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Characterizing Behavioral Differences of Autonomous Vehicles and Human-Driven Vehicles at Signalized Intersections Based on Waymo Open Dataset

Wang, Y. (author), Farah, H. (author), Yu, Rongjie (author), Qiu, Shuhan (author), van Arem, B. (author)

Autonomous vehicles (AVs) are being introduced to the traffic system with the promise of improving current traffic status. However, the empirical data also indicate contrary effects with estimated higher crash rate and change of crash patterns. Therefore, it is necessary to investigate the driving behavior of AVs and human-driven vehicles ...

journal article 2023

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Hierarchical Optimal Maneuver Planning and Trajectory Control at On-Ramps With Multiple Mainstream Lanes

Chen, N. (author), van Arem, B. (author), Wang, M. (author)

Connected Automated Vehicles (CAVs) have the potential to improve traffic operations when they cooperatively maneuver in merging sections. State-of-the-art approaches in cooperative merging either build on heuristics solutions or prohibit mainline CAVs to change lane on multilane highways. This paper proposes a hierarchical cooperative...

journal article 2022

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A flock-like two-dimensional cooperative vehicle formation model based on potential functions

Hao, R. (author), Liu, M. (author), Ma, Wanjing (author), van Arem, B. (author), Wang, M. (author)

Due to the manoeuvre complexity, models describing the platoon formation process on urban roads are lacking in the literature. Inspired by flocking behaviours in nature, we proposed a two-dimensional model to describe connected automated vehicle (CAV) group dynamics based on the potential theory, which is composed of the elastic potential...

journal article 2022

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A Hybrid Submicroscopic-Microscopic Traffic Flow Simulation Framework

Mullakkal-Babu, F.A. (author), Wang, M. (author), van Arem, B. (author), Shyrokau, B. (author), Happee, R. (author)

Current lane-based microscopic traffic simulators combine car-following and lane changing logic to describe the (often discrete) lateral vehicle motion on multi-lane road segments. However, the simulated lateral trajectories are physically unplausible and inside-lane behavior such as lane-keeping and curve negotiation cannot be modelled. In this...

journal article 2021

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Traffic Flow Impacts of Converting an HOV Lane Into a Dedicated CACC Lane on a Freeway Corridor

Xiao, L. (author), Wang, M. (author), van Arem, B. (author)

Cooperative Adaptive Cruise Control (CACC) systems can increase roadway capacity, but the benefits are marginal at low market penetration rates (MPRs). Thus, a CACC dedicated lane is considered to group CACC vehicles for efficient traffic stream. Concepts of converting existing High Occupancy Vehicle (HOV) lanes into CACC lanes emerge, which...

journal article 2020

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Comparative Safety Assessment of Automated Driving Strategies at Highway Merges in Mixed Traffic

Mullakkal-Babu, F.A. (author), Wang, M. (author), van Arem, B. (author), Happee, R. (author)

We present a simulation-based approach to assess the safety impacts of vehicles equipped with Automated Driving Systems (ADS) in mixed traffic with Human-driven Vehicles (HV). Specifically, we compare two generic longitudinal strategies of ADS to handle a cut-in: Reactive ADS acting only when the cut-in vehicle crosses the target lane boundary,...

journal article 2020

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Optimization of Traffic Efficiency at On-ramps with Connected Automated Vehicles

Chen, N. (author), van Arem, B. (author), Wang, M. (author)

This paper aims to optimize on-ramp merging processes for connected automated vehicles by utilizing an existing hierarchical control architecture including a decision-maker and an operational controller. The decision-maker employs surrogate linear models to predict future vehicular acceleration analytically and computes a merging sequence to...

conference paper 2020

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A Hierarchical Model-Based Optimization Control Approach for Cooperative Merging by Connected Automated Vehicles

Chen, N. (author), van Arem, B. (author), Alkim, Tom (author), Wang, M. (author)

Gap selection and dynamic speed profiles of interacting vehicles at on-ramps affect the safety and efficiency of highway merging sections. This paper puts forward a hierarchical control approach for Connected Automated Vehicles (CAVs) to achieve efficient and safe merging operations. A tactical layer controller employs a second-order car...

journal article 2020

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Probabilistic field approach for motorway driving risk assessment

Mullakkal-Babu, F.A. (author), Wang, M. (author), He, X. (author), van Arem, B. (author), Happee, R. (author)

We present an approach to assess the risk taken by on-road vehicles within the framework of artificial field theory, envisioned for safety analysis and design of driving support/automation applications. Here, any obstacle (neighboring entity on the road) to the subject vehicle is treated as a finite scalar risk field that is formulated in the...

journal article 2020

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Empirics and models of fragmented lane changes

Mullakkal-Babu, F.A. (author), Wang, M. (author), van Arem, B. (author), Happee, R. (author)

Existing microscopic traffic models represent the lane-changing maneuver as a continuous and uninterrupted lateral movement of the vehicle from its original to the target lane. We term this representation as Continuous Lane-Changing (CLC). Recent empirical studies find that not all lane-changing maneuvers are continuous; the lane-changer may...

journal article 2020

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Cross-Comparison and Calibration of Two Microscopic Traffic Simulation Models for Complex Freeway Corridors with Dedicated Lanes

Kan, Xingan (author), Xiao, L. (author), Liu, Hao (author), Wang, M. (author), Schakel, W.J. (author), Lu, Xiao-Yun (author), van Arem, B. (author), Shladover, SE (author), Ferlis, Robert A. (author)

Realistic microscopic traffic simulation is essential for prospective evaluation of the potential impacts of new traffic control strategies. Freeway corridors with interacting bottlenecks and dedicated lanes generate complex traffic flow phenomena and congestion patterns, which are difficult to reproduce with existing microscopic simulation...

journal article 2019

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Benefits and risks of truck platooning on freeway operations near entrance ramp

Wang, M. (author), van Maarseveen, Sander (author), Happee, R. (author), Tool, Onno (author), van Arem, B. (author)

Truck platooning attracts considerable attention thanks to the promising fuel consumption benefits and business model. Nevertheless, concerns over the influence of long truck platoons on other traffic are raised by road operators. It is intriguing to understand under what conditions truck platooning will influence other traffic and what are...

journal article 2019

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Using advanced adaptive cruise control systems to reduce congestion at sags: An evaluation based on microscopic traffic simulation

Goni Ros, B. (author), Schakel, W.J. (author), Papacharalampous, Alexandros E. (author), Wang, M. (author), Knoop, V.L. (author), Sakata, Ichiro (author), van Arem, B. (author), Hoogendoorn, S.P. (author)

Sags are roadway sections along which the gradient increases gradually in the direction of traffic. Sags are generally bottlenecks in freeway networks. Previous research suggests that traffic management measures using advanced Adaptive Cruise Control (ACC) systems could reduce congestion on freeways, but little is known about their potential...

journal article 2019

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Relationships between mobile phone usage and activity-travel behavior: A review of the literature and an example

Wang, Y. (author), Correia, Gonçalo (author), van Arem, B. (author)

Almost everyone has a mobile phone today. In addition to calls and text messages, people are utilizing mobile apps and websites to connect to the world and explore different content anytime and anywhere. The use of smart phones generates billions of records, including spatiotemporal trajectories, and various mobile phone usage details, such as...

book chapter 2019

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Unravelling effects of cooperative adaptive cruise control deactivation on traffic flow characteristics at merging bottlenecks

Xiao, L. (author), Wang, M. (author), Schakel, W.J. (author), van Arem, B. (author)

Cooperative Adaptive Cruise Control (CACC) systems have the potential to increase roadway capacity and mitigate traffic congestion thanks to the short following distance enabled by inter-vehicle communication. However, due to limitations in acceleration and deceleration capabilities of CACC systems, deactivation and switch to ACC or human...

journal article 2018

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Understanding travellers’ preferences for different types of trip destination based on mobile internet usage data

Wang, Y. (author), Correia, Gonçalo (author), van Arem, B. (author), Timmermans, H. J.P.(Harry) (author)

New mobility data sources like mobile phone traces have been shown to reveal individuals’ movements in space and time. However, socioeconomic attributes of travellers are missing in those data. Consequently, it is not possible to partition the population and have an in-depth understanding of the socio-demographic factors influencing travel...

journal article 2018

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A Robust Longitudinal Control Strategy of Platoons under Model Uncertainties and Time Delays

Chen, N. (author), Wang, M. (author), Alkim, Tom (author), van Arem, B. (author)

Automated vehicles are designed to free drivers from driving tasks and are expected to improve traffic safety and efficiency when connected via vehicle-to-vehicle communication, that is, connected automated vehicles (CAVs). The time delays and model uncertainties in vehicle control systems pose challenges for automated driving in real world....

journal article 2018

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Submicroscopic framework to model mixed highway traffic

Mullakkal-Babu, F.A. (author), Wang, M. (author), van Arem, B. (author), Happee, R. (author)

conference paper 2018

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A Flexible Strategy for Efficient Merging Maneuvers of Connected Automated Vehicles

Chen, N. (author), Wang, M. (author), Alkim, Tom (author), van Arem, B. (author)

Merging is a challenging task for automated vehicles. This paper proposes a strategy for connected automated vehicles (CAVs) to guide merging on-ramp vehicles efficiently while ensuring safe interactions with the mainline vehicles. Point-mass kinematic models are used to describe 2-D vehicle motion and receding horizon control is used to...

conference paper 2018

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Comparative assessment of safety indicators for vehicle trajectories on the highway

Mullakkal-Babu, F.A. (author), Wang, M. (author), Farah, H. (author), van Arem, B. (author), Happee, R. (author)

Safety measurement and analysis have been a challenging and well-researched topic in transportation. Conventionally, surrogate safety measures have been used as safety indicators in simulation models for safety assessment, in control formulations for driver assistance systems, and in data analysis of naturalistic driving studies. However,...

conference paper 2017