Performance Measurement Evaluation Framework and Co-Benefit\/Tradeoff Analysis for Connected and Automated Vehicles (CAV) Applications: A Survey
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paper_title: Connected-Vehicles Applications Are Emerging [Connected Vehicles]

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The age of autonomous vehicles is fast approaching, according to new survey results by the World Economic Forum. Nearly 60% of consumers in cities around the world are willing to travel in self-driving vehicles. In the consumer survey among 5,500 respondents in ten countries, acceptance is highest in emerging markets, such as China, India, and the United Arab Emirates; and about 50% in the United States and the United Kingdom; and acceptance rates were lowest in Japan and Germany. As part of a project, the World Economic Forum also conducted interviews with over 20 city policy makers and transport authorities from cities such as Dubai, Helsinki, New York, Amsterdam, Singapore, and Toronto about their expectations for self-driving vehicles. The survey showed that most city authorities believe that applications such as shared self-driving vehicles are coming very quickly and will have the potential to be the last-mile solution for public transport. City planners and governments thus need to prepare for the introduction of self-driving cars?smart mobility cities such as Gothenburg and Singapore are already doing so.
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paper_title: Vehicles of the Future: A Survey of Research on Safety Issues

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Information and communication technologies (ICTs) have a profound impact on the current state and envisioned future of automobiles. This paper presents an overview of research on ICT-based support and assistance services for the safety of future connected vehicles. A general classification and a brief description of the focus areas for research and development in this direction are given under the titles of vehicle detection, road detection, lane detection, pedestrian detection, drowsiness detection, and collision avoidance. Following an overview and taxonomy of the reviewed research articles, a categorized literature survey of safety critical applications is presented in detail. Future research directions are also highlighted.
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paper_title: WiFiHonk: Smartphone-Based Beacon Stuffed WiFi Car2X-Communication System for Vulnerable Road User Safety

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Despite various high-tech Vehicle-to-Vehicle (V2V) and Vehicle-to-Infrastructure (V2I) communications that have been developed for enhancing traffic safety, protecting vulnerable road users (VRU), such as pedestrians and bicyclists from the vehicles and trains still heavily relies on the traditional sound warning method. Furthermore, as smart devices continue to become highly ubiquitous, the more VRU are shutting out the safety related warning sounds. A traffic accident study shows the number of headphone-wearing VRU involved in roadside accidents has tripled since 2004. Although recently a few Car2Pedestrian communication methods have been proposed by various car makers, their practical usage is still in question. They assume VRUs' active attention to the communication while walking, and also mostly require special communication devices to cope with the wide range of mobility. In this paper, we propose a smartphone based Car2X communication system, named WiFiHonk that can alert of potential collisions to both VRU and vehicles in order to especially protect the distracted VRU. WiFiHonk provides a practical safety means for the distracted VRU without requiring any special device using the WiFi of a smart device. It is novel in that it removes the WiFi association overhead using the beacon stuffed WiFi communication and also provides an efficient collision estimation algorithm to issue appropriate warnings. Our experimental and simulation studies validate that WiFiHonk can successfully alert the VRU within a sufficient reaction time frame.
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paper_title: Intelligent Environment-Friendly Vehicles: Concept and Case Studies

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The concept of an intelligent environment-friendly vehicle (i-EFV) is proposed in this paper. It integrates three components, i.e., clean-energy powertrain, electrified chassis, and intelligent information interaction devices. By employing such technologies as structure sharing, data fusion, and control coordination, more comprehensive performances are achievable, in terms of traffic safety, fuel efficiency, and environmental protection. Based on its definition and configuration, some key technologies, including design for resource effectiveness, driving environment identification, and coordinated control, are studied. As a basic application, a platform of an intelligent hybrid electric vehicle (i-HEV), which incorporates a hybrid powertrain with adaptive cruise control, has been designed and implemented. Both simulation and experimental results demonstrated that the i-EFV performed better than a conventional vehicle.
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paper_title: Infrastructure-based vehicle maneuver estimation at urban intersections

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Accident-prone spots in urban areas are mainly located at signalized intersections, where road users are often confronted with complex situations that are sometimes hard to interpret and deal with properly. The objective of this paper is to present a model for estimating the maneuvers of the vehicles approaching an urban intersection. This estimation is part of the Intelligent Cooperative Intersection Safety system (IRIS), which assists the road users at urban intersections. The system uses vehicle-to-infrastructure communication and extended road side sensing to track and predict the movements of individual road users. The estimation of the future situation at the intersection is an input for the identification of safety-critical situations. Once the system detects a critical situation, it sends a warning message to the road users via short-range communication. The system was successfully tested at a real intersection in the city of Dortmund, Germany.
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paper_title: Dynamic inductive power transfer lane design for e-bikes

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This paper presents the concept and initial test results of an inductive lane design capable of dynamic and wirelessly transfer power to electric bicycles (e-bikes). On the lane side, a sequence of oblong primary coils embedded underneath ground surface, along the vehicle path, can be independently excited by high frequency alternating current. The oscillating magnetic field of each primary coil is individually enabled when a Radio Frequency Identification (RFID) tag on board of the e-bike is detected and authenticated by an auxiliary coil laying close to that primary coil. On the e-bike, energy for the powertrain is harvested from the lane by a secondary coil that is installed around its rear wheel. When the e-bike is moving over inter-coil gaps, or anywhere away from the inductive lane, on-board power is sustained with the excess energy stored during transits over energized coils. Preliminary results from a prototyped module demonstrate the feasibility of the system, which could also be used by similarly adapted lightweight electric vehicles, such as rickshaws, electric wheel chairs and other electric personal mobility devices, favoring a new, low cost, sustainable urban modal variant.
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paper_title: Power-Based Optimal Longitudinal Control for a Connected Eco-Driving System

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Automatic longitudinal control of vehicles is an automobile technology that has been implemented for many years. Connected eco-driving has the potential to extend the capability of an automatic longitudinal control by minimizing the energy consumption and emissions of the vehicle. In this paper, we propose a power-based longitudinal control algorithm for a connected eco-driving system, which takes into account the vehicle's brake specific fuel consumption or BSFC map, roadway grade, and other constraints (e.g., traffic condition ahead and traffic signal status of the upcoming intersection) in the calculation of an optimal speed profile in terms of energy savings and emissions reduction. The performance of the proposed algorithm was evaluated through extensive numerical analyses of driving along a signalized arterial, and the results validated the effectiveness of the proposed algorithm as compared with baseline and an existing eco-driving algorithm.
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paper_title: Improving traffic operations using real-time optimal lane selection with connected vehicle technology

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To better regulate traffic flow and reduce the potential impacts due to uncoordinated lane changes, we proposed a real-time optimal lane selection (OLS) algorithm by using the information available from connected vehicle (CV) technology. Such information includes the location, speed, lane and desired driving speed of individual vehicle agents (VA) on a localized roadway. Microscopic traffic simulation studies show that the proposed algorithm can result in both mobility and environmental benefits for the entire traffic system. Specifically, the application of the OLS algorithm reduces the average travel time by up to 3.8% and the fuel consumption by around 2.2%. In addition, the reduction in emissions of criteria pollutants, such as CO, HC, NOx and PM2.5 ranges from 1% to 19%, depending on the congestion level of the roadway segment. Potential extensions of the proposed OLS algorithm are discussed at the end of this paper.
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paper_title: Dynamic Eco-Driving for Signalized Arterial Corridors and Its Indirect Network-Wide Energy/Emissions Benefits

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There are various strategies being considered to reduce fuel consumption and emissions from the transportation sector. From the transportation operations perspective, one strategy that has gained interest worldwide is eco-driving. Eco-driving typically consists of changing a person's driving behavior based on providing general advice to the driver, such as accelerating slowly, driving smoothly, and reducing high speeds. More advanced dynamic eco-driving provides real-time advice to drivers based on changing traffic and infrastructure conditions for even greater fuel and emission savings. The concept of dynamic eco-driving takes advantage of real-time traffic sensing and infrastructure information, which can then be communicated to a vehicle with a goal of reducing fuel consumption and emissions. This article considers dynamic eco-driving in an arterial corridor with traffic control signals, where signal phase and timing (SPaT) information of traffic lights is provided to the vehicle as it drives down the ...
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paper_title: An integrated solution for lane level irregular driving detection on highways

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Global Navigation Satellite Systems (GNSS) has been widely used in the provision of Intelligent Transportation System (ITS) services. Current meter level system availability can fulfill the road level applications, such as route guide, fleet management and traffic control. However, meter level of system performance is not sufficient for the advanced safety applications. These lane level safety applications requires centimeter/decimeter positioning accuracy, with high integrity, continuity and availability include lane control, collision avoidance and intelligent speed assistance, etc. Detecting lane level irregular driving behavior is the basic requirement for these safety related ITS applications. The two major issues involved in the lane level irregular driving identification are accessing to high accuracy positioning and vehicle dynamic parameters and extraction of erratic driving behaviour from this and other related information. This paper proposes an integrated solution for the lane level irregular driving detection. Access to high accuracy positioning is enabled by GNSS and Inertial Navigation System (INS) integration using filtering with precise vehicle motion models and lane information. The detection of different types of irregular driving behaviour is based on the application of a Fuzzy Inference System (FIS). The evaluation of the designed integrated systems in the field test shows that 0.5 m accuracy positioning source is required for lane level irregular driving detection algorithm and the designed system can detect irregular driving styles.
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paper_title: Vulnerable road uses thoroughly addressed in accident prevention: the WATCH-OVER European project

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The European Specific Targeted Project WATCH-OVER is co-funded by the European Commission Information Society and media within the initiatives of the cooperative systems for traffic safety and efficiency based on communication and sensor technologies. The project, supported by EUCAR, is coordinated by Centro Richerche Fiat and includes in its consortium vehicle and motorcycle makers, technology, automotive suppliers and research centres for the design, development and testing phase. The core concept of the project is to enable the future availability of a modular cooperative system that will bring together sensor and communication technologies permitting all road users (the vehicles, the motorcycles, the bicycles and the pedestrians) to take an active part in the reduction of the number of accidents that involve vulnerable road users. The paper also gives a highlight of the definition of the relevant case of use and anticipates the architectural approach. For the covering abstract see ITRD E140665.
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paper_title: Study on the framework of hybrid collision warning system using loop detectors and vehicle information

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Abstract Safety warning systems generally operate based on information from sensors attached to individual vehicles. Various types of data used for collision risk calculation can be categorized into two types, microscopic or macroscopic, depending on how the sensors collect the information of traffic state. Most collision warning systems use only either of these types of data, but they all have limitations imposed by the data, such as requirement of high installation cost and high market penetration rate of devices. In order to overcome these limits, we propose a collision warning system that utilizes the integrated information of macroscopic data and microscopic data, from loop detectors and smartphones respectively. The proposed system is evaluated by simulating a real vehicle trip based on the NGSIM data. We compare the results against collision warning systems based on macroscopic data from infrastructure and microscopic data from Vehicle-to-Vehicle information. The analysis of three systems shows two findings that (a) ICWS (Infrastructure-based Collision Warning System) is inadequate for immediate collision warning system and (b) VCWS (V2V communication based Collision Warning System) and HCWS (Hybrid Collision Warning System) produce collision warning at very similar timing, even with different behavior of individual drivers. Advantages of HCWS are that it can be directly applied to existing system with small additional cost, because data of loop detector are already available to be used in Korea and smartphones are widely spread. Also, the computation power distributed to each individual smartphone greatly increases the efficiency of the system by distributing the computation resources and load.
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paper_title: Eco-Cooperative Adaptive Cruise Control at Signalized Intersections Considering Queue Effects

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Traffic signals typically introduce vehicle stops along a trip and thus increase vehicle fuel consumption levels. In attempt to enhance vehicle fuel efficiency, eco-cooperative adaptive cruise control (Eco-CACC) systems are being developed that receive signal phasing and timing data from downstream signalized intersections via vehicle-to-infrastructure communication. In this paper, an Eco-CACC algorithm is developed that computes the fuel-optimum vehicle trajectory through a signalized intersection by ensuring that the vehicle arrives at the intersection stop bar just as the last queued vehicle is discharged. A simulation analysis demonstrates that the proposed Eco-CACC system produces vehicle fuel savings up to 40%, when the market penetration rate (MPR) is 100%. The results also demonstrate that for single-lane approaches, the algorithm reduces the overall fuel consumption levels for all vehicles, and that higher MPRs result in larger savings. Alternatively, on multi-lane approaches, lower MPRs produce negative impacts on the overall intersection fuel efficiency, and only when MPRs are greater than 30% does the algorithm produce overall intersection fuel consumption savings.
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paper_title: Developing and evaluating an eco-speed harmonization strategy for connected vehicles

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As an active traffic and demand management (ATDM) strategy that has been implemented for decades, speed harmonization may improve traffic flow by regulating traffic speed upstream of bottlenecks. In this paper, we propose a new speed harmonization strategy with a focus on environmental factors, called eco-speed harmonization (ESH). ESH takes advantage of individual vehicle's real-time information via Connected Vehicle (CV) technologies to reduce energy and environmental impacts of vehicular traffic. Simulation studies based on a complex real-world network have shown that the introduction of the proposed ESH strategy with full CV technology penetration can reduce energy consumption by up to 4 percent and criteria pollutant emissions (e.g., fine particles) by up to 17 percent, depending on the level of traffic congestion. Sensitivity analyses indicated that energy and emissions reduction benefits will decrease as the CV technology penetration rate decreases.
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paper_title: A Lane Change Warning System Based on V2V Communication

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A lane change warning system is proposed, which gets the surrounding vehicle's motion states based on V2V communication. The safe distance between the ego-vehicle and the rear vehicle in a target lane is analyzed according to the goal of both collision avoidance and vehicle following safety. Safe distance between the ego-vehicle and the front vehicle in the target lane is analyzed to ensure safety in emergency collision avoidance. Safe distances between the ego-vehicle and the front and rear vehicles in the original lane are analyzed to realize safe following. Meanwhile, a driving style index is proposed to adapt the warning system to different kinds of drivers. Simulation results show that the lane change warning system can make a composite analysis of the collision risk during the lane-changing, and provide an accurate real-time warning to assist drivers.
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paper_title: Evaluation of Forward Collision Avoidance system using driver's hazard perception

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Evaluating the performance of Forward Collision Avoidance Technologies (FCATs) is essential in the early stage of the system testing. Drivers are the key interaction parts between the FCATs and vehicles, which play an important role in the performance evaluation. This paper proposes a practical method to evaluate the performance of FCATs by using a novel driver hazard perception measure, namely driver's risk response time. This measure describes the driver's awareness of potential collision risk, which is defined based on the Time-to-collision (TTC) and driver's brake response in a near-crash scenario. A two-month naturalistic driving experiment has been conducted using a vehicle equipped with one FCAT, i.e., Collision Mitigation Brake System (CMBS). An interval-based cumulative frequency data pretreatment method is used to extract near-crashes. Then, the hazard perception measure is computed in near-crashes with CMBS on and off, which can show the effectiveness of CMBS. The results demonstrate that CMBS is highly-positive in improving driver's hazard perception, especially in speed range between 45 km/h and 60 km/h. This fact is consistent with the expected effect of CMBS, which shows the proposed measure for hazard perception is capable of describing drivers' awareness of collision risk. In addition, this measure is applicable to assess the performance of FCATs during the function designing stage.
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paper_title: Speed Limitation Based on an Advanced Curve Warning System

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This paper presents an integrated system to prevent driver from taking a curve with a dangerous speed. The integrated system underlines three functions developed as follows : the first function consists in knowing the geometry characteristics of the coming road; the second function has to compute a safe speed according to the road section, the vehicle and the driver; the last function must impose the speed control of the vehicle in order to achieve a safe speed in the case that the driver does not achieve it.
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paper_title: An android based ecodriving assistance system to improve safety and efficiency of internal combustion engine passenger cars

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Abstract Recent improvements of communication technologies leads to several innovations in road vehicles energy consumption. As an example, several ecodriving applications already appeared on all smartphone application markets. Using embedded smartphone signals, such applications provide real time feedback to drivers according to their performances. However most of these applications does not take into account upcoming events such as curves, slopes or crossings to advise the driver on the best actions to undertake to lower energy consumption. Furthermore, they do not analyze data coming from vehicle sensors. In this paper, we present an android application, developed within the FP7 European project ecoDriver, which provides several innovative properties: advice according to upcoming events, a real time evaluation of the driving behavior, the analysis of past actions, an interface with OBD2 connector and some more. This paper further develops the complete architecture and links between each innovative function. Future works will concentrate on integrating image processing in this application in order to detect the possible presence of a front vehicle.
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paper_title: Eco-Routing Navigation System Based on Multisource Historical and Real-Time Traffic Information

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Due to increased public awareness on global climate change and other energy and environmental problems, a variety of strategies are being developed and used to reduce the energy consumption and environmental impact of roadway travel. In advanced traveler information systems, recent efforts have been made in developing a new navigation concept called “eco-routing,” which finds a route that requires the least amount of fuel and/or produces the least amount of emissions. This paper presents an eco-routing navigation system that determines the most eco-friendly route between a trip origin and a destination. It consists of the following four components: 1) a Dynamic Roadway Network database, which is a digital map of a roadway network that integrates historical and real-time traffic information from multiple data sources through an embedded data fusion algorithm; 2) an energy/emissions operational parameter set, which is a compilation of energy/emission factors for a variety of vehicle types under various roadway characteristics and traffic conditions; 3) a routing engine, which contains shortest path algorithms used for optimal route calculation; and 4) user interfaces that receive origin-destination inputs from users and display route maps to the users. Each of the system components and the system architecture are described. Example results are also presented to prove the validity of the eco-routing concept and to demonstrate the operability of the developed eco-routing navigation system. In addition, current limitations of the system and areas for future improvements are discussed.
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paper_title: Generic model for resource allocation in transportation. Application to urban parking management

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In this paper, we define the online localized resource allocation problem, especially relevant for modeling transportation applications. The problem modeling takes into account simultaneously the geographical location of consumers and resources together with their online nondeterministic appearance. We use urban parking management as an illustration of this problem. In fact, urban parking management is an online localized resource allocation problem, where the question is how to find an efficient allocation of parking spots to drivers, while they all have dynamic geographical positions and appear nondeterministically. We define this problem and propose a multiagent system to solve it. The objective of the system is to decrease, for private vehicles drivers, the parking spots search time. The drivers are organized in communities and share information about spots availability. We have defined two cooperative models and compared them: a fully cooperative model, where agents share all the available information, and a 'coopetitive' model, where drivers do not share information about the spot that they have chosen. Results show the superiority of the first model.
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paper_title: Developing a platoon-wide Eco-Cooperative Adaptive Cruise Control (CACC) system

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Connected and automated vehicle (CAV) technology has become increasingly popular. As an example, Cooperative Adaptive Cruise Control (CACC) systems are of high interest, allowing CAVs to communicate and cooperate with each other to form platoons, where one vehicle follows another with a predefined spacing or time gap. Although numerous studies have been conducted on CACC systems, very few have examined the protocols from the perspective of environmental sustainability, not to mention from a platoon-wide consideration. In this study, we propose a vehicle-to-vehicle (V2V) communication based Eco-CACC system, aiming to minimize the platoon-wide energy consumption and pollutant emissions at different stages of the CACC operation. A full spectrum of environmentally-friendly CACC maneuvers are explored and the associated protocols are developed, including sequence determination, gap closing and opening, platoon cruising with gap regulation, and platoon joining and splitting. Simulation studies of different scenarios are conducted using MATLAB/Simulink. Compared to an existing CACC system, the proposed one can achieve additional 2% energy savings and additional 17% pollutant emissions reductions during the platoon joining scenario.
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paper_title: Vehicle to pedestrian communications for protection of vulnerable road users

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Vehicle and pedestrian collisions often result in fatality to the vulnerable road users, indicating a strong need of technologies to protect such vulnerable road users. Wireless communications have potential to support road safety by enabling road users to exchange information. In contrast to vehicle to vehicle (V2V) and vehicle to infrastructure (V2I) communications for avoidance of inter-vehicle collisions, very limited efforts are made on communication mechanisms for pedestrian safety. This paper addresses the issue in a concrete way. We first formulate the requirement of the minimum information exchange distance for providing road users to have the necessary amount of time to perceive the situation and react. We then report our field tests and measurement based analysis to investigate if a Wi-Fi system can satisfy the application requirement. We also introduce a pedestrian protection application, V2ProVu, which provides the functionalities of the Wi-Fi communications, risk calculation, and hazard alarming. Our study discloses several useful insights including 1) information exchange for a velocity of 80 km/h has to be made before vehicle to pedestrian (V2P) distance is below 72 meters and 2) while this requirement is not too hard for radio communications technologies, the V2P communication range is greatly reduced if the signal is blocked by a human body.
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paper_title: Intelligent infrastructure-based queue-end warning system for avoiding rear impacts

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Accident avoidance is a very important part of enhancing road safety. The development of a queue-end warning system for highway work zones which automatically predicts queue-end location and alerts drivers so that rear-end collisions can be avoided has been described. In the absence of the widespread use of in-vehicle collision warning devices, dynamic messages about queue-end, displayed on portable variable message sign (PVMS) boards, are necessary for improving road safety. Although queues at selected locations along the road can be detected by the simple use of sensors, the changing nature of queue length would require numerous sensors to find the end of traffic queue. The reported queue-end warning system is based on a combination of sensors for detecting traffic and an artificial neural network (ANN) model-based algorithm for predicting queue-end location and issuing warning messages displayed on PVMS. Following the characterisation of work zones in terms of functional areas and geometrics, a microsimulator was calibrated and validated. Simulations were carried out next with traffic sensors and queue counter looped-in and the resulting data were used for training and validation of ANN models for queue length prediction. An automated information system was synthesised that integrates traffic sensors, ANN models, PVMS and potential links with other media. Selected results of ANN models illustrate their application in the queue-end warning system.
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paper_title: Platoon-based multi-agent intersection management for connected vehicle

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As wireless communication advances, multi-agent system (MAS) approaches to intersection traffic management have received increased attention. In this paper, we propose an improved multi-agent intersection management system where vehicle agents may form platoons using connected vehicles technologies. Traffic performance measures in terms of mobility and environmental sustainability were evaluated through a series of simulation studies, along with an analysis of the communication load of the system. Compared to the conventional traffic signal control system, the proposed platoon-based multi-agent intersection management system can shorten the average travel time by as much as 30% and reduce the fuel consumption and carbon dioxide emissions by around 23%, when the traffic volume is high. In comparison with a non-platoon-based multi-agent intersection management system, the proposed system can reduce the communication loads of an intersection management agent by up to 90% and exhibits strong robustness against the variation of traffic volumes.
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paper_title: Eco-Friendly Freight Signal Priority using connected vehicle technology: A multi-agent systems approach

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This paper introduces a multi-agent systems (MAS) based freight signal priority algorithm with the stated goal of reducing network-wide energy and emissions. The proposed infrastructure and communication protocol is highly flexible in that it can be applied to multiple measures of effectiveness (MOEs) such as energy, emissions, travel delay, or any combination. Furthermore, the adaptive nature of the optimized signal control ensures extension to multiple arterial intersections. The proposed algorithm has been implemented and evaluated on an isolated intersection in the microscopic simulation environment. The results indicate that the application of the proposed Eco-Friendly Freight Signal Priority algorithm improves upon traditional traffic signal priority by providing fuel and travel time savings to both freight and non-freight traffic.
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paper_title: Experimental investigation of online path planning for electric vehicles

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This paper describes a real-time capable online path planning on roads and its experimental investigation for the highly maneuverable robotic electric vehicle research platform ROboMObil. The path planning algorithm is based on an efficiently solvable and compact optimization problem and contributes to the autonomous driving of centralized controlled vehicles. The necessary development from a global offline problem formulation towards an online receding horizon method is shown, which is capable of taking environmental changes into account. The online planned path together with a generated velocity profile serves as an input to the ROboMObil's geometric path following control, allowing for automated driving. Finally, a test drive shows the results of implementing the presented algorithms on this research vehicle and investigates the energy saving capabilities of the proposed path planning methodology.
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paper_title: Efficient Intersection Control for Minimally Guided Vehicles: A Self-Organised and Decentralized Approach

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An important question for the practical applicability of the highly efficient traffic intersection control is about the minimal level of intelligence the vehicles need to have so as to move beyond the traffic light control. We propose an efficient intersection traffic control scheme without the traffic lights, that only requires a majority of vehicles on the road to be equipped with a simple driver assistance system. The algorithm of our scheme is completely decentralized, and takes into full account the non-linear interaction between the vehicles at high density. For vehicles approaching the intersection in different directions, our algorithm imposes simple interactions between vehicles around the intersection, by defining specific conditions on the real-time basis, for which the involved vehicles are required to briefly adjust their dynamics. This leads to a self-organised traffic flow that is safe, robust, and efficient. We also take into account of the driver comfort level and study its effect on the control efficiency. The scheme has low technological barrier, minimal impact on the conventional driving behaviour, and can coexist with the traffic light control. It also has the advantages of being easily scalable, and fully compatible with both the conventional road systems as well as the futuristic scenario in which driverless vehicles dominate the road. The mathematical formulation of our scheme permits large scale realistic numerical simulations of busy intersections, allowing a more complete evaluation of the control performance, instead of just the collision avoidance at the intersection.
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paper_title: Path2Go: Context-aware services for mobile real-time multimodal traveler information

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Mobile platforms are now becoming a more and more important medium for providing information to travelers on the move. To improve the accuracy and relevance of the mobile traveler information, context awareness has become a active research topic. In this paper, we describe algorithms and services provided by Path2Go, a multimodal traveler information system developed by California PATH, UC Berkeley. The Path2Go activity detection algorithm, the core of the context-aware design, has made the following contributions: (1) it uses a rule-based multi-hypothesis Bayesian method for mode detection, to address the limitations of using mobile phone GPS for activity detection and increase the speed of convergence; (2) it fuses GPS data from transit vehicles and the GPS of the user's mobile phone for better activity detection; and (3) it enables several experimental services, including variable-frequency client-server communication and need-based GPS use. Field testing of the Path2Go activity detection algorithms showed reasonably good results. The Path2Go application has also been made available to the public through iPhone, Android and Windows Mobile platforms, with some of the features discussed in this paper included.
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paper_title: An overview of vehicular platoon control under the four-component framework

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The platooning of autonomous ground vehicles has potential to largely benefit the road traffic, including enhancing highway safety, improving traffic utility and reducing fuel consumption. The main goal of platoon control is to ensure all the vehicles in the same group to move at consensual speed while maintaining desired spaces between adjacent vehicles. This paper presents an overview of vehicular platoon control techniques from networked control perspective, which naturally decomposes a platoon into four interrelated components, i.e., 1) node dynamics (ND), 2) information flow topology (IFT), 3) distributed controller (DC) and, 4) geometry formation (GF). Under the four-component framework, existing literature are categorized and analyzed according to their technical features. Three main performance metrics, i.e. string stability, stability margin and coherence behavior, are also discussed.
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paper_title: Stability and Scalability of Homogeneous Vehicular Platoon: Study on the Influence of Information Flow Topologies

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In addition to decentralized controllers, the information flow among vehicles can significantly affect the dynamics of a platoon. This paper studies the influence of information flow topology on the internal stability and scalability of homogeneous vehicular platoons moving in a rigid formation. A linearized vehicle longitudinal dynamic model is derived using the exact feedback linearization technique, which accommodates the inertial delay of powertrain dynamics. Directed graphs are adopted to describe different types of allowable information flow interconnecting vehicles, including both radar-based sensors and vehicle-to-vehicle (V2V) communications. Under linear feedback controllers, a unified internal stability theorem is proved by using the algebraic graph theory and Routh-Hurwitz stability criterion. The theorem explicitly establishes the stabilizing thresholds of linear controller gains for platoons, under a large class of different information flow topologies. Using matrix eigenvalue analysis, the scalability is investigated for platoons under two typical information flow topologies, i.e., 1) the stability margin of platoon decays to zero as 0(1/N ::: 2 ::: ) for bidirectional topology; and 2) the stability margin is always bounded and independent of the platoon size for bidirectional-leader topology. Numerical simulations are used to illustrate the results.
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paper_title: Simulation study on improving traffic safety and traffic flow in the vicinity of a motorway accident through vehicle-to-vehicle communication

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Vehicle breakdowns and crashes on motorways can create a sudden drop in traffic speed and make driving conditions dangerous through the requirement of many merging manoeuvres within a confined region. Ideal response strategies are not possible throughout all of the motorway network (lane closure and speed reduction by overhead signs), and temporary instructional equipment takes time to arrive. Modern vehicle communications technologies will soon allow drivers to be alerted much sooner to an accident, and voluntarily take action to ensure smoother and safer traffic flow. Here, we test a driver advice system for unexpected lane closure, using a radio communication simulator built into a microscopic traffic simulation package. It is shown that even a small number of equipped and cooperative drivers could help prevent dangerous oscillations of traffic flow around the merge point and increase the level of safety while the obstruction is cleared. The system has been developed within the EU project SOCIONICAL, where simulations are developed to examine socio-technical systems that may aid people during situations of emergency.
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paper_title: Traffic signal coordination for emergency vehicles

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Reducing travel time of emergency vehicles (EVs) has a potential in significant savings of life and property. Integrating modern intelligent transportation system (ITS) with EV signal preemption seems to be a solution. But existing EV signal preemption systems often break the current signal coordination and impact a lot on the normal traffic streams. In this paper the authors propose an emergency vehicle signal coordination (EVSC) approach, which is intended to provide "green wave" for EVs. Traffic simulations are conducted along an emergency corridor with eight (8) intersections in Qingdao, China. Multiple traffic measurements are compared between simulation outputs with and without EVSC operation. The result indicates that the proposed approach can reduce EV travel time by 26.9% without too much negative impact on the normal traffic streams.
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paper_title: Evaluating the effectiveness of V2V-based Lane Speed Monitoring application: A simulation study

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Connected vehicles extend the capability of information collection, and thus open more opportunities for innovative advanced driver assistance systems (ADAS). In this paper, we propose a Lane Speed Monitoring (LSM) application based on vehicle-to-vehicle (V2V) communication. This application takes advantage of Basic Safety Messages (BSM) transmitted from equipped vehicles via dedicated short range communication (DSRC), to estimate the real-time traffic states at the lane level. It then provides the driver with a recommendation on the optimal lane selection in terms of traffic conditions. A comprehensive simulation study has been conducted to evaluate the performance of this application, including safety, mobility, and environmental impacts, under various scenarios. Results indicate that the LSM application is beneficial to the individual user even under a low market penetration rate. Vehicles equipped with the application demonstrate up to 11% average speed improvement.
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paper_title: A Review of Communication, Driver Characteristics, and Controls Aspects of Cooperative Adaptive Cruise Control (CACC)

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Cooperative adaptive cruise control (CACC) systems have the potential to increase traffic throughput by allowing smaller headway between vehicles and moving vehicles safely in a platoon at a harmonized speed. CACC systems have been attracting significant attention from both academia and industry since connectivity between vehicles will become mandatory for new vehicles in the USA in the near future. In this paper, we review three basic and important aspects of CACC systems: communications, driver characteristics, and controls to identify the most challenging issues for their real-world deployment. Different routing protocols that support the data communication requirements between vehicles in the CACC platoon are reviewed. Promising and suitable protocols are identified. Driver characteristics related issues, such as how to keep drivers engaged in driving tasks during CACC operations, are discussed. To achieve mass acceptance, the control design needs to depict real-world traffic variability such as communication effects, driver behavior, and traffic composition. Thus, this paper also discusses the issues that existing CACC control modules face when considering close to ideal driving conditions.
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paper_title: Optimized Speed Harmonization with Connected Vehicles for Work Zones

paper_content:

The effectiveness of speed harmonization relies on the accuracy of traffic data to predict state of congestion and determine a proper traffic control strategy. Connected Vehicles technology can be deployed to increase the accuracy of data and enhance the effectiveness of speed harmonization. This study develops Connected Vehicles Harmonizer (CVH) which is an optimization program to determine advisory speeds for connected vehicles in work zones. The effectiveness of the methodology is tested in a benchmark problem which showed more than 13% delay reduction when the penetration rate is 80% or higher.
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paper_title: Distributed Model Predictive Control for Heterogeneous Vehicle Platoons Under Unidirectional Topologies

paper_content:

This paper presents a distributed model predictive control (DMPC) algorithm for heterogeneous vehicle platoons with unidirectional topologies and a priori unknown desired set point. The vehicles (or nodes) in a platoon are dynamically decoupled but constrained by spatial geometry. Each node is assigned a local open-loop optimal control problem only relying on the information of neighboring nodes, in which the cost function is designed by penalizing on the errors between the predicted and assumed trajectories. Together with this penalization, an equality-based terminal constraint is proposed to ensure stability, which enforces the terminal states of each node in the predictive horizon equal to the average of its neighboring states. By using the sum of local cost functions as a Lyapunov candidate, it is proved that asymptotic stability of such a DMPC can be achieved through an explicit sufficient condition on the weights of the cost functions. Simulations with passenger cars demonstrate the effectiveness of the proposed DMPC.
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paper_title: Automated On-Ramp Merging System for Congested Traffic Situations

paper_content:

Traffic merging in urban environments is one of the main causes of traffic congestion. From the driver's point of view, the difficulty arises along the on-ramp where the merging vehicle's driver has to discern whether he should accelerate or decelerate to enter the main road. In parallel, the drivers of the vehicles already on the major road may have to modify their speeds to permit the entrance of the merging vehicle, thus affecting the traffic flow. This paper presents an approach to merging from a minor to a major road in congested traffic situations. An automated merging system that was developed with two principal goals, i.e., to permit the merging vehicle to sufficiently fluidly enter the major road to avoid congestion on the minor road and to modify the speed of the vehicles already on the main road to minimize the effect on that already congested main road, is described. A fuzzy controller is developed to act on the vehicles' longitudinal control - throttle and brake pedals - following the references set by a decision algorithm. Data from other vehicles are acquired using wireless vehicle-to-infrastructure (V2I) communication. A system installed in the infrastructure that is capable of assessing road traffic conditions in real time is responsible for transmitting the data of the vehicles in the surrounding area. Three production vehicles were used in the experimental phase to validate the proposed system at the facilities of the Centro de Automatica y Robotica with encouraging results.
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paper_title: A VANET based Intelligent Road Traffic Signalling System

paper_content:

Road Traffic Information System is a key component of the modern intelligent transportation system. Road signaling systems can be made more efficient if real time information from different road sensors and vehicles can be fed in to a wide area controller to optimize the traffic flow, journey time, as well as safety of road users. The VANET architecture provides an excellent framework to develop an advanced road traffic signaling system. In this paper we present a unique VANET based road traffic signaling system that could significantly improve traffic flow, energy efficiency and safety of road users. The VANET based system has been developed using a distributed architecture by incorporating the distributed networking feature. In this paper we first introduce a new Intelligent Road Traffic Signaling System (IRTSS) system based on the VANET architecture. The paper presents some initial simulation results which are obtained by using an OPNET based simulation model. Simulation results show that the proposed architecture can efficiently serve road traffic using the 802.11p based VANET network.
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paper_title: A stochastic model for design and evaluation of chain collision avoidance applications

paper_content:

Cooperative/Chain Collision Avoidance (CCA) is an important type of safety-related applications of vehicular ad hoc networks (VANETs). They provide collaborative communication capabilities to vehicles in order to reduce the number of accidents on the road. Simulation is the usual choice to evaluate these systems. However, current simulation tools based on car-following models cannot be seamlessly used to simulate accidents, as we discuss here. Therefore, in this paper we propose the use of a stochastic model as an alternative to simulation for the design and performance evaluation of such applications. The model enables the computation of the average number of collisions that occurs in a platoon of vehicles, the probabilities of the different ways in which the collisions may take place, as well as other statistics of interest. The suitability of the model for evaluating CCA applications is shown by comparing our results with other authors' simulation results. Additionally, it can be used at an early stage to shed relevant guidelines for the design of CCA applications, by disclosing the influence of kinematic parameters on the collision process. To exemplify it, we provide an evaluation of different types of CCA applications in two scenarios, a freeway and an urban scenario.
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paper_title: Longitudinal collision mitigation via coordinated braking of multiple vehicles using model predictive control

paper_content:

The vehicular collision can lead to serious casualties and traffic congestions, especially multiple-vehicle collision. Most recent studies mainly focused on collision warning and avoidance strategies for two consecutive vehicles, but only a few on multiple-vehicle situations. This study proposes a coordinated brake control CBC strategy for multiple vehicles to minimize the risk of rear-end collision using model predictive control MPC framework. The objective is to minimize total impact energy by determining the desired braking force, where the impact energy is defined as the relative kinetic energy for a consecutive pair of vehicles. Under the MPC framework, this problem is further converted to a quadratic programming at each time step for numerical computations. To compare the performance, three other control strategies, i.e. direct brake control DBC, driver reaction based brake control DRBC and linear quadratic regulator LQR control are also considered in this paper. The simulation results, in both a typical scenario and a huge number of scenarios under stochastic situations, show that CBC strategy has the best performance among these four strategies. The proposed CBC strategy has the potential to avoid the collision among a group of vehicles, and to mitigate the impact in cases where the collision is unavoidable.
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paper_title: Vehicle Collision Warning System and Algorithm at Intersection under Internet-Connected Vehicles Environment

paper_content:

In recent years, research on Intelligent Transportation System (ITS) was done to solve many traffic problems. Considering the problem of traffic safety at blind crossing, a vehicle collision warning system based on Internet-Connected Vehicles was proposed in order to prevent a vehicle collision before it occurs. Internet-Connected Vehicles plays an important role in realizing the next generation ITS. Under Internet-Connected Vehicles environment, the vehicles install communication equipments and can exchange their driving information, including their position, velocity, heading angle and so on. On this basis, physical and logical frameworks of the collision warning system were designed after analyzing the system function. Then time to collision (TTC) was introduced to judge the vehicle collision and a judgment algorithm was proposed based on inter-vehicle communication. Furthermore, time to avoidance (TTA) was introduced to be compared with TTC in order to define the severity of collision and the system could alert the driver according to the level of danger. Finally, the simulation was carried out and results proved that the warning algorithm of the system is effective to give the an driver alert.
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paper_title: Effect of Pulse-and-Glide Strategy on Traffic Flow for a Platoon of Mixed Automated and Manually Driven Vehicles

paper_content:

The fuel consumption of ground vehicles is significantly affected by how they are driven. The fuel-optimized vehicular automation technique can improve fuel economy for the host vehicle, but their effectiveness on a platoon of vehicles is still unknown. This article studies the performance of a well-known fuel-optimized vehicle automation strategy, i.e., Pulse-and-Glide (PnG) operation, on traffic smoothness and fuel economy in a mixed traffic flow. The mixed traffic flow is assumed to be a single-lane highway on flat road consisting of both driverless and manually driven vehicles. The driverless vehicles are equipped with fuel economy-oriented automated controller using the PnG strategy. The manually driven vehicles are simulated using the Intelligent Driver Models (IDM) to mimic the average car-following behavior of human drivers in naturalistic traffics. A series of simulations are conducted with three scenarios, i.e., a single car, a car section, and a car platoon. The simulation results show that the PnG strategy can significantly improve the fuel economy of individual vehicles. For traffic flows, the fuel economy and traffic smoothness vary significantly under the PnG strategy.
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paper_title: Development and Evaluation of High-Speed Differential Warning Application Using Vehicle-to-Vehicle Communication

paper_content:

Connected vehicle (CV) technology has shown great potential in enhancing safety, mobility, and environmental sustainability of roadway transportation systems by enabling vehicles and infrastructure to exchange real-time information through wireless communications. The information available through CV technology has been used to develop a variety of onboard driver assistance tools and applications. This paper presents an innovative, safety-focused CV application called the high-speed differential warning (HSDW). The application identifies potential hazards resulting from high-speed differentials between HSDW-equipped vehicles (ego-vehicles) and surrounding remote vehicles and then provides alerts to drivers of ego-vehicles to help them take appropriate actions. In this research, real-world scenarios and parameters of the HSDW application are first identified. A driver response strategy for each scenario is then developed in consonance with findings from a public survey on the HSDW application. Next, a comp...
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paper_title: Smartphone based driver assistance system for coordinated lane change

paper_content:

Changing lanes while driving is one of the primary causes of accidents on highways. Changing lanes is a complex, voluntary maneuver that requires a driver of a vehicle to assess the traffic in the original and target lanes, the adjacent drivers' disposition, as well as the time available to complete the maneuver before undertaking the maneuver. Existing techniques use V2V communication that relies on the IEEE 802.11p WAVE standard which has not been adopted widely because, (1) the requirement of a separate on-board unit makes this choice expensive, and (2) the variation in spectral bands of DSRC in different countries makes deployment cumbersome. The proliferation of the smartphone with its myriad sensors and ability to communicate directly with other smartphones in an Ad-Hoc network allows us to use them in lieu of standard V2V communication. When a driver wants to change lanes, the driver's smartphone broadcasts its intent and the vehicle's movement parameters to the vehicles nearby using WiFi-Direct. The adjacent vehicles respond with their motion and location parameters allowing the first vehicle to cooperatively and safely perform a lane change maneuver. We postulate that if such a system is implemented, it is likely to be adopted and used. This system can also act as a bridge to future 802.11p based systems, when smartphones' WiFi can use DSRC.
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paper_title: Dedicated Short-Range Communications (DSRC) Standards in the United States

paper_content:

Wireless vehicular communication has the potential to enable a host of new applications, the most important of which are a class of safety applications that can prevent collisions and save thousands of lives. The automotive industry is working to develop the dedicated short-range communication (DSRC) technology, for use in vehicle-to-vehicle and vehicle-to-roadside communication. The effectiveness of this technology is highly dependent on cooperative standards for interoperability. This paper explains the content and status of the DSRC standards being developed for deployment in the United States. Included in the discussion are the IEEE 802.11p amendment for wireless access in vehicular environments (WAVE), the IEEE 1609.2, 1609.3, and 1609.4 standards for Security, Network Services and Multi-Channel Operation, the SAE J2735 Message Set Dictionary, and the emerging SAE J2945.1 Communication Minimum Performance Requirements standard. The paper shows how these standards fit together to provide a comprehensive solution for DSRC. Most of the key standards are either recently published or expected to be completed in the coming year. A reader will gain a thorough understanding of DSRC technology for vehicular communication, including insights into why specific technical solutions are being adopted, and key challenges remaining for successful DSRC deployment. The U.S. Department of Transportation is planning to decide in 2013 whether to require DSRC equipment in new vehicles.
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paper_title: Simulation study on improving traffic safety and traffic flow in the vicinity of a motorway accident through vehicle-to-vehicle communication

paper_content:

Vehicle breakdowns and crashes on motorways can create a sudden drop in traffic speed and make driving conditions dangerous through the requirement of many merging manoeuvres within a confined region. Ideal response strategies are not possible throughout all of the motorway network (lane closure and speed reduction by overhead signs), and temporary instructional equipment takes time to arrive. Modern vehicle communications technologies will soon allow drivers to be alerted much sooner to an accident, and voluntarily take action to ensure smoother and safer traffic flow. Here, we test a driver advice system for unexpected lane closure, using a radio communication simulator built into a microscopic traffic simulation package. It is shown that even a small number of equipped and cooperative drivers could help prevent dangerous oscillations of traffic flow around the merge point and increase the level of safety while the obstruction is cleared. The system has been developed within the EU project SOCIONICAL, where simulations are developed to examine socio-technical systems that may aid people during situations of emergency.
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paper_title: A Review of Communication, Driver Characteristics, and Controls Aspects of Cooperative Adaptive Cruise Control (CACC)

paper_content:

Cooperative adaptive cruise control (CACC) systems have the potential to increase traffic throughput by allowing smaller headway between vehicles and moving vehicles safely in a platoon at a harmonized speed. CACC systems have been attracting significant attention from both academia and industry since connectivity between vehicles will become mandatory for new vehicles in the USA in the near future. In this paper, we review three basic and important aspects of CACC systems: communications, driver characteristics, and controls to identify the most challenging issues for their real-world deployment. Different routing protocols that support the data communication requirements between vehicles in the CACC platoon are reviewed. Promising and suitable protocols are identified. Driver characteristics related issues, such as how to keep drivers engaged in driving tasks during CACC operations, are discussed. To achieve mass acceptance, the control design needs to depict real-world traffic variability such as communication effects, driver behavior, and traffic composition. Thus, this paper also discusses the issues that existing CACC control modules face when considering close to ideal driving conditions.
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paper_title: Cooperative adaptive cruise control: An artificial potential field approach

paper_content:

In this paper, in addition to the main functionality of vehicle following, cooperative adaptive cruise control (CACC) is enabled with additional features of gap closing and collision avoidance. Due to its nonlinear nature, a control objective such as collision avoidance, cannot be addressed using a linear controller such as a PD controller. However, the artificial potential functions can be adopted to design controllers which accommodate multiple (nonlinear) control objectives in a single design. By defining an appropriate control law, the system state is always driven to the minima of the designed potential function which guarantees the required performance of the system.
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paper_title: Efficient Intersection Control for Minimally Guided Vehicles: A Self-Organised and Decentralized Approach

paper_content:

An important question for the practical applicability of the highly efficient traffic intersection control is about the minimal level of intelligence the vehicles need to have so as to move beyond the traffic light control. We propose an efficient intersection traffic control scheme without the traffic lights, that only requires a majority of vehicles on the road to be equipped with a simple driver assistance system. The algorithm of our scheme is completely decentralized, and takes into full account the non-linear interaction between the vehicles at high density. For vehicles approaching the intersection in different directions, our algorithm imposes simple interactions between vehicles around the intersection, by defining specific conditions on the real-time basis, for which the involved vehicles are required to briefly adjust their dynamics. This leads to a self-organised traffic flow that is safe, robust, and efficient. We also take into account of the driver comfort level and study its effect on the control efficiency. The scheme has low technological barrier, minimal impact on the conventional driving behaviour, and can coexist with the traffic light control. It also has the advantages of being easily scalable, and fully compatible with both the conventional road systems as well as the futuristic scenario in which driverless vehicles dominate the road. The mathematical formulation of our scheme permits large scale realistic numerical simulations of busy intersections, allowing a more complete evaluation of the control performance, instead of just the collision avoidance at the intersection.
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paper_title: Automated On-Ramp Merging System for Congested Traffic Situations

paper_content:

Traffic merging in urban environments is one of the main causes of traffic congestion. From the driver's point of view, the difficulty arises along the on-ramp where the merging vehicle's driver has to discern whether he should accelerate or decelerate to enter the main road. In parallel, the drivers of the vehicles already on the major road may have to modify their speeds to permit the entrance of the merging vehicle, thus affecting the traffic flow. This paper presents an approach to merging from a minor to a major road in congested traffic situations. An automated merging system that was developed with two principal goals, i.e., to permit the merging vehicle to sufficiently fluidly enter the major road to avoid congestion on the minor road and to modify the speed of the vehicles already on the main road to minimize the effect on that already congested main road, is described. A fuzzy controller is developed to act on the vehicles' longitudinal control - throttle and brake pedals - following the references set by a decision algorithm. Data from other vehicles are acquired using wireless vehicle-to-infrastructure (V2I) communication. A system installed in the infrastructure that is capable of assessing road traffic conditions in real time is responsible for transmitting the data of the vehicles in the surrounding area. Three production vehicles were used in the experimental phase to validate the proposed system at the facilities of the Centro de Automatica y Robotica with encouraging results.
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paper_title: Infrastructure-based vehicle maneuver estimation at urban intersections

paper_content:

Accident-prone spots in urban areas are mainly located at signalized intersections, where road users are often confronted with complex situations that are sometimes hard to interpret and deal with properly. The objective of this paper is to present a model for estimating the maneuvers of the vehicles approaching an urban intersection. This estimation is part of the Intelligent Cooperative Intersection Safety system (IRIS), which assists the road users at urban intersections. The system uses vehicle-to-infrastructure communication and extended road side sensing to track and predict the movements of individual road users. The estimation of the future situation at the intersection is an input for the identification of safety-critical situations. Once the system detects a critical situation, it sends a warning message to the road users via short-range communication. The system was successfully tested at a real intersection in the city of Dortmund, Germany.
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paper_title: Simulation study on improving traffic safety and traffic flow in the vicinity of a motorway accident through vehicle-to-vehicle communication

paper_content:

Vehicle breakdowns and crashes on motorways can create a sudden drop in traffic speed and make driving conditions dangerous through the requirement of many merging manoeuvres within a confined region. Ideal response strategies are not possible throughout all of the motorway network (lane closure and speed reduction by overhead signs), and temporary instructional equipment takes time to arrive. Modern vehicle communications technologies will soon allow drivers to be alerted much sooner to an accident, and voluntarily take action to ensure smoother and safer traffic flow. Here, we test a driver advice system for unexpected lane closure, using a radio communication simulator built into a microscopic traffic simulation package. It is shown that even a small number of equipped and cooperative drivers could help prevent dangerous oscillations of traffic flow around the merge point and increase the level of safety while the obstruction is cleared. The system has been developed within the EU project SOCIONICAL, where simulations are developed to examine socio-technical systems that may aid people during situations of emergency.
---
paper_title: Estimating Relevance for the Emergency Electronic Brake Light Application

paper_content:

In this paper, we compare two methods of estimating relevance for the emergency electronic brake light application: One method uses an analytically derived formula based on the minimum safety gap that is required to avoid a collision, whereas the other method uses a machine learning approach. The application works by disseminating reports about vehicles that perform emergency deceleration in an effort to warn drivers about the need to perform emergency braking. Vehicles that receive such reports have to decide on whether the information contained in the report is relevant to the driver and warn the driver if that is the case. Common ways of determining relevance are based on the lane or direction information, but using only these attributes can lead to many false warnings, which can desensitize the driver. Desensitized drivers may ignore warnings or completely turn off the system, thus eliminating any safety benefits of the application. We show that the machine learning method, compared with the analytically derived formula, can significantly reduce the number of false warnings by learning from the actions that drivers take after receiving a report. The methods were compared using simulated experiments with a range of traffic and communication parameters.
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paper_title: Study on the framework of hybrid collision warning system using loop detectors and vehicle information

paper_content:

Abstract Safety warning systems generally operate based on information from sensors attached to individual vehicles. Various types of data used for collision risk calculation can be categorized into two types, microscopic or macroscopic, depending on how the sensors collect the information of traffic state. Most collision warning systems use only either of these types of data, but they all have limitations imposed by the data, such as requirement of high installation cost and high market penetration rate of devices. In order to overcome these limits, we propose a collision warning system that utilizes the integrated information of macroscopic data and microscopic data, from loop detectors and smartphones respectively. The proposed system is evaluated by simulating a real vehicle trip based on the NGSIM data. We compare the results against collision warning systems based on macroscopic data from infrastructure and microscopic data from Vehicle-to-Vehicle information. The analysis of three systems shows two findings that (a) ICWS (Infrastructure-based Collision Warning System) is inadequate for immediate collision warning system and (b) VCWS (V2V communication based Collision Warning System) and HCWS (Hybrid Collision Warning System) produce collision warning at very similar timing, even with different behavior of individual drivers. Advantages of HCWS are that it can be directly applied to existing system with small additional cost, because data of loop detector are already available to be used in Korea and smartphones are widely spread. Also, the computation power distributed to each individual smartphone greatly increases the efficiency of the system by distributing the computation resources and load.
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paper_title: A stochastic model for design and evaluation of chain collision avoidance applications

paper_content:

Cooperative/Chain Collision Avoidance (CCA) is an important type of safety-related applications of vehicular ad hoc networks (VANETs). They provide collaborative communication capabilities to vehicles in order to reduce the number of accidents on the road. Simulation is the usual choice to evaluate these systems. However, current simulation tools based on car-following models cannot be seamlessly used to simulate accidents, as we discuss here. Therefore, in this paper we propose the use of a stochastic model as an alternative to simulation for the design and performance evaluation of such applications. The model enables the computation of the average number of collisions that occurs in a platoon of vehicles, the probabilities of the different ways in which the collisions may take place, as well as other statistics of interest. The suitability of the model for evaluating CCA applications is shown by comparing our results with other authors' simulation results. Additionally, it can be used at an early stage to shed relevant guidelines for the design of CCA applications, by disclosing the influence of kinematic parameters on the collision process. To exemplify it, we provide an evaluation of different types of CCA applications in two scenarios, a freeway and an urban scenario.
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paper_title: Situation Assessment for Automatic Lane-Change Maneuvers

paper_content:

Current research on advanced driver-assistance systems (ADASs) addresses the concept of highly automated driving to further increase traffic safety and comfort. In such systems, different maneuvers can automatically be executed that are still under the control of the driver. To achieve this aim, the task of assessing a traffic situation and automatically taking maneuvering decisions becomes significantly important. Thus, this paper presents a system that can perceive the vehicle's environment, assess the traffic situation, and give recommendations about lane-change maneuvers to the driver. In particular, the algorithmic background for this system is described, including image processing for lane and vehicle detection, unscented Kalman filtering for estimation and tracking, and an approach that is based on Bayesian networks for taking maneuver decisions under uncertainty. Furthermore, the results of a first prototypical implementation using the concept vehicle Carai are presented and discussed.
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paper_title: A Review of Communication, Driver Characteristics, and Controls Aspects of Cooperative Adaptive Cruise Control (CACC)

paper_content:

Cooperative adaptive cruise control (CACC) systems have the potential to increase traffic throughput by allowing smaller headway between vehicles and moving vehicles safely in a platoon at a harmonized speed. CACC systems have been attracting significant attention from both academia and industry since connectivity between vehicles will become mandatory for new vehicles in the USA in the near future. In this paper, we review three basic and important aspects of CACC systems: communications, driver characteristics, and controls to identify the most challenging issues for their real-world deployment. Different routing protocols that support the data communication requirements between vehicles in the CACC platoon are reviewed. Promising and suitable protocols are identified. Driver characteristics related issues, such as how to keep drivers engaged in driving tasks during CACC operations, are discussed. To achieve mass acceptance, the control design needs to depict real-world traffic variability such as communication effects, driver behavior, and traffic composition. Thus, this paper also discusses the issues that existing CACC control modules face when considering close to ideal driving conditions.
---
paper_title: Cooperative adaptive cruise control: An artificial potential field approach

paper_content:

In this paper, in addition to the main functionality of vehicle following, cooperative adaptive cruise control (CACC) is enabled with additional features of gap closing and collision avoidance. Due to its nonlinear nature, a control objective such as collision avoidance, cannot be addressed using a linear controller such as a PD controller. However, the artificial potential functions can be adopted to design controllers which accommodate multiple (nonlinear) control objectives in a single design. By defining an appropriate control law, the system state is always driven to the minima of the designed potential function which guarantees the required performance of the system.
---
paper_title: A Lane Change Warning System Based on V2V Communication

paper_content:

A lane change warning system is proposed, which gets the surrounding vehicle's motion states based on V2V communication. The safe distance between the ego-vehicle and the rear vehicle in a target lane is analyzed according to the goal of both collision avoidance and vehicle following safety. Safe distance between the ego-vehicle and the front vehicle in the target lane is analyzed to ensure safety in emergency collision avoidance. Safe distances between the ego-vehicle and the front and rear vehicles in the original lane are analyzed to realize safe following. Meanwhile, a driving style index is proposed to adapt the warning system to different kinds of drivers. Simulation results show that the lane change warning system can make a composite analysis of the collision risk during the lane-changing, and provide an accurate real-time warning to assist drivers.
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paper_title: Safety Benefits of Forward Collision Warning, Brake Assist, and Autonomous Braking Systems in Rear-End Collisions

paper_content:

This paper examines the potential effectiveness of the following three precollision system (PCS) algorithms: 1) forward collision warning only; 2) forward collision warning and precrash brake assist; and 3) forward collision warning, precrash brake assist, and autonomous precrash brake. Real-world rear-end crashes were extracted from a nationally representative sample of collisions in the United States. A sample of 1396 collisions, corresponding to 1.1 million crashes, were computationally simulated as if they occurred, with the driver operating a precollision-system-equipped vehicle. A probability-based framework was developed to account for the variable driver reaction to the warning system. As more components were added to the algorithms, greater benefits were realized. The results indicate that the exemplar PCS investigated in this paper could reduce the severity (i.e., ΔV) of the collision between 14% and 34%. The number of moderately to fatally injured drivers who wore their seat belts could have been reduced by 29% to 50%. These collision-mitigating algorithms could have prevented 3.2% to 7.7% of rear-end collisions. This paper shows the dramatic reductions in serious and fatal injuries that a PCS, which is one of the first intelligent vehicle technologies to be deployed in production cars, can bring to highway safety when available throughout the fleet. This paper also presents the framework of an innovative safety benefits methodology that, when adapted to other emerging active safety technologies, can be employed to estimate potential reductions in the frequency and severity of highway crashes.
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paper_title: Speed Limitation Based on an Advanced Curve Warning System

paper_content:

This paper presents an integrated system to prevent driver from taking a curve with a dangerous speed. The integrated system underlines three functions developed as follows : the first function consists in knowing the geometry characteristics of the coming road; the second function has to compute a safe speed according to the road section, the vehicle and the driver; the last function must impose the speed control of the vehicle in order to achieve a safe speed in the case that the driver does not achieve it.
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paper_title: An android based ecodriving assistance system to improve safety and efficiency of internal combustion engine passenger cars

paper_content:

Abstract Recent improvements of communication technologies leads to several innovations in road vehicles energy consumption. As an example, several ecodriving applications already appeared on all smartphone application markets. Using embedded smartphone signals, such applications provide real time feedback to drivers according to their performances. However most of these applications does not take into account upcoming events such as curves, slopes or crossings to advise the driver on the best actions to undertake to lower energy consumption. Furthermore, they do not analyze data coming from vehicle sensors. In this paper, we present an android application, developed within the FP7 European project ecoDriver, which provides several innovative properties: advice according to upcoming events, a real time evaluation of the driving behavior, the analysis of past actions, an interface with OBD2 connector and some more. This paper further develops the complete architecture and links between each innovative function. Future works will concentrate on integrating image processing in this application in order to detect the possible presence of a front vehicle.
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paper_title: Eco-Routing Navigation System Based on Multisource Historical and Real-Time Traffic Information

paper_content:

Due to increased public awareness on global climate change and other energy and environmental problems, a variety of strategies are being developed and used to reduce the energy consumption and environmental impact of roadway travel. In advanced traveler information systems, recent efforts have been made in developing a new navigation concept called “eco-routing,” which finds a route that requires the least amount of fuel and/or produces the least amount of emissions. This paper presents an eco-routing navigation system that determines the most eco-friendly route between a trip origin and a destination. It consists of the following four components: 1) a Dynamic Roadway Network database, which is a digital map of a roadway network that integrates historical and real-time traffic information from multiple data sources through an embedded data fusion algorithm; 2) an energy/emissions operational parameter set, which is a compilation of energy/emission factors for a variety of vehicle types under various roadway characteristics and traffic conditions; 3) a routing engine, which contains shortest path algorithms used for optimal route calculation; and 4) user interfaces that receive origin-destination inputs from users and display route maps to the users. Each of the system components and the system architecture are described. Example results are also presented to prove the validity of the eco-routing concept and to demonstrate the operability of the developed eco-routing navigation system. In addition, current limitations of the system and areas for future improvements are discussed.
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paper_title: Generic model for resource allocation in transportation. Application to urban parking management

paper_content:

In this paper, we define the online localized resource allocation problem, especially relevant for modeling transportation applications. The problem modeling takes into account simultaneously the geographical location of consumers and resources together with their online nondeterministic appearance. We use urban parking management as an illustration of this problem. In fact, urban parking management is an online localized resource allocation problem, where the question is how to find an efficient allocation of parking spots to drivers, while they all have dynamic geographical positions and appear nondeterministically. We define this problem and propose a multiagent system to solve it. The objective of the system is to decrease, for private vehicles drivers, the parking spots search time. The drivers are organized in communities and share information about spots availability. We have defined two cooperative models and compared them: a fully cooperative model, where agents share all the available information, and a 'coopetitive' model, where drivers do not share information about the spot that they have chosen. Results show the superiority of the first model.
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paper_title: Intelligent infrastructure-based queue-end warning system for avoiding rear impacts

paper_content:

Accident avoidance is a very important part of enhancing road safety. The development of a queue-end warning system for highway work zones which automatically predicts queue-end location and alerts drivers so that rear-end collisions can be avoided has been described. In the absence of the widespread use of in-vehicle collision warning devices, dynamic messages about queue-end, displayed on portable variable message sign (PVMS) boards, are necessary for improving road safety. Although queues at selected locations along the road can be detected by the simple use of sensors, the changing nature of queue length would require numerous sensors to find the end of traffic queue. The reported queue-end warning system is based on a combination of sensors for detecting traffic and an artificial neural network (ANN) model-based algorithm for predicting queue-end location and issuing warning messages displayed on PVMS. Following the characterisation of work zones in terms of functional areas and geometrics, a microsimulator was calibrated and validated. Simulations were carried out next with traffic sensors and queue counter looped-in and the resulting data were used for training and validation of ANN models for queue length prediction. An automated information system was synthesised that integrates traffic sensors, ANN models, PVMS and potential links with other media. Selected results of ANN models illustrate their application in the queue-end warning system.
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paper_title: Intelligent Environment-Friendly Vehicles: Concept and Case Studies

paper_content:

The concept of an intelligent environment-friendly vehicle (i-EFV) is proposed in this paper. It integrates three components, i.e., clean-energy powertrain, electrified chassis, and intelligent information interaction devices. By employing such technologies as structure sharing, data fusion, and control coordination, more comprehensive performances are achievable, in terms of traffic safety, fuel efficiency, and environmental protection. Based on its definition and configuration, some key technologies, including design for resource effectiveness, driving environment identification, and coordinated control, are studied. As a basic application, a platform of an intelligent hybrid electric vehicle (i-HEV), which incorporates a hybrid powertrain with adaptive cruise control, has been designed and implemented. Both simulation and experimental results demonstrated that the i-EFV performed better than a conventional vehicle.
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paper_title: Platoon-based multi-agent intersection management for connected vehicle

paper_content:

As wireless communication advances, multi-agent system (MAS) approaches to intersection traffic management have received increased attention. In this paper, we propose an improved multi-agent intersection management system where vehicle agents may form platoons using connected vehicles technologies. Traffic performance measures in terms of mobility and environmental sustainability were evaluated through a series of simulation studies, along with an analysis of the communication load of the system. Compared to the conventional traffic signal control system, the proposed platoon-based multi-agent intersection management system can shorten the average travel time by as much as 30% and reduce the fuel consumption and carbon dioxide emissions by around 23%, when the traffic volume is high. In comparison with a non-platoon-based multi-agent intersection management system, the proposed system can reduce the communication loads of an intersection management agent by up to 90% and exhibits strong robustness against the variation of traffic volumes.
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paper_title: Infrastructure-based vehicle maneuver estimation at urban intersections

paper_content:

Accident-prone spots in urban areas are mainly located at signalized intersections, where road users are often confronted with complex situations that are sometimes hard to interpret and deal with properly. The objective of this paper is to present a model for estimating the maneuvers of the vehicles approaching an urban intersection. This estimation is part of the Intelligent Cooperative Intersection Safety system (IRIS), which assists the road users at urban intersections. The system uses vehicle-to-infrastructure communication and extended road side sensing to track and predict the movements of individual road users. The estimation of the future situation at the intersection is an input for the identification of safety-critical situations. Once the system detects a critical situation, it sends a warning message to the road users via short-range communication. The system was successfully tested at a real intersection in the city of Dortmund, Germany.
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paper_title: Eco-Friendly Freight Signal Priority using connected vehicle technology: A multi-agent systems approach

paper_content:

This paper introduces a multi-agent systems (MAS) based freight signal priority algorithm with the stated goal of reducing network-wide energy and emissions. The proposed infrastructure and communication protocol is highly flexible in that it can be applied to multiple measures of effectiveness (MOEs) such as energy, emissions, travel delay, or any combination. Furthermore, the adaptive nature of the optimized signal control ensures extension to multiple arterial intersections. The proposed algorithm has been implemented and evaluated on an isolated intersection in the microscopic simulation environment. The results indicate that the application of the proposed Eco-Friendly Freight Signal Priority algorithm improves upon traditional traffic signal priority by providing fuel and travel time savings to both freight and non-freight traffic.
---
paper_title: Power-Based Optimal Longitudinal Control for a Connected Eco-Driving System

paper_content:

Automatic longitudinal control of vehicles is an automobile technology that has been implemented for many years. Connected eco-driving has the potential to extend the capability of an automatic longitudinal control by minimizing the energy consumption and emissions of the vehicle. In this paper, we propose a power-based longitudinal control algorithm for a connected eco-driving system, which takes into account the vehicle's brake specific fuel consumption or BSFC map, roadway grade, and other constraints (e.g., traffic condition ahead and traffic signal status of the upcoming intersection) in the calculation of an optimal speed profile in terms of energy savings and emissions reduction. The performance of the proposed algorithm was evaluated through extensive numerical analyses of driving along a signalized arterial, and the results validated the effectiveness of the proposed algorithm as compared with baseline and an existing eco-driving algorithm.
---
paper_title: Evaluating the effectiveness of V2V-based Lane Speed Monitoring application: A simulation study

paper_content:

Connected vehicles extend the capability of information collection, and thus open more opportunities for innovative advanced driver assistance systems (ADAS). In this paper, we propose a Lane Speed Monitoring (LSM) application based on vehicle-to-vehicle (V2V) communication. This application takes advantage of Basic Safety Messages (BSM) transmitted from equipped vehicles via dedicated short range communication (DSRC), to estimate the real-time traffic states at the lane level. It then provides the driver with a recommendation on the optimal lane selection in terms of traffic conditions. A comprehensive simulation study has been conducted to evaluate the performance of this application, including safety, mobility, and environmental impacts, under various scenarios. Results indicate that the LSM application is beneficial to the individual user even under a low market penetration rate. Vehicles equipped with the application demonstrate up to 11% average speed improvement.
---
paper_title: Improving traffic operations using real-time optimal lane selection with connected vehicle technology

paper_content:

To better regulate traffic flow and reduce the potential impacts due to uncoordinated lane changes, we proposed a real-time optimal lane selection (OLS) algorithm by using the information available from connected vehicle (CV) technology. Such information includes the location, speed, lane and desired driving speed of individual vehicle agents (VA) on a localized roadway. Microscopic traffic simulation studies show that the proposed algorithm can result in both mobility and environmental benefits for the entire traffic system. Specifically, the application of the OLS algorithm reduces the average travel time by up to 3.8% and the fuel consumption by around 2.2%. In addition, the reduction in emissions of criteria pollutants, such as CO, HC, NOx and PM2.5 ranges from 1% to 19%, depending on the congestion level of the roadway segment. Potential extensions of the proposed OLS algorithm are discussed at the end of this paper.
---
paper_title: Dynamic Eco-Driving for Signalized Arterial Corridors and Its Indirect Network-Wide Energy/Emissions Benefits

paper_content:

There are various strategies being considered to reduce fuel consumption and emissions from the transportation sector. From the transportation operations perspective, one strategy that has gained interest worldwide is eco-driving. Eco-driving typically consists of changing a person's driving behavior based on providing general advice to the driver, such as accelerating slowly, driving smoothly, and reducing high speeds. More advanced dynamic eco-driving provides real-time advice to drivers based on changing traffic and infrastructure conditions for even greater fuel and emission savings. The concept of dynamic eco-driving takes advantage of real-time traffic sensing and infrastructure information, which can then be communicated to a vehicle with a goal of reducing fuel consumption and emissions. This article considers dynamic eco-driving in an arterial corridor with traffic control signals, where signal phase and timing (SPaT) information of traffic lights is provided to the vehicle as it drives down the ...
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paper_title: Study on the framework of hybrid collision warning system using loop detectors and vehicle information

paper_content:

Abstract Safety warning systems generally operate based on information from sensors attached to individual vehicles. Various types of data used for collision risk calculation can be categorized into two types, microscopic or macroscopic, depending on how the sensors collect the information of traffic state. Most collision warning systems use only either of these types of data, but they all have limitations imposed by the data, such as requirement of high installation cost and high market penetration rate of devices. In order to overcome these limits, we propose a collision warning system that utilizes the integrated information of macroscopic data and microscopic data, from loop detectors and smartphones respectively. The proposed system is evaluated by simulating a real vehicle trip based on the NGSIM data. We compare the results against collision warning systems based on macroscopic data from infrastructure and microscopic data from Vehicle-to-Vehicle information. The analysis of three systems shows two findings that (a) ICWS (Infrastructure-based Collision Warning System) is inadequate for immediate collision warning system and (b) VCWS (V2V communication based Collision Warning System) and HCWS (Hybrid Collision Warning System) produce collision warning at very similar timing, even with different behavior of individual drivers. Advantages of HCWS are that it can be directly applied to existing system with small additional cost, because data of loop detector are already available to be used in Korea and smartphones are widely spread. Also, the computation power distributed to each individual smartphone greatly increases the efficiency of the system by distributing the computation resources and load.
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paper_title: Eco-Cooperative Adaptive Cruise Control at Signalized Intersections Considering Queue Effects

paper_content:

Traffic signals typically introduce vehicle stops along a trip and thus increase vehicle fuel consumption levels. In attempt to enhance vehicle fuel efficiency, eco-cooperative adaptive cruise control (Eco-CACC) systems are being developed that receive signal phasing and timing data from downstream signalized intersections via vehicle-to-infrastructure communication. In this paper, an Eco-CACC algorithm is developed that computes the fuel-optimum vehicle trajectory through a signalized intersection by ensuring that the vehicle arrives at the intersection stop bar just as the last queued vehicle is discharged. A simulation analysis demonstrates that the proposed Eco-CACC system produces vehicle fuel savings up to 40%, when the market penetration rate (MPR) is 100%. The results also demonstrate that for single-lane approaches, the algorithm reduces the overall fuel consumption levels for all vehicles, and that higher MPRs result in larger savings. Alternatively, on multi-lane approaches, lower MPRs produce negative impacts on the overall intersection fuel efficiency, and only when MPRs are greater than 30% does the algorithm produce overall intersection fuel consumption savings.
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paper_title: Situation Assessment for Automatic Lane-Change Maneuvers

paper_content:

Current research on advanced driver-assistance systems (ADASs) addresses the concept of highly automated driving to further increase traffic safety and comfort. In such systems, different maneuvers can automatically be executed that are still under the control of the driver. To achieve this aim, the task of assessing a traffic situation and automatically taking maneuvering decisions becomes significantly important. Thus, this paper presents a system that can perceive the vehicle's environment, assess the traffic situation, and give recommendations about lane-change maneuvers to the driver. In particular, the algorithmic background for this system is described, including image processing for lane and vehicle detection, unscented Kalman filtering for estimation and tracking, and an approach that is based on Bayesian networks for taking maneuver decisions under uncertainty. Furthermore, the results of a first prototypical implementation using the concept vehicle Carai are presented and discussed.
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paper_title: Developing and evaluating an eco-speed harmonization strategy for connected vehicles

paper_content:

As an active traffic and demand management (ATDM) strategy that has been implemented for decades, speed harmonization may improve traffic flow by regulating traffic speed upstream of bottlenecks. In this paper, we propose a new speed harmonization strategy with a focus on environmental factors, called eco-speed harmonization (ESH). ESH takes advantage of individual vehicle's real-time information via Connected Vehicle (CV) technologies to reduce energy and environmental impacts of vehicular traffic. Simulation studies based on a complex real-world network have shown that the introduction of the proposed ESH strategy with full CV technology penetration can reduce energy consumption by up to 4 percent and criteria pollutant emissions (e.g., fine particles) by up to 17 percent, depending on the level of traffic congestion. Sensitivity analyses indicated that energy and emissions reduction benefits will decrease as the CV technology penetration rate decreases.
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paper_title: A Lane Change Warning System Based on V2V Communication

paper_content:

A lane change warning system is proposed, which gets the surrounding vehicle's motion states based on V2V communication. The safe distance between the ego-vehicle and the rear vehicle in a target lane is analyzed according to the goal of both collision avoidance and vehicle following safety. Safe distance between the ego-vehicle and the front vehicle in the target lane is analyzed to ensure safety in emergency collision avoidance. Safe distances between the ego-vehicle and the front and rear vehicles in the original lane are analyzed to realize safe following. Meanwhile, a driving style index is proposed to adapt the warning system to different kinds of drivers. Simulation results show that the lane change warning system can make a composite analysis of the collision risk during the lane-changing, and provide an accurate real-time warning to assist drivers.
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paper_title: Speed Limitation Based on an Advanced Curve Warning System

paper_content:

This paper presents an integrated system to prevent driver from taking a curve with a dangerous speed. The integrated system underlines three functions developed as follows : the first function consists in knowing the geometry characteristics of the coming road; the second function has to compute a safe speed according to the road section, the vehicle and the driver; the last function must impose the speed control of the vehicle in order to achieve a safe speed in the case that the driver does not achieve it.
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paper_title: Experimental investigation of online path planning for electric vehicles

paper_content:

This paper describes a real-time capable online path planning on roads and its experimental investigation for the highly maneuverable robotic electric vehicle research platform ROboMObil. The path planning algorithm is based on an efficiently solvable and compact optimization problem and contributes to the autonomous driving of centralized controlled vehicles. The necessary development from a global offline problem formulation towards an online receding horizon method is shown, which is capable of taking environmental changes into account. The online planned path together with a generated velocity profile serves as an input to the ROboMObil's geometric path following control, allowing for automated driving. Finally, a test drive shows the results of implementing the presented algorithms on this research vehicle and investigates the energy saving capabilities of the proposed path planning methodology.
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paper_title: Optimized Speed Harmonization with Connected Vehicles for Work Zones

paper_content:

The effectiveness of speed harmonization relies on the accuracy of traffic data to predict state of congestion and determine a proper traffic control strategy. Connected Vehicles technology can be deployed to increase the accuracy of data and enhance the effectiveness of speed harmonization. This study develops Connected Vehicles Harmonizer (CVH) which is an optimization program to determine advisory speeds for connected vehicles in work zones. The effectiveness of the methodology is tested in a benchmark problem which showed more than 13% delay reduction when the penetration rate is 80% or higher.
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paper_title: Automated On-Ramp Merging System for Congested Traffic Situations

paper_content:

Traffic merging in urban environments is one of the main causes of traffic congestion. From the driver's point of view, the difficulty arises along the on-ramp where the merging vehicle's driver has to discern whether he should accelerate or decelerate to enter the main road. In parallel, the drivers of the vehicles already on the major road may have to modify their speeds to permit the entrance of the merging vehicle, thus affecting the traffic flow. This paper presents an approach to merging from a minor to a major road in congested traffic situations. An automated merging system that was developed with two principal goals, i.e., to permit the merging vehicle to sufficiently fluidly enter the major road to avoid congestion on the minor road and to modify the speed of the vehicles already on the main road to minimize the effect on that already congested main road, is described. A fuzzy controller is developed to act on the vehicles' longitudinal control - throttle and brake pedals - following the references set by a decision algorithm. Data from other vehicles are acquired using wireless vehicle-to-infrastructure (V2I) communication. A system installed in the infrastructure that is capable of assessing road traffic conditions in real time is responsible for transmitting the data of the vehicles in the surrounding area. Three production vehicles were used in the experimental phase to validate the proposed system at the facilities of the Centro de Automatica y Robotica with encouraging results.
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paper_title: Intelligent infrastructure-based queue-end warning system for avoiding rear impacts

paper_content:

Accident avoidance is a very important part of enhancing road safety. The development of a queue-end warning system for highway work zones which automatically predicts queue-end location and alerts drivers so that rear-end collisions can be avoided has been described. In the absence of the widespread use of in-vehicle collision warning devices, dynamic messages about queue-end, displayed on portable variable message sign (PVMS) boards, are necessary for improving road safety. Although queues at selected locations along the road can be detected by the simple use of sensors, the changing nature of queue length would require numerous sensors to find the end of traffic queue. The reported queue-end warning system is based on a combination of sensors for detecting traffic and an artificial neural network (ANN) model-based algorithm for predicting queue-end location and issuing warning messages displayed on PVMS. Following the characterisation of work zones in terms of functional areas and geometrics, a microsimulator was calibrated and validated. Simulations were carried out next with traffic sensors and queue counter looped-in and the resulting data were used for training and validation of ANN models for queue length prediction. An automated information system was synthesised that integrates traffic sensors, ANN models, PVMS and potential links with other media. Selected results of ANN models illustrate their application in the queue-end warning system.
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paper_title: Intelligent Environment-Friendly Vehicles: Concept and Case Studies

paper_content:

The concept of an intelligent environment-friendly vehicle (i-EFV) is proposed in this paper. It integrates three components, i.e., clean-energy powertrain, electrified chassis, and intelligent information interaction devices. By employing such technologies as structure sharing, data fusion, and control coordination, more comprehensive performances are achievable, in terms of traffic safety, fuel efficiency, and environmental protection. Based on its definition and configuration, some key technologies, including design for resource effectiveness, driving environment identification, and coordinated control, are studied. As a basic application, a platform of an intelligent hybrid electric vehicle (i-HEV), which incorporates a hybrid powertrain with adaptive cruise control, has been designed and implemented. Both simulation and experimental results demonstrated that the i-EFV performed better than a conventional vehicle.
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paper_title: An android based ecodriving assistance system to improve safety and efficiency of internal combustion engine passenger cars

paper_content:

Abstract Recent improvements of communication technologies leads to several innovations in road vehicles energy consumption. As an example, several ecodriving applications already appeared on all smartphone application markets. Using embedded smartphone signals, such applications provide real time feedback to drivers according to their performances. However most of these applications does not take into account upcoming events such as curves, slopes or crossings to advise the driver on the best actions to undertake to lower energy consumption. Furthermore, they do not analyze data coming from vehicle sensors. In this paper, we present an android application, developed within the FP7 European project ecoDriver, which provides several innovative properties: advice according to upcoming events, a real time evaluation of the driving behavior, the analysis of past actions, an interface with OBD2 connector and some more. This paper further develops the complete architecture and links between each innovative function. Future works will concentrate on integrating image processing in this application in order to detect the possible presence of a front vehicle.
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paper_title: Eco-Routing Navigation System Based on Multisource Historical and Real-Time Traffic Information

paper_content:

Due to increased public awareness on global climate change and other energy and environmental problems, a variety of strategies are being developed and used to reduce the energy consumption and environmental impact of roadway travel. In advanced traveler information systems, recent efforts have been made in developing a new navigation concept called “eco-routing,” which finds a route that requires the least amount of fuel and/or produces the least amount of emissions. This paper presents an eco-routing navigation system that determines the most eco-friendly route between a trip origin and a destination. It consists of the following four components: 1) a Dynamic Roadway Network database, which is a digital map of a roadway network that integrates historical and real-time traffic information from multiple data sources through an embedded data fusion algorithm; 2) an energy/emissions operational parameter set, which is a compilation of energy/emission factors for a variety of vehicle types under various roadway characteristics and traffic conditions; 3) a routing engine, which contains shortest path algorithms used for optimal route calculation; and 4) user interfaces that receive origin-destination inputs from users and display route maps to the users. Each of the system components and the system architecture are described. Example results are also presented to prove the validity of the eco-routing concept and to demonstrate the operability of the developed eco-routing navigation system. In addition, current limitations of the system and areas for future improvements are discussed.
---
paper_title: Experimental investigation of online path planning for electric vehicles

paper_content:

This paper describes a real-time capable online path planning on roads and its experimental investigation for the highly maneuverable robotic electric vehicle research platform ROboMObil. The path planning algorithm is based on an efficiently solvable and compact optimization problem and contributes to the autonomous driving of centralized controlled vehicles. The necessary development from a global offline problem formulation towards an online receding horizon method is shown, which is capable of taking environmental changes into account. The online planned path together with a generated velocity profile serves as an input to the ROboMObil's geometric path following control, allowing for automated driving. Finally, a test drive shows the results of implementing the presented algorithms on this research vehicle and investigates the energy saving capabilities of the proposed path planning methodology.
---
paper_title: Generic model for resource allocation in transportation. Application to urban parking management

paper_content:

In this paper, we define the online localized resource allocation problem, especially relevant for modeling transportation applications. The problem modeling takes into account simultaneously the geographical location of consumers and resources together with their online nondeterministic appearance. We use urban parking management as an illustration of this problem. In fact, urban parking management is an online localized resource allocation problem, where the question is how to find an efficient allocation of parking spots to drivers, while they all have dynamic geographical positions and appear nondeterministically. We define this problem and propose a multiagent system to solve it. The objective of the system is to decrease, for private vehicles drivers, the parking spots search time. The drivers are organized in communities and share information about spots availability. We have defined two cooperative models and compared them: a fully cooperative model, where agents share all the available information, and a 'coopetitive' model, where drivers do not share information about the spot that they have chosen. Results show the superiority of the first model.
---
paper_title: Evaluating the effectiveness of V2V-based Lane Speed Monitoring application: A simulation study

paper_content:

Connected vehicles extend the capability of information collection, and thus open more opportunities for innovative advanced driver assistance systems (ADAS). In this paper, we propose a Lane Speed Monitoring (LSM) application based on vehicle-to-vehicle (V2V) communication. This application takes advantage of Basic Safety Messages (BSM) transmitted from equipped vehicles via dedicated short range communication (DSRC), to estimate the real-time traffic states at the lane level. It then provides the driver with a recommendation on the optimal lane selection in terms of traffic conditions. A comprehensive simulation study has been conducted to evaluate the performance of this application, including safety, mobility, and environmental impacts, under various scenarios. Results indicate that the LSM application is beneficial to the individual user even under a low market penetration rate. Vehicles equipped with the application demonstrate up to 11% average speed improvement.
---
paper_title: Optimized Speed Harmonization with Connected Vehicles for Work Zones

paper_content:

The effectiveness of speed harmonization relies on the accuracy of traffic data to predict state of congestion and determine a proper traffic control strategy. Connected Vehicles technology can be deployed to increase the accuracy of data and enhance the effectiveness of speed harmonization. This study develops Connected Vehicles Harmonizer (CVH) which is an optimization program to determine advisory speeds for connected vehicles in work zones. The effectiveness of the methodology is tested in a benchmark problem which showed more than 13% delay reduction when the penetration rate is 80% or higher.
---
paper_title: Power-Based Optimal Longitudinal Control for a Connected Eco-Driving System

paper_content:

Automatic longitudinal control of vehicles is an automobile technology that has been implemented for many years. Connected eco-driving has the potential to extend the capability of an automatic longitudinal control by minimizing the energy consumption and emissions of the vehicle. In this paper, we propose a power-based longitudinal control algorithm for a connected eco-driving system, which takes into account the vehicle's brake specific fuel consumption or BSFC map, roadway grade, and other constraints (e.g., traffic condition ahead and traffic signal status of the upcoming intersection) in the calculation of an optimal speed profile in terms of energy savings and emissions reduction. The performance of the proposed algorithm was evaluated through extensive numerical analyses of driving along a signalized arterial, and the results validated the effectiveness of the proposed algorithm as compared with baseline and an existing eco-driving algorithm.
---
paper_title: Dynamic Eco-Driving for Signalized Arterial Corridors and Its Indirect Network-Wide Energy/Emissions Benefits

paper_content:

There are various strategies being considered to reduce fuel consumption and emissions from the transportation sector. From the transportation operations perspective, one strategy that has gained interest worldwide is eco-driving. Eco-driving typically consists of changing a person's driving behavior based on providing general advice to the driver, such as accelerating slowly, driving smoothly, and reducing high speeds. More advanced dynamic eco-driving provides real-time advice to drivers based on changing traffic and infrastructure conditions for even greater fuel and emission savings. The concept of dynamic eco-driving takes advantage of real-time traffic sensing and infrastructure information, which can then be communicated to a vehicle with a goal of reducing fuel consumption and emissions. This article considers dynamic eco-driving in an arterial corridor with traffic control signals, where signal phase and timing (SPaT) information of traffic lights is provided to the vehicle as it drives down the ...
---
paper_title: Eco-Cooperative Adaptive Cruise Control at Signalized Intersections Considering Queue Effects

paper_content:

Traffic signals typically introduce vehicle stops along a trip and thus increase vehicle fuel consumption levels. In attempt to enhance vehicle fuel efficiency, eco-cooperative adaptive cruise control (Eco-CACC) systems are being developed that receive signal phasing and timing data from downstream signalized intersections via vehicle-to-infrastructure communication. In this paper, an Eco-CACC algorithm is developed that computes the fuel-optimum vehicle trajectory through a signalized intersection by ensuring that the vehicle arrives at the intersection stop bar just as the last queued vehicle is discharged. A simulation analysis demonstrates that the proposed Eco-CACC system produces vehicle fuel savings up to 40%, when the market penetration rate (MPR) is 100%. The results also demonstrate that for single-lane approaches, the algorithm reduces the overall fuel consumption levels for all vehicles, and that higher MPRs result in larger savings. Alternatively, on multi-lane approaches, lower MPRs produce negative impacts on the overall intersection fuel efficiency, and only when MPRs are greater than 30% does the algorithm produce overall intersection fuel consumption savings.
---
paper_title: Developing and evaluating an eco-speed harmonization strategy for connected vehicles

paper_content:

As an active traffic and demand management (ATDM) strategy that has been implemented for decades, speed harmonization may improve traffic flow by regulating traffic speed upstream of bottlenecks. In this paper, we propose a new speed harmonization strategy with a focus on environmental factors, called eco-speed harmonization (ESH). ESH takes advantage of individual vehicle's real-time information via Connected Vehicle (CV) technologies to reduce energy and environmental impacts of vehicular traffic. Simulation studies based on a complex real-world network have shown that the introduction of the proposed ESH strategy with full CV technology penetration can reduce energy consumption by up to 4 percent and criteria pollutant emissions (e.g., fine particles) by up to 17 percent, depending on the level of traffic congestion. Sensitivity analyses indicated that energy and emissions reduction benefits will decrease as the CV technology penetration rate decreases.
---
paper_title: Platoon-based multi-agent intersection management for connected vehicle

paper_content:

As wireless communication advances, multi-agent system (MAS) approaches to intersection traffic management have received increased attention. In this paper, we propose an improved multi-agent intersection management system where vehicle agents may form platoons using connected vehicles technologies. Traffic performance measures in terms of mobility and environmental sustainability were evaluated through a series of simulation studies, along with an analysis of the communication load of the system. Compared to the conventional traffic signal control system, the proposed platoon-based multi-agent intersection management system can shorten the average travel time by as much as 30% and reduce the fuel consumption and carbon dioxide emissions by around 23%, when the traffic volume is high. In comparison with a non-platoon-based multi-agent intersection management system, the proposed system can reduce the communication loads of an intersection management agent by up to 90% and exhibits strong robustness against the variation of traffic volumes.
---
paper_title: Eco-Friendly Freight Signal Priority using connected vehicle technology: A multi-agent systems approach

paper_content:

This paper introduces a multi-agent systems (MAS) based freight signal priority algorithm with the stated goal of reducing network-wide energy and emissions. The proposed infrastructure and communication protocol is highly flexible in that it can be applied to multiple measures of effectiveness (MOEs) such as energy, emissions, travel delay, or any combination. Furthermore, the adaptive nature of the optimized signal control ensures extension to multiple arterial intersections. The proposed algorithm has been implemented and evaluated on an isolated intersection in the microscopic simulation environment. The results indicate that the application of the proposed Eco-Friendly Freight Signal Priority algorithm improves upon traditional traffic signal priority by providing fuel and travel time savings to both freight and non-freight traffic.
---
paper_title: Traffic signal coordination for emergency vehicles

paper_content:

Reducing travel time of emergency vehicles (EVs) has a potential in significant savings of life and property. Integrating modern intelligent transportation system (ITS) with EV signal preemption seems to be a solution. But existing EV signal preemption systems often break the current signal coordination and impact a lot on the normal traffic streams. In this paper the authors propose an emergency vehicle signal coordination (EVSC) approach, which is intended to provide "green wave" for EVs. Traffic simulations are conducted along an emergency corridor with eight (8) intersections in Qingdao, China. Multiple traffic measurements are compared between simulation outputs with and without EVSC operation. The result indicates that the proposed approach can reduce EV travel time by 26.9% without too much negative impact on the normal traffic streams.
---
paper_title: Improving traffic operations using real-time optimal lane selection with connected vehicle technology

paper_content:

To better regulate traffic flow and reduce the potential impacts due to uncoordinated lane changes, we proposed a real-time optimal lane selection (OLS) algorithm by using the information available from connected vehicle (CV) technology. Such information includes the location, speed, lane and desired driving speed of individual vehicle agents (VA) on a localized roadway. Microscopic traffic simulation studies show that the proposed algorithm can result in both mobility and environmental benefits for the entire traffic system. Specifically, the application of the OLS algorithm reduces the average travel time by up to 3.8% and the fuel consumption by around 2.2%. In addition, the reduction in emissions of criteria pollutants, such as CO, HC, NOx and PM2.5 ranges from 1% to 19%, depending on the congestion level of the roadway segment. Potential extensions of the proposed OLS algorithm are discussed at the end of this paper.
---
paper_title: WiFiHonk: Smartphone-Based Beacon Stuffed WiFi Car2X-Communication System for Vulnerable Road User Safety

paper_content:

Despite various high-tech Vehicle-to-Vehicle (V2V) and Vehicle-to-Infrastructure (V2I) communications that have been developed for enhancing traffic safety, protecting vulnerable road users (VRU), such as pedestrians and bicyclists from the vehicles and trains still heavily relies on the traditional sound warning method. Furthermore, as smart devices continue to become highly ubiquitous, the more VRU are shutting out the safety related warning sounds. A traffic accident study shows the number of headphone-wearing VRU involved in roadside accidents has tripled since 2004. Although recently a few Car2Pedestrian communication methods have been proposed by various car makers, their practical usage is still in question. They assume VRUs' active attention to the communication while walking, and also mostly require special communication devices to cope with the wide range of mobility. In this paper, we propose a smartphone based Car2X communication system, named WiFiHonk that can alert of potential collisions to both VRU and vehicles in order to especially protect the distracted VRU. WiFiHonk provides a practical safety means for the distracted VRU without requiring any special device using the WiFi of a smart device. It is novel in that it removes the WiFi association overhead using the beacon stuffed WiFi communication and also provides an efficient collision estimation algorithm to issue appropriate warnings. Our experimental and simulation studies validate that WiFiHonk can successfully alert the VRU within a sufficient reaction time frame.
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paper_title: Vulnerable road uses thoroughly addressed in accident prevention: the WATCH-OVER European project

paper_content:

The European Specific Targeted Project WATCH-OVER is co-funded by the European Commission Information Society and media within the initiatives of the cooperative systems for traffic safety and efficiency based on communication and sensor technologies. The project, supported by EUCAR, is coordinated by Centro Richerche Fiat and includes in its consortium vehicle and motorcycle makers, technology, automotive suppliers and research centres for the design, development and testing phase. The core concept of the project is to enable the future availability of a modular cooperative system that will bring together sensor and communication technologies permitting all road users (the vehicles, the motorcycles, the bicycles and the pedestrians) to take an active part in the reduction of the number of accidents that involve vulnerable road users. The paper also gives a highlight of the definition of the relevant case of use and anticipates the architectural approach. For the covering abstract see ITRD E140665.
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paper_title: An Efficient Computational Architecture for a Collision Early-Warning System for Vehicles, Pedestrians, and Bicyclists

paper_content:

We describe a computational architecture of a collision early-warning system for vehicles and other principals. Early-warnings allow drivers to make good judgments and to avoid emergency stopping or dangerous maneuvering. With many principals (vehicles, pedestrians, bicyclists, etc.) coexisting in a dense intersection, it is difficult to predict, even a few seconds in advance, since there are many possible scenarios. It is a major challenge to manage computational resources and human attention resources so that only the more plausible collisions are tracked, and of those, only the most critical collisions prompt warnings to drivers. In this paper, we propose a two-stage collision risk assessment process, including the following: 1) a preliminary assessment via simple efficient geometric computations, which thoroughly considers surrounding principals and identifies likely potential accidents, and 2) a specialized assessment that computes more accurate collision probabilities via sophisticated statistical inference. The whole process delivers an expected utility assessment to available user interfaces (UIs), allowing the UIs to make discriminating choices of when to warn drivers or other principals.
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paper_title: Pedestrian Protection Systems: Issues, Survey, and Challenges

paper_content:

This paper describes the recent research on the enhancement of pedestrian safety to help develop a better understanding of the nature, issues, approaches, and challenges surrounding the problem. It presents a comprehensive review of research efforts underway dealing with pedestrian safety and collision avoidance. The importance of pedestrian protection is emphasized in a global context, discussing the research programs and efforts in various countries. Pedestrian safety measures, including infrastructure enhancements and passive safety features in vehicles, are described, followed by a systematic description of active safety systems based on pedestrian detection using sensors in vehicle and infrastructure. The pedestrian detection approaches are classified according to various criteria such as the type and configuration of sensors, as well as the video cues and classifiers used in detection algorithms. It is noted that collision avoidance not only requires detection of pedestrians but also requires collision prediction using pedestrian dynamics and behavior analysis. Hence, this paper includes research dealing with probabilistic modeling of pedestrian behavior for predicting collisions between pedestrians and vehicles.
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paper_title: Vehicle to pedestrian communications for protection of vulnerable road users

paper_content:

Vehicle and pedestrian collisions often result in fatality to the vulnerable road users, indicating a strong need of technologies to protect such vulnerable road users. Wireless communications have potential to support road safety by enabling road users to exchange information. In contrast to vehicle to vehicle (V2V) and vehicle to infrastructure (V2I) communications for avoidance of inter-vehicle collisions, very limited efforts are made on communication mechanisms for pedestrian safety. This paper addresses the issue in a concrete way. We first formulate the requirement of the minimum information exchange distance for providing road users to have the necessary amount of time to perceive the situation and react. We then report our field tests and measurement based analysis to investigate if a Wi-Fi system can satisfy the application requirement. We also introduce a pedestrian protection application, V2ProVu, which provides the functionalities of the Wi-Fi communications, risk calculation, and hazard alarming. Our study discloses several useful insights including 1) information exchange for a velocity of 80 km/h has to be made before vehicle to pedestrian (V2P) distance is below 72 meters and 2) while this requirement is not too hard for radio communications technologies, the V2P communication range is greatly reduced if the signal is blocked by a human body.
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paper_title: Path2Go: Context-aware services for mobile real-time multimodal traveler information

paper_content:

Mobile platforms are now becoming a more and more important medium for providing information to travelers on the move. To improve the accuracy and relevance of the mobile traveler information, context awareness has become a active research topic. In this paper, we describe algorithms and services provided by Path2Go, a multimodal traveler information system developed by California PATH, UC Berkeley. The Path2Go activity detection algorithm, the core of the context-aware design, has made the following contributions: (1) it uses a rule-based multi-hypothesis Bayesian method for mode detection, to address the limitations of using mobile phone GPS for activity detection and increase the speed of convergence; (2) it fuses GPS data from transit vehicles and the GPS of the user's mobile phone for better activity detection; and (3) it enables several experimental services, including variable-frequency client-server communication and need-based GPS use. Field testing of the Path2Go activity detection algorithms showed reasonably good results. The Path2Go application has also been made available to the public through iPhone, Android and Windows Mobile platforms, with some of the features discussed in this paper included.
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Title: Performance Measurement Evaluation Framework and Co-Benefit/Tradeoff Analysis for Connected and Automated Vehicles (CAV) Applications: A Survey

Section 1: Introduction
Description 1: Present the importance and rapid development of Connected and/or Automated Vehicle (CAV) technology, as well as the classification of CAV applications.

Section 2: Performance-Oriented Taxonomy of CAV Applications
Description 2: Introduce the performance measurement evaluation framework and discuss three major performance metrics: safety, mobility, and environmental impacts.

Section 3: Category Summary
Description 3: Summarize the effectiveness and focus of current CAV applications, emphasizing their primary and secondary benefits, or potential trade-offs.

Section 4: Co-Benefit Analysis Of Typical V2X Based CAV Applications
Description 4: Analyze specific examples of CAV applications and discuss their co-benefits and tradeoffs among safety, mobility, and environmental impacts metrics.

Section 5: Conclusions
Description 5: Provide a summary of findings from the literature review, identify key strategies to improve system performance, and discuss influential factors on system performance and network-wide considerations.