The State-of-the-art of Coordinated Ramp Control with Mixed Traffic Conditions

Ramp metering, a traditional traffic control strategy for conventional vehicles, has been widely deployed around the world since the 1960s. On the other hand, the last decade has witnessed significant advances in connected and automated vehicle (CAV) technology and its great potential for improving safety, mobility and environmental sustainability. Therefore, a large amount of research has been conducted on cooperative ramp merging for CAVs only. However, it is expected that the phase of mixed traffic, namely the coexistence of both human-driven vehicles and CAVs, would last for a long time. Since there is little research on the system-wide ramp control with mixed traffic conditions, the paper aims to close this gap by proposing an innovative system architecture and reviewing the state-of-the-art studies on the key components of the proposed system. These components include traffic state estimation, ramp metering, driving behavior modeling, and coordination of CAVs. All reviewed literature plot an extensive landscape for the proposed system-wide coordinated ramp control with mixed traffic conditions.Comment: 8 pages, 1 figure, IEEE INTELLIGENT TRANSPORTATION SYSTEMS CONFERENCE - ITSC 201

Vision-Based Lane-Changing Behavior Detection Using Deep Residual Neural Network

Accurate lane localization and lane change detection are crucial in advanced driver assistance systems and autonomous driving systems for safer and more efficient trajectory planning. Conventional localization devices such as Global Positioning System only provide road-level resolution for car navigation, which is incompetent to assist in lane-level decision making. The state of art technique for lane localization is to use Light Detection and Ranging sensors to correct the global localization error and achieve centimeter-level accuracy, but the real-time implementation and popularization for LiDAR is still limited by its computational burden and current cost. As a cost-effective alternative, vision-based lane change detection has been highly regarded for affordable autonomous vehicles to support lane-level localization. A deep learning-based computer vision system is developed to detect the lane change behavior using the images captured by a front-view camera mounted on the vehicle and data from the inertial measurement unit for highway driving. Testing results on real-world driving data have shown that the proposed method is robust with real-time working ability and could achieve around 87% lane change detection accuracy. Compared to the average human reaction to visual stimuli, the proposed computer vision system works 9 times faster, which makes it capable of helping make life-saving decisions in time

Development of Eco-Friendly Ramp Control for Connected and Automated Electric Vehicles

With on-board sensors such as camera, radar, and Lidar, connected and automated vehicles (CAVs) can sense the surrounding environment and be driven autonomously and safely by themselves without colliding into other objects on the road. CAVs are also able to communicate with each other and roadside infrastructure via vehicle-to-vehicle and vehicle-to-infrastructure communications, respectively, sharing information on the vehicles’ states, signal phase and timing (SPaT) information, enabling CAVs to make decisions in a collaborative manner. As a typical scenario, ramp control attracts wide attention due to the concerns of safety and mobility in the merging area. In particular, if the line-of-the-sight is blocked (because of grade separation), then neither mainline vehicles nor on-ramp vehicles may well adapt their own dynamics to perform smoothed merging maneuvers. This may lead to speed fluctuations or even shockwave propagating upstream traffic along the corridor, thus potentially increasing the traffic delays and excessive energy consumption. In this project, the research team proposed a hierarchical ramp merging system that not only allowed microscopic cooperative maneuvers for connected and automated electric vehicles on the ramp to merge into mainline traffic flow, but also had controllability of ramp inflow rate, which enabled macroscopic traffic flow control. A centralized optimal control-based approach was proposed to both smooth the merging flow and improve the system-wide mobility of the network. Linear quadratic trackers in both finite horizon and receding horizon forms were developed to solve the optimization problem in terms of path planning and sequence determination, and a microscopic electric vehicle (EV) energy consumption model was applied to estimate the energy consumption. The simulation results confirmed that under the regulated inflow rate, the proposed system was able to avoid potential traffic congestion and improve the mobility (in terms of average speed) as much as 115%, compared to the conventional ramp metering and the ramp without any control approach. Interestingly, for EVs (connected and automated EVs in this study), the improved mobility may not necessarily result in the reduction of energy consumption. The “sweet spot” of average speed ranges from 27–34 mph for the EV models in this study.View the NCST Project Webpag

Evaluation of Coordinated Ramp Metering (CRM) Implemented By Caltrans

Coordinated ramp metering (CRM) is a critical component of smart freeway corridors that rely on real-time traffic data from ramps and freeway mainline to improve decision-making by the motorists and Traffic Management Center (TMC) personnel. CRM uses an algorithm that considers real-time traffic volumes on freeway mainline and ramps and then adjusts the metering rates on the ramps accordingly for optimal flow along the entire corridor. Improving capacity through smart corridors is less costly and easier to deploy than freeway widening due to high costs associated with right-of-way acquisition and construction. Nevertheless, conversion to smart corridors still represents a sizable investment for public agencies. However, in the U.S. there have been limited evaluations of smart corridors in general, and CRM in particular, based on real operational data. This project examined the recent Smart Corridor implementation on Interstate 80 (I-80) in the Bay Area and State Route 99 (SR-99, SR99) in Sacramento based on travel time reliability measures, efficiency measures, and before-and-after safety evaluation using the Empirical Bayes (EB) approach. As such, this evaluation represents the most complete before-and-after evaluation of such systems. The reliability measures include buffer index, planning time, and measures from the literature that account for both the skew and width of the travel time distribution. For efficiency, the study estimates the ratio of vehicle miles traveled vs. vehicle hour traveled. The research contextualizes before-and-after comparisons for efficiency and reliability measures through similar measures from another corridor (i.e., the control corridor of I-280 in District 4 and I-5 in District 3) from the same region, which did not have CRM implemented. The results show there has been an improvement in freeway operation based on efficiency data. Post-CRM implementation, travel time reliability measures do not show a similar improvement. The report also provides a counterfactual estimate of expected crashes in the post-implementation period, which can be compared with the actual number of crashes in the “after” period to evaluate effectiveness

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

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

Proactive Assessment of Accident Risk to Improve Safety on a System of Freeways, Research Report 11-15

This report describes the development and evaluation of real-time crash risk-assessment models for four freeway corridors: U.S. Route 101 NB (northbound) and SB (southbound) and Interstate 880 NB and SB. Crash data for these freeway segments for the 16-month period from January 2010 through April 2011 are used to link historical crash occurrences with real-time traffic patterns observed through loop-detector data. \u27The crash risk-assessment models are based on a binary classification approach (crash and non-crash outcomes), with traffic parameters measured at surrounding vehicle detection station (VDS) locations as the independent variables. The analysis techniques used in this study are logistic regression and classification trees. Prior to developing the models, some data-related issues such as data cleaning and aggregation were addressed. The modeling efforts revealed that the turbulence resulting from speed variation is significantly associated with crash risk on the U.S. 101 NB corridor. The models estimated with data from U.S. 101 NB were evaluated on the basis of their classification performance, not only on U.S. 101 NB, but also on the other three freeway segments for transferability assessment. It was found that the predictive model derived from one freeway can be readily applied to other freeways, although the classification performance decreases. The models that transfer best to other roadways were determined to be those that use the least number of VDSs–that is, those that use one upstream or downstream station rather than two or three.\ The classification accuracy of the models is discussed in terms of how the models can be used for real-time crash risk assessment. The models can be applied to developing and testing variable speed limits (VSLs) and ramp-metering strategies that proactively attempt to reduce crash risk

Real-time energy-efficient traffic control via convex optimization

This article proposes a macroscopic traffic control strategy to reduce fuel consumption of vehicles on highways. By implementing Greenshields fundamental diagram, the solution to Moskowitz equations is expressed as linear functions with respect to vehicle inflow and outflow, which leads to generation of a linear traffic flow model. In addition, we build a quadratic cost function in terms of vehicle volume to estimate fuel consumption rate based on COPERT model. A convex quadratic optimization problem is then formulated to generate energy-efficient traffic control decisions in real-time. Simulation results demonstrate significant reduction of fuel consumption on testing highway sections under peak traffic demands of busy hours

2nd Symposium on Management of Future motorway and urban Traffic Systems (MFTS 2018): Booklet of abstracts: Ispra, 11-12 June 2018

The Symposium focuses on future traffic management systems, covering the subjects of traffic control, estimation, and modelling of motorway and urban networks, with particular emphasis on the presence of advanced vehicle communication and automation technologies. As connectivity and automation are being progressively introduced in our transport and mobility systems, there is indeed a growing need to understand the implications and opportunities for an enhanced traffic management as well as to identify innovative ways and tools to optimise traffic efficiency. In particular the debate on centralised versus decentralised traffic management in the presence of connected and automated vehicles has started attracting the attention of the research community. In this context, the Symposium provides a remarkable opportunity to share novel ideas and discuss future research directions.JRC.C.4-Sustainable Transpor