Hybrid traffic flow model for intelligent vehicles exiting to off-ramp

Dong Chang-Yin; Wang Hao; Wang Wei; Li Ye; Hua Xue-Dong

doi:10.7498/aps.67.20172752

Abstract

With the rapid development of vehicular technology, hi-tech manufacturing facilities are equipped in intelligent vehicles to improve road capacity and traffic safety. However, freeway diverge segment has significant influence on current traffic flow, and could affect the heterogeneous traffic flow consisting of manual and intelligent vehicles. The primary objective of this study is to evaluate how intelligent vehicles affect traffic flow at an off-ramp bottleneck.In order to depict the car-following dynamics of manual vehicles, the modified comfortable model, one of the most classic cellular automata models, is employed to distinguish intelligent vehicles. In this paper, intelligent vehicles consist of adaptive cruise control (ACC) vehicles cooperative adaptive cruise control (CACC) vehicles. The ACC and CACC model are proposed by partners for advanced transportation technology (PATH), which are validated by real experimental data. Besides, vehicles equipped with CACC will degrade ACC vehicle if the leading vehicle is driven manually. From the perspective of vehicle's lateral movement, two novel lane-changing models, including the discretionary lane-change (DLC) model and mandatory lane-change (MLC) model, are developed to model the future behaviors of intelligent vehicles. A risk factor λ is introduced into the DLC model to distinguish vehicles from conventional ones. Based on environment perception technology, a five-step MLC decision-making model is designed specifically for intelligent vehicles exiting to off-ramp. It is comprised of environment perception, safe gap computation, measured gap ranking, measured gap classification and lane-changing gap selection. Based on the proposed hybrid traffic flow model, numerical simulations are conducted to study the influences of intelligent vehicles on the traffic flow near an off-ramp. Apart from the market penetration of intelligent vehicles, parameters considered in this paper include the demands of mainlines and off-ramp, range of environment perception, length of lane-changing area, and level of lane-changing risk.Analytical studies and simulation results are as follows. 1) The integration of car-following model and lane-changing model for the off-ramp system enables vehicles to have reasonable dynamic characteristics. 2) The capacity ascends to the peak after an initial decrease as CACC vehicle penetration increases. The maximum capacity obtained in 100% CACC vehicle scenario is improved by over 50%, compared with that in 50% CACC penetration scenario. 3) Enlarging the ranges of environment perception and lane-changing areas, and enhancing the lane-changing risk can significantly dissipate congestion upstream of the off-ramp and improve the efficiency of mainlines. However, they have little influence on traffic flow at off-ramp. 4) The worst performance of the system occurs in the scenario of 50% CACC penetration, where deterioration caused by degraded ACC vehicles suggests that enough patience and public confidence should be paid for the development of intelligent vehicles.

Keywords:

Authors and contacts

1.
Jiangsu Key Laboratory of Urban Intelligent Traffic System, School of Transportation, Southeast University, Nanjing 210096, China;
2.
Jiangsu Province Collaborative Innovation Center of Modern Urban Traffic Technologies, Nanjing 210096, China;
3.
School of Architecture, Southeast University, Nanjing 210096, China

Corresponding author: Wang Hao, haowang@seu.edu.cn

Funds: Project supported by the National Natural Science Foundation of China (Grant Nos. 51478113, 51508122), the Jiangsu Planned Projects for Postdoctoral Research Funds, China (Grant No. 1701082B), and the Scientific Research Foundation of Graduate School of Southeast University, China (Grant No. YBJJ1734).

References

[1]	Chowdhury D, Santen L, Schadschneider A 2000 Phys. Rep. 329 199
[2]	Helbing D 2001 Rev. Mod. Phys. 73 1067
[3]	Jin S, Wang D H, Tao P F, Li P F 2010 Physica A 389 4654
[4]	Jing M, Deng W, Wang H, Ji Y J 2012 Acta Phys. Sin. 61 244502 (in Chinese) [敬明, 邓卫, 王昊, 季彦婕 2012 物理学报 61 244502]
[5]	Gupta A K, Redhu P 2013 Physica A 392 5622
[6]	Lei Y, Zhong K S, Tong L 2014 Phys. Lett. A 378 348
[7]	Zhou T, Sun D H, Kang Y R, Li H M, Tian C 2014 Commun. Nonlinear Sci. Numer. Simul. 19 3820
[8]	Sun D H, Zhang M, Tian C 2014 Mod. Phys. Lett. B 28 1450091
[9]	Sun D H, Kang Y R, Li H M 2015 Acta Phys. Sin. 64 154503 (in Chinese) [孙棣华, 康义容, 李华民 2015 物理学报 64 154503]
[10]	Werf J V, Shladover S, Miller M, Kourjanskaia N 2002 Transp. Res. Rec. 1800 78
[11]	Davis L C 2004 Phys. Rev. E 69 066110
[12]	Xiao L Y, Gao F 2011 IEEE Trans. Intell. Transp. 12 1184
[13]	Mark V, Schleicher S, Gelau C 2011 Accident Anal. Prev. 43 1134
[14]	Davis L C 2012 Phys. Lett. A 376 2658
[15]	Siebert F W, Oehl M, Pfister H R 2014 Trans. Res. F 25 65
[16]	Zhao D B, Hu Z H, Xia Z P, Alippi C, Zhu Y H, Wang D 2014 Neurocomputing 125 57
[17]	Yuan Y M, Jiang R, Hu M B, Wu Q S, Wang R 2009 Physica A 388 2483
[18]	Milanés V, Villagrá J, Pérez J, González C 2012 IEEE Trans. Ind. Electron. 59 620
[19]	Milanés V, Shladover S E, Spring J, Nowakowski C, Kawazoe H, Nakamura M 2014 IEEE Trans. Intell. Transp. Syst. 15 296
[20]	Jin I G, Orosz G Tang T Q, Yu Q, Yang S C, Ding C 2015 Mod. Phys. Lett. B 29 1550157
[21]	Tang T Q, Yu Q, Yang S C, Ding C 2015 Mod. Phys. Lett. B 29 1550157
[22]	Tang T Q, Chen L, Yang S C, Shang H Y 2015 Physica A 430 148
[23]	Ge H X, Zheng P J, Wang W, Cheng R J 2015 Physica A 433 274
[24]	Ge H X, Cheng R J, Li Z P 2008 Physica A 387 5239
[25]	Tang T Q, Li J G, Yang S C, Shang H Y 2015 Physica A 419 293
[26]	Hua X D, Wang W, Wang H 2016 Acta Phys. Sin. 65 010502 (in Chinese) [华雪东, 王炜, 王昊 2016 物理学报 65 010502]
[27]	Hua X D, Wang W, Wang H 2016 Acta Phys. Sin. 65 084503 (in Chinese) [华雪东, 王炜, 王昊 2016 物理学报 65 084503]
[28]	Sau J, Monteil J, Billot R, Faouzi N E E 2014 Transp. B: Transp. Dyn. 2 60
[29]	van Arem B, van Driel C J G, Visser R 2006 IEEE Trans. Intell. Transp. Syst. 7 429
[30]	Qin Y Y, Wang H, Wang W, Wan Q 2017 Acta Phys. Sin. 66 094502 (in Chinese) [秦严严, 王昊, 王炜, 万千 2017 物理学报 66 094502]
[31]	Tang T Q, Xu K W, Yang S C, Ding C 2016 Physica A 441 221
[32]	Yu S, Shi Z 2015 Physica A 428 206
[33]	Wang M, Daamen W, Hoogendoorn S P, van Arem B 2016 IEEE Trans. Intell. Transp. Syst. 17 1459
[34]	Jerath K, Brennan S N 2012 IEEE Trans. Intell. Transp. Syst. 13 1782
[35]	Shladover S, Su D, Lu X Y 2012 Transp. Res. Rec. 2324 63
[36]	Milanés V, Shladover S E 2014 Transp. Res. C 48 285
[37]	Nagel K, Wolf D, Wagner P 1996 Phys. Rev. E 58 1425
[38]	Kesting A, Treiber M, Schonhof M, Helbing D 2008 Transp. Res. C 16 668
[39]	Hua X D, Wang W, Wang H 2011 Acta Phys. Sin. 60 084502 (in Chinese) [华雪东, 王炜, 王昊 2011 物理学报 60 084502]
[40]	Wei L Y, Wang Z L, Wu R H 2014 Acta Phys. Sin. 63 044501 (in Chinese) [魏丽英, 王志龙, 吴荣华 2014 物理学报 63 044501]
[41]	Zhang W H, Yan R, Feng Z X, Wang K 2016 Acta Phys. Sin. 65 064501 (in Chinese) [张卫华, 颜冉, 冯忠祥, 王锟 2016 物理学报 65 064501]
[42]	Zhu W X, Zhang H M 2017 Physica A 496 274
[43]	Zhu W X, Zhang J Y 2017 Physica A 467 107
[44]	Tang T Q, Huang H J, Shang H Y 2017 Physica A 468 322
[45]	Tang T Q, Wang T, Chen L, Shang H Y 2017 Physica A 486 720
[46]	Zhang J, Tang T Q, Yu S W 2018 Physica A 492 1831
[47]	Jiang R, Wu Q S 2003 J. Phys. A: Math. Gen. 36 381
[48]	Jiang R, Wu Q S 2005 Eur. Phys. J. B 46 581
[49]	Jiang R, Wu Q S 2006 Phys. Lett. A 359 99
[50]	Jiang R, Hu M B, Jia B, Wang R, Wu Q S 2007 Eur. Phys. J. B 58 197
[51]	Naus G J, Vugts R P, Ploeg J, van de Molengraft M J, Steinbuch M 2010 IEEE Trans. Veh. Technol. 59 4268
[52]	Dong C Y 2016 M. S. Thesis (Nanjing: Southeast University) (in Chinese) [董长印 2016 硕士学位论文 (南京: 东南大学)]
[53]	Kang R, Yang K 2013 Acta Phys. Sin. 62 238901 (in Chinese) [康瑞, 杨凯 2013 物理学报 62 238901]
[54]	Liu X H, Ko H T, Guo M M, Wu Z 2016 Chin. Phys. B 25 048901
[55]	Zhang Y, Ioannou P A 2017 IEEE Trans. Intell. Transp. Syst. 18 1812
[56]	Gorter M 2015 M. S. Thesis (Delft: Delft University of Technology)

Cited By

[1]	Chowdhury D, Santen L, Schadschneider A 2000 Phys. Rep. 329 199
[2]	Helbing D 2001 Rev. Mod. Phys. 73 1067
[3]	Jin S, Wang D H, Tao P F, Li P F 2010 Physica A 389 4654
[4]	Jing M, Deng W, Wang H, Ji Y J 2012 Acta Phys. Sin. 61 244502 (in Chinese) [敬明, 邓卫, 王昊, 季彦婕 2012 物理学报 61 244502]
[5]	Gupta A K, Redhu P 2013 Physica A 392 5622
[6]	Lei Y, Zhong K S, Tong L 2014 Phys. Lett. A 378 348
[7]	Zhou T, Sun D H, Kang Y R, Li H M, Tian C 2014 Commun. Nonlinear Sci. Numer. Simul. 19 3820
[8]	Sun D H, Zhang M, Tian C 2014 Mod. Phys. Lett. B 28 1450091
[9]	Sun D H, Kang Y R, Li H M 2015 Acta Phys. Sin. 64 154503 (in Chinese) [孙棣华, 康义容, 李华民 2015 物理学报 64 154503]
[10]	Werf J V, Shladover S, Miller M, Kourjanskaia N 2002 Transp. Res. Rec. 1800 78
[11]	Davis L C 2004 Phys. Rev. E 69 066110
[12]	Xiao L Y, Gao F 2011 IEEE Trans. Intell. Transp. 12 1184
[13]	Mark V, Schleicher S, Gelau C 2011 Accident Anal. Prev. 43 1134
[14]	Davis L C 2012 Phys. Lett. A 376 2658
[15]	Siebert F W, Oehl M, Pfister H R 2014 Trans. Res. F 25 65
[16]	Zhao D B, Hu Z H, Xia Z P, Alippi C, Zhu Y H, Wang D 2014 Neurocomputing 125 57
[17]	Yuan Y M, Jiang R, Hu M B, Wu Q S, Wang R 2009 Physica A 388 2483
[18]	Milanés V, Villagrá J, Pérez J, González C 2012 IEEE Trans. Ind. Electron. 59 620
[19]	Milanés V, Shladover S E, Spring J, Nowakowski C, Kawazoe H, Nakamura M 2014 IEEE Trans. Intell. Transp. Syst. 15 296
[20]	Jin I G, Orosz G Tang T Q, Yu Q, Yang S C, Ding C 2015 Mod. Phys. Lett. B 29 1550157
[21]	Tang T Q, Yu Q, Yang S C, Ding C 2015 Mod. Phys. Lett. B 29 1550157
[22]	Tang T Q, Chen L, Yang S C, Shang H Y 2015 Physica A 430 148
[23]	Ge H X, Zheng P J, Wang W, Cheng R J 2015 Physica A 433 274
[24]	Ge H X, Cheng R J, Li Z P 2008 Physica A 387 5239
[25]	Tang T Q, Li J G, Yang S C, Shang H Y 2015 Physica A 419 293
[26]	Hua X D, Wang W, Wang H 2016 Acta Phys. Sin. 65 010502 (in Chinese) [华雪东, 王炜, 王昊 2016 物理学报 65 010502]
[27]	Hua X D, Wang W, Wang H 2016 Acta Phys. Sin. 65 084503 (in Chinese) [华雪东, 王炜, 王昊 2016 物理学报 65 084503]
[28]	Sau J, Monteil J, Billot R, Faouzi N E E 2014 Transp. B: Transp. Dyn. 2 60
[29]	van Arem B, van Driel C J G, Visser R 2006 IEEE Trans. Intell. Transp. Syst. 7 429
[30]	Qin Y Y, Wang H, Wang W, Wan Q 2017 Acta Phys. Sin. 66 094502 (in Chinese) [秦严严, 王昊, 王炜, 万千 2017 物理学报 66 094502]
[31]	Tang T Q, Xu K W, Yang S C, Ding C 2016 Physica A 441 221
[32]	Yu S, Shi Z 2015 Physica A 428 206
[33]	Wang M, Daamen W, Hoogendoorn S P, van Arem B 2016 IEEE Trans. Intell. Transp. Syst. 17 1459
[34]	Jerath K, Brennan S N 2012 IEEE Trans. Intell. Transp. Syst. 13 1782
[35]	Shladover S, Su D, Lu X Y 2012 Transp. Res. Rec. 2324 63
[36]	Milanés V, Shladover S E 2014 Transp. Res. C 48 285
[37]	Nagel K, Wolf D, Wagner P 1996 Phys. Rev. E 58 1425
[38]	Kesting A, Treiber M, Schonhof M, Helbing D 2008 Transp. Res. C 16 668
[39]	Hua X D, Wang W, Wang H 2011 Acta Phys. Sin. 60 084502 (in Chinese) [华雪东, 王炜, 王昊 2011 物理学报 60 084502]
[40]	Wei L Y, Wang Z L, Wu R H 2014 Acta Phys. Sin. 63 044501 (in Chinese) [魏丽英, 王志龙, 吴荣华 2014 物理学报 63 044501]
[41]	Zhang W H, Yan R, Feng Z X, Wang K 2016 Acta Phys. Sin. 65 064501 (in Chinese) [张卫华, 颜冉, 冯忠祥, 王锟 2016 物理学报 65 064501]
[42]	Zhu W X, Zhang H M 2017 Physica A 496 274
[43]	Zhu W X, Zhang J Y 2017 Physica A 467 107
[44]	Tang T Q, Huang H J, Shang H Y 2017 Physica A 468 322
[45]	Tang T Q, Wang T, Chen L, Shang H Y 2017 Physica A 486 720
[46]	Zhang J, Tang T Q, Yu S W 2018 Physica A 492 1831
[47]	Jiang R, Wu Q S 2003 J. Phys. A: Math. Gen. 36 381
[48]	Jiang R, Wu Q S 2005 Eur. Phys. J. B 46 581
[49]	Jiang R, Wu Q S 2006 Phys. Lett. A 359 99
[50]	Jiang R, Hu M B, Jia B, Wang R, Wu Q S 2007 Eur. Phys. J. B 58 197
[51]	Naus G J, Vugts R P, Ploeg J, van de Molengraft M J, Steinbuch M 2010 IEEE Trans. Veh. Technol. 59 4268
[52]	Dong C Y 2016 M. S. Thesis (Nanjing: Southeast University) (in Chinese) [董长印 2016 硕士学位论文 (南京: 东南大学)]
[53]	Kang R, Yang K 2013 Acta Phys. Sin. 62 238901 (in Chinese) [康瑞, 杨凯 2013 物理学报 62 238901]
[54]	Liu X H, Ko H T, Guo M M, Wu Z 2016 Chin. Phys. B 25 048901
[55]	Zhang Y, Ioannou P A 2017 IEEE Trans. Intell. Transp. Syst. 18 1812
[56]	Gorter M 2015 M. S. Thesis (Delft: Delft University of Technology)

[1]	Qin Yan-Yan, Wang Hao, Wang Wei, Wan Qian. Stability analysis and fundamental diagram of heterogeneous traffic flow mixed with cooperative adaptive cruise control vehicles. Acta Physica Sinica, 2017, 66(9): 094502. doi: 10.7498/aps.66.094502
[2]	Hua Xue-Dong, Wang Wei, Wang Hao. A car-following model with the consideration of vehicle-to-vehicle communication technology. Acta Physica Sinica, 2016, 65(1): 010502. doi: 10.7498/aps.65.010502
[3]	Zhang Wei-Hua, Yan Ran, Feng Zhong-Xiang, Wang Kun. Study of highway lane-changing model under rain weather. Acta Physica Sinica, 2016, 65(6): 064501. doi: 10.7498/aps.65.064501
[4]	Hua Xue-Dong, Wang Wei, Wang Hao. A hybrid traffic flow model with considering the influence of adaptive cruise control vehicles and on-ramps. Acta Physica Sinica, 2016, 65(8): 084503. doi: 10.7498/aps.65.084503
[5]	Zhao Yi-Bo, Zhang Xiu-Zai, Sun Xin-Yu. Adaptive identification for hyperchaotic l system based on Weiner model. Acta Physica Sinica, 2014, 63(13): 130503. doi: 10.7498/aps.63.130503
[6]	Wang Xi, Wang Yu-Hong, Li Xing-Yuan, Miao Miao. Design of the static var compensator adaptive sliding mode controller considering model uncertainty and time-delay. Acta Physica Sinica, 2014, 63(23): 238407. doi: 10.7498/aps.63.238407
[7]	Duan Min, Gao Hui, Song Yong-Duan. Distributed encirclement control of multi-agent systems. Acta Physica Sinica, 2014, 63(14): 140204. doi: 10.7498/aps.63.140204
[8]	Ren Dian-Bo, Zhang Jing-Ming, Wang Cong. Virtual trajectory model for lane changing of a vehicle on curved road with variable curvature. Acta Physica Sinica, 2014, 63(7): 078902. doi: 10.7498/aps.63.078902
[9]	Huang Chen, Chen Long, Bi Qin-Sheng, Jiang Hao-Bin. Vehicle negotiation model and bifurcation dynamic characteristics research. Acta Physica Sinica, 2013, 62(21): 210507. doi: 10.7498/aps.62.210507
[10]	Wang Yue-Gang, Wen Chao-Bin, Yang Jia-Sheng, Zuo Zhao-Yang, Cui Xiang-Xiang. Adaptive control of chaotic systems based on model free method. Acta Physica Sinica, 2013, 62(10): 100504. doi: 10.7498/aps.62.100504
[11]	Kang Rui, Yang Kai. Effects of sensitive changing-lane rule on the off-ramp traffic system. Acta Physica Sinica, 2013, 62(23): 238901. doi: 10.7498/aps.62.238901
[12]	Liu Di, Xu Wei, Guo Pei-Rong, Ni Fei. Estimation of unknown parameters and adaptive anti-synchronization of quadratic autonomous chaos systems via a scale controller. Acta Physica Sinica, 2010, 59(9): 5934-5939. doi: 10.7498/aps.59.5934
[13]	Yang Xiao-Bao. A lane-changing model considering the maneuver process and its applications. Acta Physica Sinica, 2009, 58(2): 836-842. doi: 10.7498/aps.58.836
[14]	Peng Guang-Han, Sun Di-Hua, He Heng-Pan. Two-car following model of traffic flow and numerical simulation. Acta Physica Sinica, 2008, 57(12): 7541-7546. doi: 10.7498/aps.57.7541
[15]	Teng Ya-Fan, Gao Zi-You, Jia Bin, Li Feng. Study on the traffic behavior of on-ramp system with two-lane main road under signal controlling. Acta Physica Sinica, 2008, 57(3): 1365-1374. doi: 10.7498/aps.57.1365
[16]	Chen Long, Wang De-Shi. Adaptive tracking control of the Chen system. Acta Physica Sinica, 2007, 56(10): 5661-5664. doi: 10.7498/aps.56.5661
[17]	Han Xiang-Lin, Jiang Chang-Yuan, Ge Hong-Xia, Dai Shi-Qiang. A modified coupled map car-following model based on application of intelligent transportation system and control of traffic congestion. Acta Physica Sinica, 2007, 56(8): 4383-4392. doi: 10.7498/aps.56.4383
[18]	GUAN XIN-PING, FAN ZHENG-PING, PENG HAI-PENG, WANG YI-QUN. THE ADAPTIVE CONTROL OF CHEN’S CHAOTIC SYSTEM. Acta Physica Sinica, 2001, 50(11): 2108-2111. doi: 10.7498/aps.50.2108
[19]	HE MING-FENG, MU YUN-MING, ZHAO LI-ZHONG. SYNCHRONIZATION ON USING PARAMETRIC ADAPTIVE CONTROL ALGORITHM. Acta Physica Sinica, 2000, 49(5): 830-832. doi: 10.7498/aps.49.830
[20]	Tong Pei-Qing. . Acta Physica Sinica, 1995, 44(2): 169-176. doi: 10.7498/aps.44.169

Catalog

Vol. 67, Issue 14 - 2018-07-20

Metrics

Abstract views: 6197
PDF Downloads: 228
Cited By: 0

姓名
邮箱
手机号码
标题
留言内容
验证码

Search

Article

留言板