 18.87% compared to shortest headway setting for the three‐bottleneck and the eight‐bottleneck networks, respectively. [ABSTRACT FROM AUTHOR]

In this work, the connected vehicle's messages are used to create an enhanced adaptive traffic signal control (ATSC) system for improved traffic flow. Few existing studies use connected and automated vehicles (CAVs) to develop traffic signal control algorithms under hybrid connected and autonomous conditions. The proposed approach focuses on a four‐phase traffic intersection with both CAVs and human‐driven vehicles (HVs). CAVs share real‐time state information, and a model called Roads Dynamic Segmentation estimates queuing procedures and vehicle fleet numbers on dynamic road sections. This information is used in the Store and Forward Model (SFM) to predict intersection queuing length. The ATSC system, based on model predictive control (MPC), aims to minimize intersection queue length while considering traffic constraints (undersaturated, saturated, and oversaturated) and avoiding free‐flow problems due to queue overflow. To reduce computational complexity, a linear‐quadratic‐regulator (LQR) is used. Real‐world vehicle trajectories and the SUMO tool are used for experimental purposes. Results show that the proposed method reduces average delay by 38.50% and 33.42% compared to fixed timing and traditional MPC in cases of oversaturated traffic flow with 100% CAV penetration. Even with a penetration rate of only 20%, average delay decreases by 13.65% and 6.50%, respectively. This study showcases not only the potential benefits of CAV in enhancing traffic, but also enables the optimal utilization of green duration in signalized intersection control systems. This helps prevent traffic congestion and ensures the efficient and smooth movement of traffic flow. [ABSTRACT FROM AUTHOR]

In this paper, we consider a novel reliability-based network equilibrium problem for mixed traffic flows of human-driven vehicles (HVs) and connected autonomous vehicles (CAVs) with endogenous CAV market penetration and stochastic link capacity degradations. Travelers' perception errors on travel time and their risk-aversive behaviors on mode choice and path choice are incorporated in the model with a hierarchical choice structure. Due to the differences between HVs and CAVs, the perception errors and the safety margin reserved by risk-averse travelers are assumed to be related to the vehicle type. The path travel time distribution is derived by using the moment-matching method based on the assumption that link capacity follows lognormal distribution and link travel times are correlated. Then, the underlying problem is formulated as an equivalent variational inequality problem. A path-based algorithm embedded with the Monte Carlo simulation-based method is proposed to solve the model. Numerical experiments are conducted to illustrate the features of the model and the computational performance of the solution algorithm. [ABSTRACT FROM AUTHOR]

The transportation sector is regarded as the main culprit in greenhouse gas emission in the urban network, particularly idling vehicles waiting at signalized intersections. Although autonomous vehicles can be a promising technology to tackle vehicle idling, their environmental benefits receive little attention compared with their safety and mobility issues. This study investigated the environmental benefits of autonomous vehicles equipped with an automatic idling control function based on the queue discharge time and traffic signal information transmitted from the traffic signal controller via V2I communication using microscopic mobility and emission simulation models, VISSIM and MOVES, in Haeundae-gu in Busan, Korea. This study found that the function contributes to a significant reduction in CO2 emissions by 23.6% for all-inclusive emission and 94.3% for idling emission, respectively. Moreover, total reduced idling time accounts for 47.6% of the total travel time and 94.3% of the total idling time, respectively. Consequently, the autonomous vehicles equipped with automatic vehicle idling control function under C-ITS can play an important role in reducing greenhouse gas emissions and fuel consumption as well in the urban network. [ABSTRACT FROM AUTHOR]

Path planning for an unmanned vehicle in an off-road uncertain environment is important for navigation safety and efficiency. Regarding this, a global improved A* algorithm is presented. Firstly, based on remote sensing images, the artificial potential field method is used to describe the distribution of risk in the uncertain environment, and all types of ground conditions are converted into travel time costs. Additionally, the improvements of the A* algorithm include a multi-directional node search algorithm, and a new line-of-sight algorithm is designed which can search sub-nodes more accurately, while the risk factor and the passing-time cost factor are added to the cost function. Finally, three kinds of paths can be calculated, including the shortest path, the path of less risk, and the path of less time-cost. The results of the simulation show that the improved A* algorithm is suitable for the path planning of unmanned vehicles in a complex and uncertain environment. The effectiveness of the algorithm is verified by the comparison between the simulation and the actual condition verification. [ABSTRACT FROM AUTHOR]

Three-colour four-way traffic light completed 100 years in 2020. Even though the traffic light in the form of Semaphore arms has been in use in London since 1868, electric traffic lights came into existence in 1912 and the standard three-colour four-way light in 1920. Research is continuously being carried out to develop better algorithms to improve safety, reduce travel delays, and optimize road capacity. Hence a review of the evolution of traffic lights is warranted. This paper presents an all-round review using a six-prong approach. Timeline of the evolution of the literature in the last 100 years, the evolution of hardware, algorithms, traffic control schemes, standards and the pedestrian lights and count down timer are the six areas in which the review is carried out. A timeline of the different keywords related to the various algorithms in use is presented. This article delves into the thinking and meticulous approach of early researchers and practitioners of the field while dwelling on the past. They laid the rock-solid foundation of today's research. Also, future research areas like connected vehicles and automated vehicles are pointed out, and a summary of the findings is presented at the end. [ABSTRACT FROM AUTHOR]

Unmanned vehicles frequently encounter the challenge of navigating through complex mountainous terrains, which are characterized by numerous unknown continuous curves. Drones, with their wide field of view and ability to vertically displace, offer a potential solution to compensate for the limited field of view of ground vehicles. However, the conventional approach of path extraction solely provides pixel-level positional information. Consequently, when drones guide ground unmanned vehicles using visual cues, the road fitting accuracy is compromised, resulting in reduced speed. Addressing these limitations with existing methods has proven to be a formidable task. In this study, we propose an innovative approach for guiding the visual movement of unmanned ground vehicles using an air–ground collaborative vectorized curved road representation and trajectory planning method. Our method offers several advantages over traditional road fitting techniques. Firstly, it incorporates a road star points ordering method based on the K-Means clustering algorithm, which simplifies the complex process of road fitting. Additionally, we introduce a road vectorization model based on the piecewise GA-Bézier algorithm, enabling the identification of the optimal frame from the initial frame to the current frame in the video stream. This significantly improves the road fitting effect ( E V ) and reduces the model running time (T— m o d e l ). Furthermore, we employ smooth trajectory planning along the "route-plane" to maximize speed at turning points, thereby minimizing travel time (T— t r a v e l ). To validate the efficiency and accuracy of our proposed method, we conducted extensive simulation experiments and performed actual comparison experiments. The results demonstrate the superior performance of our approach in terms of both efficiency and accuracy. [ABSTRACT FROM AUTHOR]

Dynamic road network optimization has been used for improving traffic flow in an infrequent and localized manner. The development of intelligent systems and technology provides an opportunity to improve the frequency and scale of dynamic road network optimization. However, such improvements are hindered by the high computational complexity of the existing algorithms that generate the optimization plans. We present a novel solution that integrates machine learning and road network optimization. Our solution consists of two complementary parts. The first part is an efficient algorithm that uses reinforcement learning to find the best road network configurations at real-time. The second part is a dynamic routing mechanism, which helps connected vehicles adapt to the change of the road network. Our extensive experimental results demonstrate that the proposed solution can substantially reduce the average travel time in a variety of scenarios, whilst being computationally efficient and hence applicable to real-life situations. [ABSTRACT FROM AUTHOR]

Limits in attention restrict drivers from performing many desired non-driving activities while manoeuvring their vehicles. This constraint facilitates the use of transport services with autonomous vehicles (AVs). In this study, we interviewed 763 car drivers about their driving behaviour, their driving-based multitasking habit, and their driving-based smart device addiction. We constructed an integrated choice model with latent variable (ICLV) and identified the latent effects of two variables on both the preference for AV-based services and the value of travel time (VTT) at an individual level. Our results suggest that the multitasking habit discourages a driver from switching to AV-based services, while the driving-based device addiction encourages drivers to do so. This is expected, since drivers having a stronger driving-based multitasking habit are likely to be more capable of carrying out non-driving activities while manoeuvring their vehicle. As a result, skilful drivers may be reluctant to adopt an AV service. In contrast, those who demonstrate a higher level of driving-based addiction to their smart device are more likely to embrace AV services, since the addiction implies a desire to focus their attention on it instead of on driving. We found a stronger multitasking habit to reduce VTT in both AV and public transport services. In contrast, addiction to smart device increases generic cost, increasing VTT. We further investigated factors affecting how these two latent variables form and we identify young, male drivers (under 40 years old) that drive very frequently (> 3 times a day) should be the ideal advertising targets should AV-based services are rolled out. • Identified latent effects of driving-based multitasking habit and device addiction on drivers' AV service adoption. • Demonstrated factors affecting the formation processes of driving-based multitasking habit and device addiction. • Summarised practical implications of promoting AV services by revealing the targeted markets and the caveated facts. [ABSTRACT FROM AUTHOR]

Despite numerous studies demonstrating the effectiveness of restricted crossing U-turn (RCUT) intersection design, its implementation remains close to zero in some large states (e.g., California). The study included four locations on high-speed rural expressways (highways with partial access control) in California. The operational evaluation relies on microscopic simulation models of existing two-way stop-controlled (TWSC) intersections and alternate RCUT designs used to estimate network-wide performance measures. Two series of simulation scenarios were tested: (1) scenarios with no connected and autonomous vehicles (CAVs) and (2) scenarios with different SAE International Level 4 CAV market penetration rates (MPRs) to help policymakers and practitioners in future planning strategies. The microsimulation models were also used to generate trajectory data to create a surrogate measure-based approach. Based on the results, the RCUT designs reduced or eliminated the more severe crossing conflicts. Similar vehicle travel times were identified in various CAV MPRs except for one of the locations with challenging geometric features, where travel time increased at higher CAV MPRs. [ABSTRACT FROM AUTHOR]

Driverless vehicles are expected to revolutionize existing transportation systems by improving safety, mobility, and sustainability. This study provides a framework that incorporates autonomous vehicles (AVs) into the transportation demand analysis and planning process of regional areas. To this end, we apply a nested logit model based on the probability distributions of the trip destination and mode choice, and formulate a multiclass traffic assignment to differentiate between AV and HV modes of transport. The proposed model is implemented in a conventional 4-step model developed for the state of Victoria, Australia. We study two different future scenarios in the year 2051 using various parameters including the value of travel time, vehicle operating cost, and toll rates to evaluate the impacts of different assumptions of AVs on Victoria's future mobility. Our results show that travelers prefer to traverse longer distances with little to no difference in their associated general travel costs. This indicates that AVs provide users with more flexible residential, work, and school location choices. Choosing AVs for long distances rather than short distances is another finding of this study. Furthermore, as a result of the AVs deployment, up to 10% of new trips from public transport and active modes will be shifted to car trips. Empty vehicle travels by AV add around 20 percent to the vehicle kilometers traveled on Victoria's roadway network which leads to a major reduction in the average speed and an increase in travel time delay. [ABSTRACT FROM AUTHOR]

Autonomous vehicles (AVs) have been made possible by advances in sensing and computing technologies. However, the high cost of AVs makes privatization take longer. Therefore, companies with autonomous vehicles can develop shared autonomous vehicle (SAV) projects. AVs with a high level of automation require high upgrade and use costs. In order to meet the needs of more customers and reduce the investment cost of the company, SAVs with different levels of automation may coexist for a long time. Faced with multiple travel modes (autonomous cars with different levels of automation, private cars, and buses), travelers' travel mode choices are worth studying. To further differentiate the types of travelers, this paper defines high-income travelers and low-income travelers. The difference between these two types of travelers is whether they have a private car. The differences in time value and willingness to pay of the two types of travelers are considered. Based on the above considerations, this paper establishes a multi-modal selection model with the goal of maximizing the total utility of all travelers and uses the imperial competition algorithm to solve it. The results show that low-income travelers are more likely to choose buses and autonomous vehicles with lower levels of automation, while high-income travelers tend to choose higher levels of automation due to their high value of travel time. [ABSTRACT FROM AUTHOR]

Traditionally, time spent travelling has been seen as a 'cost' to the traveller. Autonomous or fully automated vehicles (FAVs) can free the driver of the driving task and allow engagement in other worthwhile activities inside the FAVs, which can transform how people travel. However, there is little understanding about how travel time can be used and how worthwhile this time can be in FAVs; and whether this is related to the intention to use FAVs. This paper addresses these questions through a multi-country questionnaire survey, with a sub-sample of chauffeur-driven car users to mimic time use in FAVs. Responses show that users are likely to engage in other non-driving activities while riding in FAVs, and these differ according to trip purpose and direction. Time spent travelling in FAVs is perceived to be more useful than in current modes of transport. Interest in using FAVs is directly correlated with perceived usefulness of time in autonomous vehicles. There is a strong correlation between intended activities in FAVs and current activities by primary car users in chauffeur-driven cars, providing some validation to the stated intention responses. Results have important implications for policy-making, time use and value-of-time research, as well as vehicle interior design. [ABSTRACT FROM AUTHOR]

Connected and automated vehicles can reduce the traffic congestion level of the entire network through platoon-driving technologies compared to human-driven vehicles. One promising approach to enhancing platoon-driving technology's efficiency is deploying dedicated lanes or roads for connected and automated vehicles. Since asymmetric interactions between different vehicle types increase road congestion, it is necessary to distinguish routes for efficient traffic management. However, the traditional traffic assignment problem, which uses only user equilibrium as a constraint with no difference in travel time between users, could not be proposed as a globally optimal solution because it generates an infinite number of locally optimal solutions. Recent studies have attempted to overcome the limitations by considering the sum of system-wide travel times as an additional constraint. Their research sought to help propose optimal deployment strategies through the lowest total travel time solution (best-case) or design robust transport planning strategies through the highest total travel time solution (worst-case). However, past studies have not focused on the possibility of the best/worst case appearing in reality. This study focused on the relationship between the two solutions pointed out in past studies and traffic patterns likely to appear in reality. This study interprets the Karush–Kun–Tucker condition of the static traffic assignment problem, considering the asymmetric interaction, and proposes a solution algorithm using discrete dynamics. The proposed algorithm extends the most widely used method in transportation planning research, which can overcome the limitations of asymmetric interaction problems through simple variations. The proposed algorithm can reliably derive two solutions, and entropy theory shows that both solutions are unlikely to appear in reality without additional policies such as dedicated lanes or roads. [ABSTRACT FROM AUTHOR]

Self-driving car companies aim to offer hands-off journeys with Automated Vehicle (AV) technology, but public skepticism persists on safety aspects of AVs. A proposed solution involves creating dedicated AV corridors with traffic control and interruptions. Realistically, full penetration of AVs is unlikely to occur in the near future while mixed traffic of AVs with human driven vehicles is more likely. This study applies this concept to a hypothetical scenario in NYC, proposing an AV corridor from the Staten Island Expressway to the Brooklyn Battery Tunnel. The goal is to assess the network-wide impacts of a limited AV deployment from a multi-modal perspective. The NYC transportation system is modeled using MATSim, an open-source agent-based modeling platform. Although each traveler is treated as an agent making multi-modal trip making decisions, it does not model microscopic behavior of cars. Thus, the modeling approach for AVs has to be a macroscopic one, where average headways are reduced on the AV (with mixed traffic) corridor portion of the overall network based on a link capacity relationship adopted from a study on Advanced Cruise-Assist Highway Systems [1]. Two reduced headway scenarios are simulated in this MATSim NYC model, 1.1 and.85 second headways. Results indicate that Scenario B (1.1-second headway) is preferable over Scenario A (0.85 second headway), mitigating potential congestion on connectors, especially on Victory Boulevard in Staten Island. This study suggests implementing Scenario B for a smoother corridor-wide introduction of AVs to avoid congestion on connectors of the AV corridor to the rest of the NYC network. [ABSTRACT FROM AUTHOR]

The emergence of connected autonomous vehicles (CAVs) has the potential to dramatically increase road capacity, and the provision of dedicated lanes for CAVs is a common management strategy to ensure that CAVs take appropriate priority over other vehicles. However, existing models of CAV lane management do not perform well at low CAV market penetration rates. Therefore, a novel model is proposed to address this shortcoming in this paper, and qualified human‐driven vehicles (HDVs) are allowed to enter the CAV priority lane when there is a low CAV penetration rate. A theoretical model is proposed to examine the impacts of three managed lane strategies under mixed traffic and then compare three lane management strategies under different CAV penetration rates and traffic demands. The results show that these lane management strategies can improve throughput, reduce travel time, increase speed, and reduce the variance of the distribution of vehicle speeds under different penetration rates and traffic demands. [ABSTRACT FROM AUTHOR]

With recent technological advancements, the commercialization of autonomous vehicles (AVs) is expected to be realized soon. However, it is anticipated that a mixed traffic of AVs and human-driven vehicles (HVs) will persist for a considerable period until the Market Penetration Rate reaches 100%. During this phase, AVs and HVs will interact and coexist on the roads. Such an environment can cause unpredictable and dynamic traffic conditions due to HVs, which results in traffic problems including traffic congestion. Therefore, the routes of AVs must be controlled in a mixed traffic environment. This study proposes a multi-objective vehicle routing control method using a deep Q-network to control the driving direction at intersections in a mixed traffic environment. The objective is to distribute the traffic flow and control the routes safely and efficiently to their destination. Simulation results showed that the proposed method outperformed existing methods in terms of the driving distance, time, and waiting time of AVs, particularly in more dynamic traffic environments. Consequently, the traffic became smooth as it moved along optimal routes. [ABSTRACT FROM AUTHOR]

This paper offers a novel view for managing and controlling the movement of driverless, i.e., autonomous, vehicles by converting this movement to a simulated train movement moving on a rail track. It expands on the "virtual track" theory and creates a model for virtual track autonomous vehicle management and control based on the ideas and methods of railway train operation. The developed model and adopted algorithm allow for large-scale autonomous driving vehicle control on the highway while considering the temporal-spatial distribution of vehicles, temporal-spatial trajectory diagram optimization, and the management and control model and algorithm for autonomous vehicles, as design goals. The ultimate objective is to increase the safety of the road traffic environment when autonomous vehicles are operating in it together with human-driven vehicles and achieve more integrated and precise organization and scheduling of these vehicles in such mixed traffic conditions. The developed model adopted a "particle swarm" optimization algorithm that is tested in a hypothetical network pending a full-scale test on a real highway. The paper concludes that the proposed management and control model and algorithm based on the "virtual track" theory is promising and demonstrates feasibility and effectiveness for further development and future application. [ABSTRACT FROM AUTHOR]

Automated Vehicles (AVs) are designed and programmed to follow traffic rules. However, there is no separate and comprehensive regulatory framework dedicated to AVs. The current Queensland traffic rules were designed for humans. These rules often contain open texture expressions, exceptions, and potential conflicts (conflict arises when exceptions cannot be handled in rules), which makes it hard for AVs to follow. This paper presents an automatic compliance checking framework to assess AVs behaviour against current traffic rules by addressing these issues. Specifically, it proposes a framework to determine which traffic rules and open texture expressions need some additional interpretation. Essentially this enables AVs to have a suitable and executable formalization of the traffic rules. Defeasible Deontic Logic (DDL) is used to formalize traffic rules and reasoning with AV information (behaviour and environment). The representation of rules in DDL helps effectively in handling and resolving exceptions, potential conflicts, and open textures in rules. 40 experiments were conducted on eight realistic traffic scenarios to evaluate the framework. The evaluation was undertaken both quantitatively and qualitatively. The evaluation result shows that the proposed framework is a promising system for checking Automated Vehicle interpretation and compliance with current traffic rules. [ABSTRACT FROM AUTHOR]

In a context in which the connectivity level of last-generation vehicles is constantly on the rise, the combined use of Vehicle-To-Everything (V2X) connectivity and autonomous driving can provide remarkable benefits through the synergistic optimization of the route and the speed trajectory. In this framework, this paper focuses on vehicle ecodriving optimization in a connected environment: the virtual test rig of a premium segment passenger car was used for generating the simulation scenarios and to assess the benefits, in terms of energy and time savings, that the introduction of V2X communication, integrated with cloud computing, can have in a real-world scenario. The Reference Scenario is a predefined Real Driving Emissions (RDE) compliant route, while the simulation scenarios were generated by assuming two different penetration levels of V2X technologies. The associated energy minimization problem was formulated and solved by means of a Variable Grid Dynamic Programming (VGDP), that modifying the variable state search grid on the basis of the V2X information allows to drastically reduce the DP computation burden by more than 95%. The simulations show that introducing a smart infrastructure along with optimizing the vehicle speed in a real-world urban route can potentially reduce the required energy by 54% while shortening the travel time by 38%. Finally, a sensitivity analysis was performed on the biobjective optimization cost function to find a set of Pareto optimal solutions, between energy and travel time minimization. [ABSTRACT FROM AUTHOR]

• Presents a measurement scale for long-distance recreational travel satisfaction. • Evaluation of long-distance recreational travel varies from commute travel. • Travel-based activities impact long-distance travel satisfaction. • Manual driving enjoyment improves the satisfaction of long-distance travel. The study of long-distance recreational travel is limited, despite its importance in both travel behavior and tourism literature. To aid the literature, this study validates the existing satisfaction with travel scale (STS)—which has been mostly used and validated for commute and daily travel—and investigates the factors affecting travel satisfaction. The data was collected from a questionnaire survey of visitors to US national parks conducted in the Summer of 2022, and a structural equation modeling framework was used for analyses. Confirmatory factor analysis suggested a three-factor structure with two affect-related factors—positive deactivation and positive activation—and a third factor (cognitive evaluation) related to valence and cognitive assessment of travel experience. The proposed measurement scale for long-distance recreational travel satisfaction could be used by tourism studies to investigate the interrelationships between travel satisfaction and tourism satisfaction, which could offer ways to increase the sustainability of tourism destinations. Structural equation model results show that socio-demographics, general travel attributes, trip-specific characteristics, travel-based activities, travel time perception, and attitudes are directly related to travel satisfaction. In addition to these direct effects, socio-demographic and general travel attributes are related to travel satisfaction indirectly through attitudinal characteristics (driving enjoyment and polychronicity). This investigation revealed a few differences in commute and long-distance travel behaviors: mostly the impacts of age, income, and travel duration on travel satisfaction. Based on the study results, it is also speculated that future autonomous vehicles would be a favorable choice for long-distance recreational travelers only if the option of manual driving is possible in those vehicles. [ABSTRACT FROM AUTHOR]

The application of deep reinforcement learning technology for autonomous driving decision has become a research topic at domestic and overseas. The existing research on vehicle traffic flow lacks randomness and authenticity,and the effective exploration of autonomous vehicles in the environment has limitations. Therefore, this paper used the 1D3 algorithm to study the right turn driving decision of autonomous vehicles in signal-free intersections. Firstly, it developed the training and testing scenario of signal-free intersection in Carla simulation,and added the traffic flow management function to improve the randomness of system training and testing. Secondly,in order to improve the exploratory of autonomous vehicles, it added OU noise for the target action to improve the Actor network in TD3 algorithm. Finally, it used the success rate and average travel time to evaluate the autonomous driving behavior decisions. The results show that in different traffic flow scenarios, the traffic success rate of the improved 1D3 algorithm is 6. 2% higher than the DDPG algorithm controlled vehicles, and 23% higher than the rule-based AEB model. The improved TD3 algorithm not only can explore more possibilities, but also has a more prominent performance of prevailing decision. [ABSTRACT FROM AUTHOR]

To solve the problems of congestion and accident risk when multiple vehicles merge into the merging area of a freeway, a platoon split collaborative merging (PSCM) method was proposed for an on-ramp connected and automated vehicle (CAV) platoon under a mixed traffic environment composed of human-driving vehicles (HDV) and CAVs. The PSCM method mainly includes two parts: merging vehicle motion control and merging effect evaluation. Firstly, the collision avoidance constraints of merging vehicles were analyzed, and on this basis, a following–merging motion rule was proposed. Then, considering the feasibility of and constraints on the stability of traffic flow during merging, a performance measurement function with safety and merging efficiency as optimization objectives was established to screen for the optimal splitting strategy. Simulation experiments under traffic demand of 1500 pcu/h/lane and CAV ratios of 30%, 50%, and 70% were conducted respectively. It was shown that under the 50% CAV ratio, the average travel time of the on-ramp CAV platoon was reduced by 50.7% under the optimal platoon split strategy compared with the no-split control strategy. In addition, the average travel time of main road vehicles was reduced by 27.9%. Thus, the proposed PSCM method is suitable for the merging control of on-ramp CAV platoons under the condition of heavy main road traffic demand. [ABSTRACT FROM AUTHOR]

Evaluating the economic benefits of traffic optimization from connected and autonomous vehicles (CAVs) and relevant traffic organization methods is significant, which will help to put forward suggestions for policymakers to promote the application of CAVs. The impacts and related benefits from CAVs with level 2 automation (L2 CAVs) on traffic efficiency and energy consumption of expressways are analyzed in this paper. Average travel time and actual road capacity are on behalf of traffic efficiency while average electric energy consumption is used to compute traffic energy consumption. The corresponding traffic economic benefits consist of travel-time-saving benefits, road construction benefits, and energy-saving benefits. A benefit evaluation framework is newly proposed and microscopic traffic simulation software is applied as the experiment platform. Different market penetration rates of L2 CAVs and various traffic flow statuses are considered. Besides, dedicated lanes for CAVs are also involved in this research, which are regarded as a traffic organization method expected to promote the realization of CAV's traffic benefits. It is found that L2 CAVs can save the average travel time and reduce average energy consumption for a single vehicle in most scenes. However, negative impacts on energy consumption are observed in several scenes due to the increase of actual road capacity. Positive economic benefits are obtained as soon as the traffic flow rate is out of saturation, which become increasingly higher as CAV's market penetration rate turns larger. Additionally, amplification in traffic economic benefits appears only if CAV lanes are provided under proper conditions. [ABSTRACT FROM AUTHOR]

When traffic congestion occurs on freeway off-ramp bottlenecks, the traffic state becomes complicated and changeable, which leads to increased vehicle travel time and decreased traffic safety and traffic efficiency. Variable speed limit (VSL) control is an effective method to improve traffic conditions, increase bottleneck throughput, improve traffic efficiency, and reduce emissions. Currently, there is an emerging trend of using connected and autonomous vehicle (CAV) technology to develop VSL control. This paper proposes an optimal differential variable speed limit (DVSL) control strategy under mixed CAVs and human-driven vehicles (HVs) environment for freeway offramp bottlenecks. The proposed DVSL control considers the characteristics of on-ramp, off-ramp, and mixed traffic flow (i.e., CAVs coexist with HVs). The proposed optimal DVSL control can describe and forecast the dynamics of traffic flow, and can set different speed limits across each lane with a multiple-objective function of total travel time (TTT) and total travel distance (TTD). A model predictive control (MPC) approach was utilized to optimize the DVSL control algorithm. The designed DVSL control was tested on a real-word freeway section with a simulated off-ramp bottleneck. The simulation results show that the proposed control strategy outperforms other existing methods in terms of improving the mobility of a freeway off-ramp bottleneck and maximizing the environmental benefits. Sensitivity analysis shows that the proposed control strategy can improve performance with the increase of the penetration rate (PR) of CAVs. The proposed methods form the basis of VSL control at off-ramp sections under mixed traffic environment. [ABSTRACT FROM AUTHOR]

Connected and Automated Vehicles (CAVs) have the capability to relieve congestion by improving roadway capacity by enabling vehicles to safely follow each other with smaller headways than traditional vehicles. This study aims to provide a basis for determining when the implementation of a Dedicated CAV Lane (DCAVL) would be beneficial to typical three-lane freeways. Total vehicle delay was used as the performance metric for assessing when it is ideal to have a DCAVL. Factors that can influence this decision - such as Market Penetration Rate (MPR) of CAVs, CAV-CAV headway, and demand volume - were considered for analysis. A total of 198 scenarios were created in a traffic flow simulation software, each reflecting a unique combination of the input parameters. A base scenario with no DCAVL was used to serve as a basis for comparison. A scenario comparison analysis was utilized to ultimately determine when a DCAVL will cause total vehicle delay to improve beyond the base scenario. The results of this study indicate that a three-lane freeway with a DCAVL will consistently begin to outperform the same three-lane freeway without a DCAVL when the MPR is between 34% and 37%. This research effectively provides a macroscopic view of the effects CAVs and DCAVLs will have on roadway performance and serves as a foundation for policymakers, traffic engineers, and researchers to base their future work upon. [ABSTRACT FROM AUTHOR]

Background: The availability of private vehicles with autonomous features is widespread nowadays. Various car manufacturers are providing attributes like collision warning, city automatic emergency braking, adaptive cruise control, pedestrian detection, lane-keeping assistance and lane departure warning, rear cross-traffic and blind-spot warning in their high-end models. Purpose: Such features can automatically manage the macroscopic fundamental traffic parameters such as speed, headway, etc adaptively. Consequently leading to a heterogeneous traffic stream with diverse car-following behaviour comprising completely manual/traditional (TVs) and autonomous vehicles (AVs). This questions the applicability of classic traffic flow theory relationships on such heterogeneous traffic streams. Methodology: This paper focuses on developing the macroscopic fundamental diagram for such heterogeneous traffic streams based on the quantified penetration rate (QPR) for autonomous vehicles. The penetration rate is devised by taking into account user demographics, land usage and road network properties. QPR is used as an input for heterogeneous urban traffic stream scenarios to calculate the aggregated urban traffic network dynamics of flow and density for the same network. Travel time versus flow characteristics is evaluated based on calibrated hyperbolic urban link travel time function for both interrupted and uninterrupted flows following the aggregated speed and density output from MFDs for heterogeneous traffic streams. Also, two scenarios are generated for comparison to explain the improvement in the network characteristics together with a sensitivity analysis. Results: Compared to the base scenario there could be 25-35% of AVs on the road networks based on the analysis in coming fifteen years. This increment in usage impacts the capacity of road networks positively by increasing it up to 59%. Conclusions: Results obtained after the application of the suggested model approach to the real network can be used to define a realistic method for multi-vehicle equilibrium assignment models for heterogeneous traffic streams including autonomous vehicles instead of approximating the penetration rates. [ABSTRACT FROM AUTHOR]

Globally, the increases in vehicle numbers, traffic congestion, and road accidents are serious issues. Autonomous vehicles (AVs) traveling in platoons provide innovative solutions for efficient traffic flow management, especially for congestion mitigation, thus reducing accidents. In recent years, platoon-based driving, also known as vehicle platoon, has emerged as an extensive research area. Vehicle platooning reduces travel time and increases road capacity by reducing the safety distance between vehicles. For connected and automated vehicles, cooperative adaptive cruise control (CACC) systems and platoon management systems play a significant role. Platoon vehicles can maintain a closer safety distance due to CACC systems, which are based on vehicle status data obtained through vehicular communications. This paper proposes an adaptive traffic flow and collision avoidance approach for vehicular platoons based on CACC. The proposed approach considers the creation and evolution of platoons to govern the traffic flow during congestion and avoid collisions in uncertain situations. Different obstructing scenarios are identified during travel, and solutions to these challenging situations are proposed. The merge and join maneuvers are performed to help the platoon's steady movement. The simulation results show a significant improvement in traffic flow due to the mitigation of congestion using platooning, minimizing travel time, and avoiding collisions. [ABSTRACT FROM AUTHOR]

The congestion caused by ramp overflow has an essential impact on the energy consumption of autonomous vehicles. It is urgent to solve the energy waste of ramp overflow on connected and autonomous vehicles and improve the energy utilization rate. Aiming at the traffic congestion caused by ramp overflow, this paper obtains the data of autonomous vehicles and traffic flow based on vehicle road cooperative perception, analyzes the impact mechanism of vehicle energy consumption, and summarizes the energy consumption modes of autonomous vehicles into three categories. Second, an energy consumption evaluation framework is proposed based on the CSANS strategy. This strategy can make up for the deficiency of constructing neighborhoods within European distance, find important influencing variables on connected and autonomous vehicles' energy consumption, and accurately capture the manifold characteristics of energy consumption data. Finally, flow control is carried out from the macro perspective of traffic engineering to optimize ramp overflow's impact on autonomous vehicles' energy consumption. Through multiple groups of experiments, it has been found that it can effectively reduce the energy consumption of autonomous vehicles. [ABSTRACT FROM AUTHOR]

This paper assesses the adequacy of the BPR volume delay function for the strategic modelling of Connected and Autonomous Vehicles (CAVs). Three testbed environments are simulated at 10% increments of CAV penetration rates (CPR) to observe network performance in mixed fleet environments. The microsimulation dataset is compared with the BPR travel time predictions to evaluate the need for recalibration. Where appropriate, the BPR modelling parameters are redefined as a function of the CPR. The predictive quality of the recalibrated model is then validated by comparing it against the BPR function on synthetic data. The numerical results indicate an overall improvement in travel time prediction using the recalibrated model, with a significant reduction in root mean square error from 15.16 to 8.86. The recalibrated model also outperformed the traditional BPR model in 67% of the 4620 cases used for validation, and better-predicted travel time by 5.43 times. [ABSTRACT FROM AUTHOR]

A precise, scalable, and computationally efficient mathematical framework is proposed for region-wide autonomous electric vehicle (AEV) fleet management, sizing and infrastructure planning for urban ride-hailing services. A comprehensive techno-economic analysis in New York City is conducted not only to calculate the societal costs but also to quantify the environmental and health benefits resulting from reduced emissions. The results reveal that strategic fleet management can reduce fleet size and unnecessary cruising mileage by up to 40% and 70%, respectively. This alleviates traffic congestion, saves travel time, and further reduces fleet sizes. Besides, neither large-battery-size AEVs nor high-power charging infrastructure is necessary to achieve efficient service. This effectively alleviates financial and operational burdens on fleet operators and power systems. Moreover, the reduced travel time and emissions resulting from efficient fleet autonomy create an economic value that exceeds the total capital investment and operational costs of fleet services. [ABSTRACT FROM AUTHOR]

The use of autonomous vehicles (AVs) in transportation at signalized intersections is proposed to improve safety, efficiency, and sustainability. The discussion shall thus focus more on the impacts of different AV driving behaviors to some key transportation metrics solely at signalized intersections. Among the parameters considered are travel time, queue length, delay, and speed. This is clear from one such holistic study that Cautious AV behavior would reduce accidents, but on the other way around, it might increase traffic delays and lead to congestion at signalized junctions. Aggressive AVs will improve the flow of traffic but face problems in safety in this kind of set-up. Normal AV operation A balanced approach that offers intermediary levels of travel time and safety. The review further investigates the environmental effects of various driving patterns within signalized intersections, where it notes that there are noticeable differences in emissions and fuel consumed if the driving behavior is taken into consideration. It goes further into the implications for traffic management and control systems, noting challenges and opportunities while integrating AVs into existing infrastructure and spotlighting at signalized intersections. Paramount to the review are the considerations of safety, regulatory frameworks, and mitigating strategies relevant to AV behavior at signalized intersections. In so doing, this review seeks to inform future research and policy decisions with a nuanced understanding of how various AV driving behaviors affect signalized intersection performance, seeking to optimize AV benefits while mitigating possible risks at critical traffic junctures. [ABSTRACT FROM AUTHOR]

Fewer studies have investigated the factors affecting fully Automated Vehicles (AVs) acceptance and their association with demographics and travel behaviour in the Australian context. Evidence shows that public opinions and adoption towards AVs may vary by country. Therefore, this study aims to systematically explore the factors affecting public opinion towards fully AVs by conducting a survey in Australia. Specifically, the study examines seven key attributes (benefits/usefulness, ease of use, attitude, data privacy, willingness to pay more, social influence, and trust) towards the opinions of AVs and their association between demographic and travel behaviour. The results from 809 Australian responses show that Australians tend to have a positive attitude toward AVs. Age and years of driving experience are the two most important factors instead of travel characteristics (e.g. frequency of driving cars, travel time by car, and distance of driving cars). Being less exposed to automation technology is likely to be the main reason affecting the adoption of AVs for the two socio‐demographic factors: age and years of driving experience. Males hold a relatively positive attitude towards AVs than females. Likewise, Australians are less likely to pay more for fully AVs than conventional vehicles. Data privacy is also concerning for Australians. [ABSTRACT FROM AUTHOR]

With the increasing number of vehicles equipped with conditional driving automation entering the market, it has become important to address the topic of improving driver takeover performance. This study focuses on designing the request to intervene (RtI) under conditional driving automation. We investigated takeover guidance and surrounding traffic information in the RtI influent takeover performance by conducting a driving simulator experiment. 32 participants were divided into four different groups based on the RtI design. The results show that adding surrounding traffic information to the RtI improves the safety of takeover performance. However, the combination of surrounding traffic information and takeover guidance impairs the takeover performance quality. Although all types of additional content (takeover guidance, surrounding traffic information, combination of takeover guidance, and surrounding traffic information) did not increase the participants’ workload during takeover, the participants gave a higher rating to the usability of the surrounding traffic information than the combination. This study demonstrates the importance of providing surrounding traffic information in RtI and the effectiveness of the system usability scale (SUS) in evaluating RtI designs. [ABSTRACT FROM AUTHOR]

Travelers choose transport modes on the basis of their preferences in which the features onboard vehicles affect the choice of transport modes. In economic theory, it is found that travelers seek to maximize their travel utilities. Autonomous vehicles (AVs) are to be on the market when machines will replace human drivers. AVs are to be used for different purposes, such as transporting passengers and goods. In literature, some research studied AVs in combination with other transport modes, whereas fewer studies have considered the impact of a camera onboard carsharing and privately shared autonomous vehicles (PSAVs) on traveler choices. This research was developed to predict the impact of traveler preferences on the availability of PSAV and carsharing considering certain variables, such as travel time, travel cost, waiting/walking time, and the availability of camera onboard (i.e., as an indication of comfort and privacy factors). A stated preference (SP) survey was designed in which sociodemographic and travel variables were included. A discrete choice experiment (DCE) was designed and included in the SP survey. The SP survey was distributed in Budapest, Hungary, where 313 respondents were collected. The discrete choice modeling approach is used, in which the multinomial logit (MNL) model was applied in developing a transport mode choice model. The developed model estimated the impact of different variables on transport modes as well as the willingness of travelers to use carsharing and PSAVs. The model explained the effects of trip length, income, gender, education, occupation, frequent current transport mode, and trip purpose on travelers' selection of transport mode. In conclusion, it demonstrated that people tend to use carsharing more than PSAVs, and the availability of cameras onboard decreases the probability of using a transport mode. [ABSTRACT FROM AUTHOR]

Freeway on-ramp merging area is deemed to be typical bottlenecks section, which leads to low traffic efficiency, congestions, and frequent accidents. Most existing studies on merging for the connected and automated vehicles focus on merging at a single fixed merging point. However, the problem of coordination between merging vehicle and arterial traffic flow in the acceleration lane is ignored in the existing studies. This study proposes a merging model, which combined safety and coordination of CAVs with featuring optimal merging positions. The proposed model has two stages: one is analysis of merging velocity of the insertable gap and the other one is determining constraint condition of cooperative merging. The outputs of first stage are interval of merging speed and the mergeable range. The outputs of second stage are optional insertable gap and the corresponding driving scheme. Then, a traffic simulation experiment is designed to evaluate the proposed model. The simulation results show that the proposed model can effectively guarantee driving safety and make the merging process smoother with 28.7% reduction in travel time for the CAV merging. Furthermore, the proposed model does not sacrifice the interests of surrounding traffic to assist in CAV merging. The results indicate the promising potential of using the proposed methods can approximately get a fair use of road resources for each CAV. [ABSTRACT FROM AUTHOR]

Accurately predicting lane-changing behaviors (lane keeping, left lane change and right lane change) in real-time is essential for ensuring traffic safety, particularly in mixed-traffic environments with both autonomous and manual vehicles. This paper proposes a fused model that predicts vehicle lane-changing behaviors based on the road traffic environment and vehicle motion parameters. The model combines the ensemble learning XGBoost algorithm with the deep learning Bi-GRU neural network. The XGBoost algorithm first checks whether the present environment is safe for the lane change and then evaluates the likelihood that the target vehicle will make a lane change. Subsequently, the Bi-GRU neural network is used to accurately forecast the lane-changing behaviors of nearby vehicles using the feasibility of lane-changing and the vehicle's motion status as input features. The highD trajectory dataset was utilized for training and testing the model. The model achieved an accuracy of 98.82%, accurately predicting lane changes with an accuracy exceeding 87% within a 2-second timeframe. By comparing with other methods and conducting experimental validation, we have demonstrated the superiority of the proposed model, thus, the research achievement is of utmost significance for the practical application of autonomous driving technology. [ABSTRACT FROM AUTHOR]

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