IDEAS home Printed from https://ideas.repec.org/a/eee/transb/v173y2023icp176-202.html
   My bibliography  Save this article

Markov chain-based traffic analysis on platooning effect among mixed semi- and fully-autonomous vehicles in a freeway lane

Author

Listed:
  • Guan, Hao
  • Wang, Hua
  • Meng, Qiang
  • Mak, Chin Long

Abstract

Focusing on a freeway lane running with mixed semi-autonomous vehicles (semi-AVs) and fully-autonomous vehicles (fully-AVs), this study aims to investigate the heterogeneous platooning effect of the two types of autonomous vehicles (AVs) on the travel efficiency of the mixed traffic. Such impact in the mixed semi-/fully-AV traffic, to the best of our knowledge, has not been well addressed in the literature as the existing mixed traffic studies on platooning effect typically focused on the traffic scenes with only human-driven vehicles (HVs) and fully-AVs. The existence of semi-AVs, which are optionally controlled by human drivers and semi-autonomous driving systems, and their significant difference in platooning behavior from the fully-AVs have received very limited attention. To fill the gap, we first characterize the semi- and fully-AVs’ difference in connection ability and willingness to platoon in the vehicle platooning process, and derive the heterogeneous platooning probabilities of semi- and fully-AVs. To formulate the platooned traffic after vehicle platooning process, we proceed to develop a novel Markov chain model to determine the probability distributions of vehicular platoon size and headway type among the mixed semi-/fully-AV traffic analytically. Furthermore, with the probability distributions, we derive the fundamental diagram (FD) and the capacity of the freeway lane for the mixed semi-/fully-AV traffic, and are thus able to investigate impact of platooning on the travel efficiency numerically. The developed models and unveiled insights in this study will help researchers and practitioners better understand the role, potential and prospect of automated transport system in the transitional stage with semi-AVs, which will be useful for guiding the mixed AV traffic management and control in near future.

Suggested Citation

  • Guan, Hao & Wang, Hua & Meng, Qiang & Mak, Chin Long, 2023. "Markov chain-based traffic analysis on platooning effect among mixed semi- and fully-autonomous vehicles in a freeway lane," Transportation Research Part B: Methodological, Elsevier, vol. 173(C), pages 176-202.
    • Handle: RePEc:eee:transb:v:173:y:2023:i:c:p:176-202
    DOI: 10.1016/j.trb.2023.04.006
    as

    Download full text from publisher

    File URL: http://www.sciencedirect.com/science/article/pii/S0191261523000693
    Download Restriction: Full text for ScienceDirect subscribers only
    File URL: https://libkey.io/10.1016/j.trb.2023.04.006?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    As the access to this document is restricted, you may want to search for a different version of it.

    References listed on IDEAS

    as
    1. Chen, Shukai & Wang, Hua & Xiao, Ling & Meng, Qiang, 2022. "Random capacity for a single lane with mixed autonomous and human-driven vehicles: Bounds, mean gaps and probability distributions," Transportation Research Part E: Logistics and Transportation Review, Elsevier, vol. 160(C).
    2. Niek Baer & Richard J. Boucherie & Jan-Kees C. W. van Ommeren, 2019. "Threshold Queueing to Describe the Fundamental Diagram of Uninterrupted Traffic," Transportation Science, INFORMS, vol. 53(2), pages 585-596, March.
    3. Ahn, Soyoung & Cassidy, Michael J. & Laval, Jorge, 2004. "Verification of a simplified car-following theory," Transportation Research Part B: Methodological, Elsevier, vol. 38(5), pages 431-440, June.
    4. Castillo, J. M. Del & Benítez, F. G., 1995. "On the functional form of the speed-density relationship--I: General theory," Transportation Research Part B: Methodological, Elsevier, vol. 29(5), pages 373-389, October.
    5. Sala, Marcel & Soriguera, Francesc, 2021. "Capacity of a freeway lane with platoons of autonomous vehicles mixed with regular traffic," Transportation Research Part B: Methodological, Elsevier, vol. 147(C), pages 116-131.
    6. You, Jintao & Miao, Lixin & Zhang, Canrong & Xue, Zhaojie, 2020. "A generic model for the local container drayage problem using the emerging truck platooning operation mode," Transportation Research Part B: Methodological, Elsevier, vol. 133(C), pages 181-209.
    7. Ghiasi, Amir & Hussain, Omar & Qian, Zhen (Sean) & Li, Xiaopeng, 2017. "A mixed traffic capacity analysis and lane management model for connected automated vehicles: A Markov chain method," Transportation Research Part B: Methodological, Elsevier, vol. 106(C), pages 266-292.
    8. Vincent A.C. van den Berg & Erik T. Verhoef, 2015. "Robot Cars and Dynamic Bottleneck Congestion: The Effects on Capacity, Value of Time and Preference Heterogeneity," Tinbergen Institute Discussion Papers 15-062/VIII, Tinbergen Institute, revised 11 Jul 2016.
    9. Chen, Danjue & Ahn, Soyoung & Chitturi, Madhav & Noyce, David A., 2017. "Towards vehicle automation: Roadway capacity formulation for traffic mixed with regular and automated vehicles," Transportation Research Part B: Methodological, Elsevier, vol. 100(C), pages 196-221.
    10. Shi, Xiaowei & Li, Xiaopeng, 2021. "Constructing a fundamental diagram for traffic flow with automated vehicles: Methodology and demonstration," Transportation Research Part B: Methodological, Elsevier, vol. 150(C), pages 279-292.
    11. Castillo, J. M. Del & Benítez, F. G., 1995. "On the functional form of the speed-density relationship--II: Empirical investigation," Transportation Research Part B: Methodological, Elsevier, vol. 29(5), pages 391-406, October.
    12. Gong, Siyuan & Du, Lili, 2018. "Cooperative platoon control for a mixed traffic flow including human drive vehicles and connected and autonomous vehicles," Transportation Research Part B: Methodological, Elsevier, vol. 116(C), pages 25-61.
    13. Newell, G. F., 2002. "A simplified car-following theory: a lower order model," Transportation Research Part B: Methodological, Elsevier, vol. 36(3), pages 195-205, March.
    14. Chang, Xin & Li, Haijian & Rong, Jian & Zhao, Xiaohua & Li, An’ran, 2020. "Analysis on traffic stability and capacity for mixed traffic flow with platoons of intelligent connected vehicles," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 557(C).
    15. Wang, Haizhong & Li, Jia & Chen, Qian-Yong & Ni, Daiheng, 2011. "Logistic modeling of the equilibrium speed-density relationship," Transportation Research Part A: Policy and Practice, Elsevier, vol. 45(6), pages 554-566, July.
    16. Chen, Shukai & Wang, Hua & Meng, Qiang, 2021. "Autonomous truck scheduling for container transshipment between two seaport terminals considering platooning and speed optimization," Transportation Research Part B: Methodological, Elsevier, vol. 154(C), pages 289-315.
    17. Ye, Lanhang & Yamamoto, Toshiyuki, 2018. "Modeling connected and autonomous vehicles in heterogeneous traffic flow," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 490(C), pages 269-277.
    Full references (including those not matched with items on IDEAS)

    Citations

    Citations are extracted by the CitEc Project, subscribe to its RSS feed for this item.
    as


    Cited by:

    1. Hu, Zhiyuan & Yang, Rui & Fang, Liang & Wang, Zhuo & Zhao, Yinghua, 2024. "Research on vehicle speed prediction model based on traffic flow information fusion," Energy, Elsevier, vol. 292(C).
    2. Dong, Jiakuan & Gao, Zhijun & Luo, Dongyu & Wang, Jiangfeng & Chen, Lei, 2024. "Impact of beyond-line-of-sight connectivity on the capacity and stability of mixed traffic flow: An analytical and numerical investigation," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 635(C).
    3. Yao, Zhihong & Deng, Haowei & Chen, Zikang & He, Xiang & Ai, Yi & Wu, Yunxia, 2024. "Linear internal stability for mixed traffic flow of CAVs with different automation levels," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 642(C).

    Most related items

    These are the items that most often cite the same works as this one and are cited by the same works as this one.
    1. Guo, Mengting & Bai, Yang & Li, Xia & Zhou, Wei & Wang, Chunyang & Ma, Xinwei & Gao, Huixin & Xiao, Yuewen, 2023. "Freeway capacity modeling and analysis for traffic mixed with human-driven and connected automated vehicles considering driver behavior characteristics," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 623(C).
    2. Qin, Yanyan & Luo, Qinzhong & Xiao, Tengfei & He, Zhengbing, 2024. "Modeling the mixed traffic capacity of minor roads at a priority intersection," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 636(C).
    3. Bai, Lu & Wong, S.C. & Xu, Pengpeng & Chow, Andy H.F. & Lam, William H.K., 2021. "Calibration of stochastic link-based fundamental diagram with explicit consideration of speed heterogeneity," Transportation Research Part B: Methodological, Elsevier, vol. 150(C), pages 524-539.
    4. Zhang, Fang & Lu, Jian & Hu, Xiaojian & Meng, Qiang, 2023. "A stochastic dynamic network loading model for mixed traffic with autonomous and human-driven vehicles," Transportation Research Part B: Methodological, Elsevier, vol. 178(C).
    5. Xin Chang & Xingjian Zhang & Haichao Li & Chang Wang & Zhe Liu, 2022. "A Survey on Mixed Traffic Flow Characteristics in Connected Vehicle Environments," Sustainability, MDPI, vol. 14(13), pages 1-22, June.
    6. Li, Pengbo & Tian, Lijun & Xiao, Feng & Zhu, Hongwei, 2022. "Can day-to-day dynamic model be solved analytically? New insights on portraying equilibrium and accommodating autonomous vehicles," Transportation Research Part B: Methodological, Elsevier, vol. 166(C), pages 374-395.
    7. Cheng, Qixiu & Liu, Zhiyuan & Lin, Yuqian & Zhou, Xuesong (Simon), 2021. "An s-shaped three-parameter (S3) traffic stream model with consistent car following relationship," Transportation Research Part B: Methodological, Elsevier, vol. 153(C), pages 246-271.
    8. Umberto Crisalli & Andrea Gemma & Marco Petrelli, 2023. "Investigating the Effects of Automated Vehicles on Large Urban Road Networks: Some Evidence from Rome," Sustainability, MDPI, vol. 15(13), pages 1-10, July.
    9. Pei, Yulong & Pan, Sheng & Wen, Yuhang, 2024. "Analysis of roadway capacity for heterogeneous traffic flows considering the degree of trust of drivers of HVs in CAVs," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 639(C).
    10. Jiang, Yangsheng & Sun, Siyuan & Zhu, Fangyi & Wu, Yunxia & Yao, Zhihong, 2023. "A mixed capacity analysis and lane management model considering platoon size and intensity of CAVs," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 615(C).
    11. Bouchery, Yann & Hezarkhani, Behzad & Stauffer, Gautier, 2022. "Coalition formation and cost sharing for truck platooning," Transportation Research Part B: Methodological, Elsevier, vol. 165(C), pages 15-34.
    12. Zhang, Fang & Lu, Jian & Hu, Xiaojian & Meng, Qiang, 2023. "Integrated deployment of dedicated lane and roadside unit considering uncertain road capacity under the mixed-autonomy traffic environment," Transportation Research Part B: Methodological, Elsevier, vol. 174(C).
    13. Chen, Jianzhong & Liang, Huan & Li, Jing & Xu, Zhaoxin, 2021. "A novel distributed cooperative approach for mixed platoon consisting of connected and automated vehicles and human-driven vehicles," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 573(C).
    14. Qin, Yanyan & Xie, Lulu & Gong, Siyuan & Ding, Fan & Tang, Honghui, 2024. "An optimal lane configuration management scheme for a mixed traffic freeway with connected vehicle platoons," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 634(C).
    15. Zhang, Jin & Qu, Xiaobo & Wang, Shuaian, 2018. "Reproducible generation of experimental data sample for calibrating traffic flow fundamental diagram," Transportation Research Part A: Policy and Practice, Elsevier, vol. 111(C), pages 41-52.
    16. Yao, Zhihong & Li, Le & Liao, Wenbin & Wang, Yi & Wu, Yunxia, 2024. "Optimal lane management policy for connected automated vehicles in mixed traffic flow," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 637(C).
    17. Chang, Xin & Li, Haijian & Rong, Jian & Zhao, Xiaohua & Li, An’ran, 2020. "Analysis on traffic stability and capacity for mixed traffic flow with platoons of intelligent connected vehicles," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 557(C).
    18. Liu, Peng & Xu, Shu-Xian & Ong, Ghim Ping & Tian, Qiong & Ma, Shoufeng, 2021. "Effect of autonomous vehicles on travel and urban characteristics," Transportation Research Part B: Methodological, Elsevier, vol. 153(C), pages 128-148.
    19. Neda Mirzaeian & Soo-Haeng Cho & Alan Scheller-Wolf, 2021. "A Queueing Model and Analysis for Autonomous Vehicles on Highways," Management Science, INFORMS, vol. 67(5), pages 2904-2923, May.
    20. Zheng, Fangfang & Jabari, Saif Eddin & Liu, Henry X. & Lin, DianChao, 2018. "Traffic state estimation using stochastic Lagrangian dynamics," Transportation Research Part B: Methodological, Elsevier, vol. 115(C), pages 143-165.

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:eee:transb:v:173:y:2023:i:c:p:176-202. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    If CitEc recognized a bibliographic reference but did not link an item in RePEc to it, you can help with this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Catherine Liu (email available below). General contact details of provider: http://www.elsevier.com/wps/find/journaldescription.cws_home/548/description#description .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.