Stability Analysis and Speed-Coordinated Control of Mixed Traffic Flow in Expressway Merging Area
Publication: Journal of Transportation Engineering, Part A: Systems
Volume 148, Issue 11
Abstract
This paper considers the stability of mixed traffic flow and the necessity of speed control to achieve safety and efficiency goals. Therefore, a speed-coordinated control model is proposed for mixed traffic flow based on stability analysis at an expressway merging area. Firstly, stability intervals are obtained by using an intracluster stability analysis in an intercluster. Secondly, a speed-coordinated control model is set up considering the stability characteristics in a merging area. Finally, an objective function is developed, which considers time-to-collision (TTC), dynamic space occupancy (DSO), and vehicle specific power (VSP). A numerical simulation is built up to analyze the traffic conditions and stability by using the proposed model against a null scenario without using the proposed model. The analysis results indicate that the stability of the intracluster has two regions, and the stability of the intercluster is mainly affected by the speed fluctuation and the distance between the merging cluster and the vehicles on the main road. Secondly, the proposed model tends to gradually achieve a steady state when the position reaches 180 m. Meanwhile, the efficiency of the model is found to be the best when the minimum safe-distance interval is set at (18, 27). In addition, the volatility of TTC drops by 5% and the DSO has reached 11.99% in the acceleration lane optimization together with 18.37% in the main lane optimization. The frequency is found to be the highest when the VSP reaches (10, 20), and the optimized efficiency reaches 45%–50%. The model proposed in this paper will effectively analyze the stability characteristics of mixed traffic flow and provides a research foundation for the stability of mixed traffic flow. Moreover, this model builds up a multi-objective-oriented speed-coordinated control scheme for high-efficiency operations in the merging area and provides technical support for traffic management in the future.
Get full access to this article
View all available purchase options and get full access to this article.
Data Availability Statement
All data, models, and code generated or used during the study appear in the published article.
Acknowledgments
This research is supported by the National Natural Science Foundation of China (Nos. 52172339, 52102407, 51978082, and 61973047), and the Major Research plan of the Natural Science Foundation of Hunan province, China (No. 2020SK2098), the CSUST Project (2019IC11), and the Science and Technology Innovation Program of Hunan province, China (No. 2020RC4048).
References
An, S. K., L. J. Xu, L. H. Qian, G. J. Chen, H. S. Luo, and F. Li. 2020. “Car-following model for autonomous vehicles and mixed traffic flow analysis based on discrete following interval.” Physica A 560 (2020): 125246. https://doi.org/10.1016/j.physa.2020.125246.
Bai, L. T. 2013. Research on prediction and control of expressway operating speed based on alignment condition. Tianjin, China: Tianjin Univ.
Chen, S. P., and H. Y. Chen. 2020. “MPC-based path tracking with PID speed control for autonomous vehicles.” In Proc., 3rd Int. Workshop on Materials Science and Mechanical Engineering. Hangzhou, China: IOP Publishing.
Gan, H. C., and L. J. Sun. 2004. “A study on the variable speed limits technology for freeways.” [In Chinese.] Transp. Sci. Technol. 2004 (6): 91–93.
Gao, H. B. 2010. The research of car initiative controlling speed for safety braking. Chongqing, China: Chongqing Jiaotong Univ.
Hao, W., L. Liu, Y. F. Li, and Y. J. Byon. 2020a. “Reducing CACC platoon disturbances caused by state jitters by combining two stages driving state recognition with multiple platoons’ strategies and risk prediction.” IEEE Trans. Intell. Transp. Syst. 23 (3): 2144–2154. https://doi.org/10.1109/TITS.2020.3033436.
Hao, W., Z. L. Zhang, Z. B. Gao, K. F. Yi, L. Liu, and J. Wang. 2020b. “Research on mandatory lane-changing behavior in highway weaving sections.” J. Adv. Transp. 2020 (6): 3754062. https://doi.org/10.1155/2020/3754062.
Jia, Y. F., D. Y. Qu, L. Lin, R. H. Yao, and X. L. Ma. 2020. “Coordinated speed control of connected mixed traffic flow based on trajectory.” [In Chinese.] J. Jilin Univ. 51 (6): 2051–2060. https://doi.org/10.13229/j.cnki.jdxbgxb20200569.
Letter, C., and L. Elefteriadou. 2017. “Efficient control of fully automated connected vehicles at freeway merge segments.” Transp. Res. Paper C 80 (45): 190–205. https://doi.org/10.1016/j.trc.2017.04.015.
Li, X., S. R. Qu, and Y. Xia. 2014. “Cooperative lane-changing rules on multilane under condition of cooperative vehicle and infrastructure system.” [In Chinese.] Chain J. Highway Transp. 27 (8): 97–104. https://doi.org/10.19721/j.cnki.1001-7372.2014.08.013.
Li, Z. B., M. J. Jin, P. Liu, and C. C. Xu. 2013a. “Evaluation of impact variable speed limits on improving traffic efficiency on freeways.” J. Jilin Univ. 43 (5): 1204–1209. https://doi.org/10.7964/jdxbgxb201305009.
Li, Z. B., P. Liu, X. N. Shan, and W. Wang. 2013b. “Simulation impacts of variable speed limits on traffic safety on freeways.” J. Southwest Jiaotong Univ. 48 (5): 942–948. https://doi.org/10.3969/j.issn.0258-2724.2013.05.025.
Liu, K., J. W. Gong, K. Arda, H. Y. Chen, and O. Umit. 2018. “Dynamic modeling and control of high-speed automated vehicles for lane change maneuver.” IEEE Trans. Intell. Veh. 3 (3): 329–339. https://doi.org/10.1109/TIV.2018.2843177.
Liu, M. J. 2010. Modeling on discharge headway with heterogeneous traffic at signalized intersections. Beijing: Beijing Jiaotong Univ.
Liu, Y., L. Cheng, Z. Y. Liu, and J. D. Gao. 2021. “Exploring a large-scale multi-modal transportation recommendation system.” Transp. Res. Part C 126 (16): 103070. https://doi.org/10.1016/j.trc.2021.103070.
Meng, X. H., H. Q. Xu, H. Wang, and H. Yao. 2012. “Rear-end conflict of freeway work zone based on TTC and DRAC.” Traffic Inf. Saf. 30 (6): 6–10. https://doi.org/10.3963/j.issn1674-4861.2012.06.002.
Nie, W., C. F. Shao, and L. Y. Yang. 2007. “Bi-level programming model for mixed transportation network design and genetic solution algorithm.” China Civ. Eng. J. 40 (8): 90–93.
Qin, Y. Y. 2019. Study on analytical method of heterogeneous traffic flow characteristics under connected and autonomous environment. Nanjing, China: Southeast Univ.
Qin, Y. Y., X. H. Hu, S. Q. Li, Z. Y. He, and M. T. Xu. 2021. “Stability analysis of mixed traffic flow in connected and autonomous environment.” [In Chinese.] J. Harbin Inst. Technol. 53 (3): 152–157.
Qiu, X. P., L. N. Ma, X. X. Zhou, and D. Yang. 2016. “The mixed traffic flow of manual-automated driving based on safety distance.” [In Chinese.] J. Transp. Syst. Eng. Inf. Technol. 16 (4): 101–108. https://doi.org/10.16097/j.cnki.1009-6744.2016.04.015.
Qu, D. Y., W. J. Chen, W. S. Yang, M. F. Wang, and J. Y. Cao. 2016. “Analysis and modeling of vehicle interactions during lane-changing process.” [In Chinese.] J. Highway Transp. Res. Develop. 33 (6): 88–94. https://doi.org/10.3969/j.issn.1002-0268.2016.06.014.
Qu, D. Y., L. W. Han, Y. F. Jia, J. C. Zhou, and K. X. Hei. 2020. “Vehicle behavior characteristics considering lateral offset and its full velocity difference expansion model.” [In Chinese.] J. Jilin Univ. 50 (3): 963–969.
Wang, J., L. L. Lu, P. Srinivas, and Z. B. He. 2021. “Optimal toll design problems under mixed traffic flow of human-driven vehicles and connected and autonomous vehicles.” Transp. Res. Part C 125 (23): 102952. https://doi.org/10.1016/j.trc.2020.102952.
Wang, W., Z. S. Yang, and D. X. Zhao. 2011. “Control model of variable speed limit based on finite horizon Markov decision-making.” [In Chinese.] J. Traffic Transp. Eng. 11 (5): 109–114. https://doi.org/10.19818/j.cnki.1671-1637.2011.05.017.
Ward, J. A. 2009. “Heterogeneity, lane-changing and instability in traffic: A mathematical approach.” Ph.D. dissertation, Faculty of Engineering, Univ. of Bristol.
Yang, L. H., S. Zhao, and H. Xu. 2017. “Car-following model based on the modified optimal velocity function.” J. Transp. Syst. Eng. Inf. Technol. 17 (2): 41–46. https://doi.org/10.16097/j.cnki.1009-6744.2017.02.007.
Yao, Z. H., T. R. Xu, Y. S. Jiang, and R. Hu. 2021. “Linear stability analysis of heterogeneous traffic flow considering degradations of connected automated vehicles and reaction time.” Physica A 561 (11): 125218. https://doi.org/10.1016/j.physa.2020.125218.
Zhang, J. 2004. Urban mixed-traffic flow modeling techniques based on cellular automaton. Hangzhou, China: Zhejiang Univ.
Zhang, R. H., F. You, X. N. Chu, L. Guo, Z. C. He, and R. B. Wang. 2018. “Lane change merging control method for unmanned vehicle under V2V cooperative environment.” China J. Highway Transp. 31 (4): 180–191. https://doi.org/10.3969/j.issn.1001-7372.2018.04.022.
Zhang, Y. H., and A. I. Petros. 2016. “Combined variable speed limit and lane change control for highway traffic.” IEEE Trans. Intell. Transp. Syst. 18 (7): 1812–1823. https://doi.org/10.1109/TITS.2016.2616493.
Information & Authors
Information
Published In
Journal of Transportation Engineering, Part A: Systems
Volume 148 • Issue 11 • November 2022
Copyright
© 2022 American Society of Civil Engineers.
History
Received: Dec 30, 2021
Accepted: Jun 30, 2022
Published online: Sep 8, 2022
Published in print: Nov 1, 2022
Discussion open until: Feb 8, 2023
Authors
Metrics & Citations
Metrics
Citations
Download citation
If you have the appropriate software installed, you can download article citation data to the citation manager of your choice. Simply select your manager software from the list below and click Download.
Cited by
- Yutong Liu, Binghong Pan, Ruihua Song, Lin Zong, Evaluation of Sustainable Design Method for Three-Lane Entrance Ramps on Expressways in Urban Areas: A Case Study of Xi’an, China, IEEE Access, 10.1109/ACCESS.2023.3325632, 11, (117714-117728), (2023).
- Wei Hao, Donglei Rong, Zhaolei Zhang, Young-Ji Byon, Daxin Tian, Improved Speed Control Strategy for Mixed Traffic Flow Considering Roadside Unit, Journal of Transportation Engineering, Part A: Systems, 10.1061/JTEPBS.TEENG-7428, 149, 11, (2023).