As a two-sided digital platform, ride-sourcing has disruptively penetrated the mobility market. Ride-sourcing companies provide door-to-door transport services by connecting passengers with independent service suppliers labelled as “driver-partners”. Once a passenger submits a ride request, the platform attempts to match the request with a nearby available driver. Drivers have the freedom to accept or decline ride requests. The consequences of this decision, which is made at the operation level, have remained largely unknown in the literature. Using agent-based simulation modelling on the realistic case study of the city of Amsterdam, the Netherlands, we study the impacts of drivers’ ride acceptance behaviour, estimated from unique empirical data, on the ride-sourcing system where the platform applies regular and surge pricing strategies, and riders may revoke their requests and reject the received offers. Furthermore, we delve into the implications of various supply–demand intensities, a centralised fleet (i.e., mandatory acceptance on each ride request) versus a decentralised fleet (i.e., ride acceptance decision by each driver), ride acceptance rates, and surge pricing settings. We find that the ride acceptance decision of ride-sourcing drivers has far-reaching consequences for system performance in terms of passengers’ waiting time, driver's revenue, operating costs, and profit, all of which are highly dependent on the ratio between demand and supply. As the system undergoes a transition from undersupplied (i.e., real-time demand locally exceeds available drivers) to balanced and then oversupplied state (i.e., more available drivers than real-time demand), ride acceptance decisions result in higher income inequality. A high acceptance rate among drivers may lead to more rides, but it does not necessarily increase their profit. Surge pricing is found to be asymmetrically in favour of all the parties despite adverse effects on the demand side due to higher trip fare. This study offers insights into both the aggregated and disaggregated levels of ride-sourcing system operations and outlines a series of transport policy and practice implications in cities that offer such ride-sourcing systems.

Offering shared mobility options at transit stops can potentially increase the service area of a stop and consequently, possible detours in transit lines can be eliminated to decrease in-vehicle travel times for through-passengers and reduce operational costs. However, current research mostly focusses on shared mobility options and expected behaviour only, whilst not looking at this integrated transit network design problem. Additionally, most focus of current studies is on the integration of shared mobility in urban areas and/or around train stations, leaving a gap on suburban areas and transit lines with lower demand. In order to answer our research question “what the effects are of increased route directness for low-demand transit lines in conjunction with offering shared mobility at transit stops”, we developed a mesoscopic model extension for the aggregated four-step transport model to model changes in travel behaviour as a result of straightened transit lines and the simultaneous integration of shared modes. Discrete choice models are used to accurately model first and last mile preferences of people, based on the access and egress distance, demographics and available (shared) modes. Finally, the probability of passengers cancelling their complete trip as a result of increased first and last mile distances is also explored. This model framework was applied to nine case studies in the Netherlands. The synthesis of the case studies resulted in key factors contributing to a promising redesign of the transit network. The main factor is that through-passengers should significantly outnumber local passengers, by at least 75%-25%. Additionally, the increase in access and egress times should not be significantly larger than in-vehicle time savings of through-passengers. Moreover, it is found that the mode share of micromobility in the first and last mile is approximately 15% across the different cases, whereby the highest usage can be seen for people under the age of 25 and for distances greater than 1 km. Finally, it is concluded that the additional costs of shared mobility are on average only 10% of the savings in operational costs.

Detecting abnormal driving behavior is critical for road traffic safety and the evaluation of drivers’ behavior. With the advancement of machine learning (ML) algorithms and the accumulation of naturalistic driving data, many ML models have been adopted for abnormal driving behavior detection (also referred to in this paper as “anomalies”). Most existing ML-based detectors rely on (fully) supervised ML methods, which require substantial labeled data. However, ground truth labels are not always available in the real world, and labeling large amounts of data is tedious. Thus, there is a need to explore unsupervised or semi-supervised methods to make the anomaly detection process more feasible and efficient. To fill this research gap, this study analyzes large-scale real-world data revealing several abnormal driving behaviors (e.g., sudden acceleration, rapid lane-changing) and develops a hierarchical extreme learning machine (HELM)-based semi-supervised ML method using partly labeled data to accurately detect the identified abnormal driving behaviors. Moreover, previous ML-based approaches predominantly utilized basic vehicle motion features (such as velocity and acceleration) to label and detect abnormal driving behaviors, while this study seeks to introduce event-level safety indicators as input features for ML models to improve the detection performance. Results from extensive experiments demonstrate the effectiveness of the proposed semi-supervised ML model with the introduced safety indicators serving as important features. The proposed semi-supervised ML method outperforms other baseline semi-supervised or unsupervised methods as far as various metrics are concerned: for example, it delivers the best accuracy at 99.58% and the best F1-score at 0.9913. The ablation study further highlights the significance of safety indicators for advancing the detection performance of abnormal driving behaviors.

Existing activity-based and agent-based simulations alone often failed to capture the interaction between individual activity scheduling and detailed urban traffic dynamics. ActivitySim provides a representation of individual activity schedulings but often lacks detailed traffic dynamics, whereas MATSim can capture detailed interactions between travellers and mobility systems but often overlooks several decision-making factors, such as activity scheduling shift, household interactions and land-use influences. To address these limitations, this paper presents an Activity- and Agent-based Co-simulation framework that integrates ActivitySim and MATSim, both of which are open-source software popularly adopted in each research community. ActivitySim generates individual activity schedules and location choices, which serve as synthetic travel demand input for MATSim. MATSim then simulates detailed mobility interactions, with its outputs aggregated into zonal level-of-service matrices and fed back to ActivitySim for iterative scheduling adjustments. The feedback loop bridges the strengths of both models and is applied to the MRDH (Rotterdam-The Hague Metropolitan) region in the Netherlands. The initial MRDH model for the base-year reference scenario demonstrates that the proposed co-simulation framework effectively replicates existing mobility patterns, paving the way for fine-grained intervention evaluations like ride-hailing services in the future.

The burgeoning navigation services using digital maps provide great convenience to drivers. Nevertheless, the presence of anomalies in lane-rendering map images occasionally introduces potential hazards, as such anomalies can mislead human drivers and consequently contribute to unsafe driving. In response to this concern to accurately and effectively detect the anomalies, this paper transforms lane-rendering image anomaly detection into a classification problem and proposes a four-phase pipeline: data preprocessing, self-supervised pretraining with the masked image modeling (MiM) method, customized fine-tuning using cross-entropy-based loss with label smoothing, and post-processing. Leveraging state-of-the-art deep learning techniques, especially those involving transformer models, the pipeline demonstrates superior performance verified through various experiments. Notably, self-supervised pretraining with MiM can greatly enhance detection accuracy while significantly reducing the total training time. For instance, employing the Swin Transformer with Uniform Masking as self-supervised pretraining yielded a higher accuracy of 94.77% and an improved area under the curve (AUC) score of 0.9743 compared with the pure Swin Transformer without pretraining with an accuracy of 94.01% and an AUC of 0.9498. Furthermore, fine-tuning epochs were dramatically reduced to 41 from the original 280. Ablation study with regard to techniques to alleviate the data imbalance between normal and abnormal instances further reinforces the model’s overall performance. In conclusion, the proposed pipeline, with its incorporation of self-supervised pretraining using MiM and other advanced deep learning techniques, emerges as a robust solution for enhancing the accuracy and efficiency of lane-rendering image anomaly detection in digital navigation systems.

By improving road safety, traffic efficiency, and overall mobility, automated vehicles (AVs) hold promise for revolutionizing transportation. Despite the steady advancement in high-level AVs in recent years, the transition to full automation entails a period of mixed traffic, where AVs of varying automation levels coexist with human-driven vehicles (HDVs). Making AVs socially compliant and understood by human drivers is expected to improve the safety and efficiency of mixed traffic. Thus, ensuring AVs’ compatibility with HDVs and social acceptance is crucial for their successful and seamless integration into mixed traffic. However, research in this critical area of developing socially compliant AVs (SCAVs) remains sparse. This study carries out the first comprehensive scoping review to assess the current state of the art in developing SCAVs, identifying key concepts, methodological approaches, and research gaps. An informal expert interview was also conducted to discuss the literature review results and identify critical research gaps and expectations toward SCAVs. On the basis of the scoping review and expert interview input, a conceptual framework is proposed for the development of SCAVs. The conceptual framework is evaluated via an online survey targeting researchers, technicians, policymakers, and other relevant professionals worldwide. The survey results provide valuable validation and insights, affirming the importance of the proposed conceptual framework in tackling the challenges of integrating AVs into mixed-traffic environments. Additionally, future research perspectives and suggestions are discussed, contributing to the research and development agenda of SCAVs.

This paper addresses the challenges of charging infrastructure design (CID) for electrified public transport networks using Battery Electric Buses (BEBs) under conditions of sparse energy consumption data. Accurate energy consumption estimation is critical for cost-effective and reliable electrification but often requires costly field experiments, resulting in limited data. To address this issue, we propose two mathematical models designed to handle uncertainty and data sparsity in energy consumption. The first is a robust optimization model with box uncertainty, addressing variability in energy consumption. The second is a data-driven distributionally robust optimization model that leverages observed data to provide more flexible and informed solutions. To evaluate these models, we apply them to the Rotterdam bus network. Our analysis reveals three key insights: (1) Ignoring variations in energy consumption can result in operational unreliability, with up to 55% of scenarios leading to infeasible trips. (2) Designing infrastructure based on worst-case energy consumption increases costs by 67% compared to using average estimates. (3) The data-driven distributionally robust optimization model reduces costs by 28% compared to the box uncertainty model while maintaining reliability, especially in scenarios where extreme energy consumption values are rare and data exhibit skewness. In addition to cost savings, this approach provides robust protection against uncertainty, ensuring reliable operation under diverse conditions.

The integration of automated vehicles (AVs) into transportation systems presents an unprecedented opportunity to enhance road safety and efficiency. However, understanding the interactions between AVs and human-driven vehicles (HVs) at intersections remains an open research question. This study aims to bridge this gap by examining behavioral differences and adaptations of AVs and HVs at unsignalized intersections by utilizing two large-scale AV datasets from Waymo and Lyft. By using a systematic methodology, the research identifies and analyzes merging and crossing conflicts by calculating key safety and efficiency metrics, including time to collision, post-encroachment time, maximum required deceleration, time advantage, and speed and acceleration profiles. Through this approach, the study assesses the safety and efficiency implications of these behavioral differences and adaptations for mixed-autonomy traffic. The findings reveal a paradox: while AVs maintain larger safety margins, their conservative behavior can lead to unexpected situations for human drivers, potentially causing unsafe conditions. From a performance point of view, human drivers tend to exhibit more consistent behavior when interacting with AVs versus other HVs, suggesting AVs may contribute to harmonizing traffic flow patterns. Moreover, notable differences were observed between Waymo and Lyft vehicles, which highlights the importance of considering manufacturer-specific AV behaviors in traffic modeling and management strategies for the safe integration of AVs. The processed dataset, as well as the developed algorithms and scripts, are openly published to foster research on AV–HV interactions.

Partially automated driving systems are designed to perform specific driving tasks—such as steering, accelerating, and braking—while still requiring human drivers to monitor the environment and intervene when necessary. This shift of driving responsibilities from human drivers to automated systems raises concerns about accountability, particularly in scenarios involving unexpected events. To address these concerns, the concept of meaningful human control (MHC) has been proposed. MHC emphasises the importance of humans retaining oversight and responsibility for decisions made by automated systems. Despite extensive theoretical discussion of MHC in driving automation, there is limited empirical research on how real-world partially automated systems align with MHC principles. This study offers two main contributions: (1) an empirical evaluation of MHC in partially automated driving, based on 103 semi-structured interviews with users of Tesla's Autopilot and Full Self-Driving (FSD) Beta systems; and (2) a methodological framework for assessing MHC through qualitative interview data. We operationalise the previously proposed tracking and tracing conditions of MHC using a set of evaluation criteria to determine whether these systems support meaningful human control in practice. Our findings indicate that several factors influence the degree to which MHC is achieved. Failures in tracking—where drivers' expectations regarding system safety are not adequately met—arise from technological limitations, susceptibility to environmental conditions (e.g., adverse weather or inadequate infrastructure), and discrepancies between technical performance and user satisfaction. Tracing performance—the ability to clearly assign responsibility—is affected by inconsistent adherence to safety protocols, varying levels of driver confidence, and the specific driving mode in use (e.g., Autopilot versus FSD Beta). These findings contribute to ongoing efforts to design partially automated driving systems that more effectively support meaningful human control and promote more appropriate use of automation.

Automated driving developments should be considered when making decisions about investments in physical and digital infrastructure. This paper proposes four scenarios for automated driving developments in the Netherlands in 2040 and 2060 taking into account uncertainties regarding future penetration rates, the level of connectivity, the operational design domain, and the expected impacts of automated driving: 1) Late transition, 2) Automated vehicles on main roads, 3) Car-topia, and 4) Share-topia. To derive these scenarios, an extended switchboard method is introduced in which multiple driving forces for automated driving can be varied. The main driving forces were identified based on expert surveys. For each scenario, a modelling approach is used to compute the impact of automated driving on vehicle kilometres driven and congestion. The extended switchboard method offered more flexibility than existing scenario methods. The model-based impact assessment provided more conservative and probably more accurate insights into the expected impacts of automated driving on vehicle kilometres driven and congestion than expert estimates from the literature. The results show that in all scenarios automation leads to an increase in the number of trips, vehicle kilometres driven and congestion. In the scenarios with autonomous vehicles, congestion is expected to increase up to 17%. The higher the penetration rates of connected automated vehicles, the smaller the increase in congestion (1.5%-11%). The results indicate that investments in digital infrastructure are needed to prevent capacity reduction due to autonomous driving. The scenarios “car-topia” and “share-topia” may require additional physical infrastructure on motorways and regional roads, and/or the implementation of demand management strategies.

In the present study, we explored the influence of ride experience in automated minibuses (AmBs) on transport mode choice that includes the automated shuttles as well as conventional transport options (car, bus and bicycle) on the first-/ last-mile stage of rail trips. We used the case study of the connection between Brandevoort train station and the newly developing working and living area in Helmond (the Netherlands) where an AmB was tested in the February-March period of 2021. We conducted a two-wave stated preference experiment wherein data was gathered both before and after the participants had a test ride in the AmB. The results of the joint hybrid mixed logit model indicate a clear preference towards flexible-service AmBs, particularly in relation to travel time and costs. While preferences for less favoured regular-service AmBs experienced a noteworthy shift in travel time and costs, waiting and walking time parameters influenced by participants' ride experience in this pilot and by prior ride experience from other pilots. This reinforces the idea that the ride experience in AmBs even in a short pilot trial like the one conducted in Helmond has a significant impact on preferences for AmBs in comparison with car, bus and bicycle alternatives. Hence, panel studies can provide a more comprehensive understanding of how attitudes and preferences of potential users evolve over time.

A substantial number of vehicles nowadays are equipped with adaptive cruise control (ACC), which adjusts the vehicle speed automatically. However, experiments have found that commercial ACC systems which only detect the direct leader amplify the propagating disturbances in the platoon. This can cause severe traffic congestion when the number of ACC-equipped vehicles increases. Therefore, an ACC system which also considers the second leader further downstream is required. Such a system enables the vehicle to achieve multi-anticipation and hence ensure better platoon stability. Nevertheless, measurements collected from the second leader may be comparatively inaccurate given the limitations of current state-of-the-art sensor technology. This study adopts deep reinforcement learning to develop ACC controllers that besides the input from the first leader exploits the additional information obtained from the second leader, albeit noisy. The simulation experiment demonstrates that even under the influence of noisy measurements, the multi-leader ACC platoon shows smaller disturbance and jerk amplitudes than the one-leader ACC platoon, indicating improved string stability and ride comfort. Practical takeaways are twofold: first, the proposed method can be used to further develop multi-leader ACC systems. Second, even noisy data from the second leader can help stabilize traffic, which makes such systems viable in practice.

Drivers initiate a discretionary lane change when they perceive an anticipated improvement in their own driving condition from moving to another lane. However, such a lane change can slow down other vehicles on the target lane, and even worse initiate a disturbance. In this work, we argue that the blocking effect triggered by individual lane changes results from the heterogeneity in the desired speeds of vehicles, and thus using desired speed information of vehicles when regulating lane-changing decisions can improve traffic efficiency. In doing so, our work also exemplifies the usefulness of incorporating user preferences into control decisions. The proposed lane guidance system uses an optimization-based approach to update the target range of desired speeds on each lane in real time, and accordingly recommends individual lane changes. The control system coordinates the lane-changing decisions at the link level, for which the road stretch is subdivided into multiple sections that are controlled independently. We evaluate the performance of the lane guidance system in micro-simulation, for different network demands and desired speed distributions. The results highlight that the proposed approach utilizing the desired speed preferences of drivers results in positive efficiency gains for most traffic compositions in free flow. Moreover, the highest gains are expected in medium to high demand, and when the traffic composition includes a higher proportion of vehicles desiring higher speeds. The gains also increase when the desired speeds of vehicles that want to drive fast and those that want to drive slower are more separated.

The use of partially automated driving systems raises concerns about potential responsibility issues, posing risk to the system safety, acceptance, and adoption of these technologies. The concept of meaningful human control has emerged in response to the responsibility gap problem, requiring the fulfillment of two conditions, tracking and tracing. While this concept has provided important philosophical and design insights on automated driving systems, there is currently little knowledge on how meaningful human control relates to subjective experiences of actual users of these systems. To address this gap, our study aimed to investigate the alignment between the degree of meaningful human control and drivers' perceptions of safety and trust in a real-world partially automated driving system. We utilized previously collected data from interviews with Tesla "Full Self-Driving"(FSD) Beta users, investigating the alignment between the user perception and how well the system was tracking the users' reasons. We found that tracking of users' reasons for driving tasks (such as safe maneuvers) correlated with perceived safety and trust, albeit with notable exceptions. Surprisingly, failure to track lane changing and braking reasons was not necessarily associated with negative perceptions of safety. However, the failure of the system to track expected maneuvers in dangerous situations always resulted in low trust and perceived lack of safety. Overall, our analyses highlight alignment points but also possible discrepancies between perceived safety and trust on the one hand, and meaningful human control on the other hand. Our results can help the developers of automated driving technology to design systems under meaningful human control and are perceived as safe and trustworthy.

This study utilized Virtual Reality (VR) experiments to investigate pedestrian-autonomous vehicle interaction in shared spaces. In the VR experiment, pedestrians attempt to cross the road under different conditions, including the presence of another pedestrian, different external Human-Machine-Interfaces, AV driving styles, and road conditions. We employed an innovative VR setup that enabled two pedestrians to interact in real time with physical movements within an immersive VR environment. Overall, we found that the presence of multiple pedestrians significantly influenced pedestrian movement dynamics during road crossing. Additionally, the relative standing position had a significant impact on the distant pedestrians regarding time before crossing and vehicle-gazing behavior. While previous studies predominantly focused on pedestrian-AV interaction with a single pedestrian, this study takes an important step forward in terms of theory, methods, and relevance by considering interactions between multiple pedestrians and AVs. The findings establish a basis for further exploration of pedestrian-AV interaction in shared space.

The burgeoning navigation services using digital maps provide great convenience to drivers. However, there are sometimes anomalies in the lane rendering map images, which might mislead human drivers and result in unsafe driving. To accurately and effectively detect the anomalies, this paper transforms lane rendering image anomaly detection into a classification problem and proposes a four-phase pipeline consisting of data pre-processing, self-supervised pre-training with the masked image modeling (MiM) method, customized fine-tuning using cross-entropy loss with label smoothing, and post-processing to tackle it using state-of-the-art deep learning techniques, especially the Transformer models. Various experiments verify the effectiveness of the proposed pipeline. The proposed pipeline can deliver superior lane rendering image anomaly detection performance, and especially, the self-supervised pre-training with MiM can greatly improve the detection accuracy while significantly reducing the total training time, e.g, Swin Transformer with Uniform Masking as self-supervised pretraining (Swin-Trans-UM) obtained better accuracy at 94.77% and better Area Under The Curve (AUC) at 0.9743 compared with the pure Swin Transformer without pre-training (Swin-Trans) whose accuracy is 94.01% AUC is 0.9498, and the fine-tuning epochs reduced to 41 from original 280. Ablation study further regarding techniques to alleviate the data imbalance between normal and abnormal instances further enhances the model performance.

Electric mobility hubs (eHUBS) are locations where multiple shared electric modes including electric cars and e-bikes are available. To assess their potential to reduce private car use, it is important to investigate to what extent people would switch to eHUBS modes after their introduction. Moreover, people may adapt their behaviour differently depending on their current travel mode. This study is based on stated preference data collected in Amsterdam. We analysed the data using mixed logit models. We found that users of different modes not only have varied general preferences for different shared modes but also have different sensitivity for attributes such as travel time and cost. Public transport users are more likely to switch to eHUBS modes than car users. People who bike and walk have strong inertia, but the percentage choosing eHUBS modes doubles when the trip distance is longer (5 or 10 km).

Once trusted, automated vehicles (AVs) will gradually appear in urban areas. Such a transition is an opportunity in transport planning to control undesired impacts and possibly mitigate congestion at a time when both conventional vehicles (CVs) and AVs coexist. This paper deals with the complex transport decision problem of designing part of the network that is exclusive for AVs through a nonlinear programming model. The objective function minimises the costs of travel times where vehicles circulate under user equilibrium. The model evaluates the benefits of having an AVs-dedicated infrastructure and the associated costs from the detouring of CVs. Three planning strategies are explored: incremental, long-term and hybrid planning. The first creates a subnetwork evolving incrementally over time. The second reversely designs a subnetwork from the optimal solution obtained at a ratio of 90% AVs. The third limits the incremental planning towards that optimal long-term solution. The model is applied to the city of Delft, in the Netherlands. Two scenarios are analysed, with and without AV-dedicated roads, at several AV penetration rates. We find that implementing dedicated roads for AVs reduces the overall costs and congestion up to 16%. However, CV detouring is inevitable at later network stages, increasing the total distance travelled (up to 8%) and congestion in the surroundings of AV subnetworks. Concerning the planning strategies, incremental planning is appropriate for starting in the initial stages and is the strategy that most tackles CV detouring. The hybrid or the long-term strategies are more suitable to be applied after a ratio of 50% AVs, and the hybrid planning is the strategy that most reduces delay.

Automated vehicles (AVs) may require the implementation of an external human-machine interface (eHMI) to communicate their intentions to human-driven vehicles. The optimal placement of the eHMI, either on the AV itself or as part of the road infrastructure, remains undetermined. The current driving simulator study investigated the effect of eHMI positioning on human driving behaviour, during the approach and execution of right turns at T-intersections. Forty-three participants drove under three conditions: absence of eHMI, eHMI on the AV (eHMIv), and eHMI integrated into the infrastructure (eHMIi). Participants encountered AVs that either yielded or did not yield to their vehicles. The results regarding the placement of the eHMI showed that both concepts are advantageous, but for different reasons. eHMIv was appreciated because implicit and explicit communication are congruent, although the AV must first be visually identified to respond to it. eHMIi was appreciated because a familiar cue is always at a known location in the environment; as a result, participants braked earlier for the intersection and came less close to the AV (which can be interpreted as a safety advantage or an efficiency disadvantage). Although there are limitations to the current driving simulator study, this research provides important insights into the fundamental question of how information placement affects drivers’ visual attention demands and driving behaviour, topics that are important in view of the development of future cities.

Automated Driving Systems (ADS) are aimed to improve traffic efficiency and safety, however these systems are not yet capable of handling all driving tasks in all types of road conditions. The role of a human driver remains crucial in taking over control, if an ADS fails or reaches its operational limits. Takeover performance of human drivers in authority transitions is typically assessed by means of the takeover time (TOT) taken within an available time budget (TB). This approach assumes a uniform perception and reaction time of human drivers in ADS disengagements, and does not include the time needed to execute the actual driving maneuver required to ensure safety. This paper aims to develop and test a set of new indicators to reflect takeover performance and its safety attributes, namely the ‘time to control’ (TC) and the ‘safe time budget’ (STB), in which the actual task execution (i.e. braking) time is taken into account, in addition to the perception and reaction time. It also proposes new thresholds for identifying critical conflicts in takeover situations and assessing the safety of authority transitions. A traffic simulation experimental setup is used with mixed traffic of conventional vehicles and ACC/CACC platoons in order to test these indicators and thresholds. The results suggest that the time difference between TC and STB is a more sensitive and potentially more realistic safety indicator, as it may capture the variability of driver behavior in takeovers and identify critical conflicts, as well as virtual crashes, that would not have been identified by the previously used indicators (TOT and TB). Takeover performance worsens when the speed difference of the vehicles involved is higher, and the initial speed of the rear vehicle is higher. These findings can be useful towards a more dynamic design of takeover request strategies.