In this paper, we present a full velocity difference model for a car-following theory based on the previous models in the literature. To our knowledge, the model is an improvement over the previous ones theoretically, because it considers more aspects in car-following process than others. This point is verified by numerical simulation. Then we investigate the property of the model using both analytic and numerical methods, and find that the model can describe the phase transition of traffic flow and estimate the evolution of traffic congestion.

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As a typical self-driven many-particle system far from equilibrium, traffic flow exhibits diverse fascinating non-equilibrium phenomena, most of which are closely related to traffic flow stability and specifically the growth/dissipation pattern of disturbances. However, the traffic theories have been controversial due to a lack of precise traffic data. We have studied traffic flow from a new perspective by carrying out large-scale car-following experiment on an open road section, which overcomes the intrinsic deficiency of empirical observations. The experiment has shown clearly the nature of car-following, which runs against the traditional traffic flow theory. Simulations show that by removing the fundamental notion in the traditional car-following models and allowing the traffic state to span a two-dimensional region in velocity-spacing plane, the growth pattern of disturbances has changed qualitatively and becomes qualitatively or even quantitatively in consistent with that observed in the experiment.