Analysis of linear internal stability for mixed traffic flow of connected and automated vehicles considering multiple influencing factors

Luo, Ruifa; Gu, Qiufan; Xu, Taorang; Hao, Huijun; Yao, Zhihong

doi:10.1016/j.physa.2022.127211

Cited by 25 publications

(5 citation statements)

References 35 publications

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“…Luo et al [29] was selected as one of the studies for comparison since that evaluation assessed the impacts of time delay on stability of CAVs in mixed traffic within simulation. Their simulation results verified the theoretical linear stability conditions and indicated that increases in time delay from 0.1 to 0.4 increased perturbations in speed in the range of 5m/s, which indicates instability of platoons.…”

Section: Comparison With Results From Past Studiesmentioning

confidence: 99%

“…Simulation and mobile robot experiments demonstrated the effectiveness of the controller compared to falling back to ACC. Luo et al, [29] examined the impacts of time delay, platooning intensity, and CAVs degradations when studying stability of CAVs in mixed traffic. Their simulation results verified the theoretical stability conditions and indicated that speed range becomes unstable and gradually increases with increasing time delay values.…”

Section: Literature Reviewmentioning

confidence: 99%

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Impact of Communications Delay on Safety and Stability of Connected and Automated Vehicle Platoons: Empirical Evidence From Experimental Data

Khattak,

Rios-Torres,

Fontaine

2023

IEEE Access

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Advances in communications and sensing technology have enabled the development of cooperative ITS technologies such as connected and automated vehicle (CAV) applications including adaptive cruise control (ACC) and cooperative adaptive cruise control (CACC) that could perform driving tasks with little human feedback. However, there are some key concerns and knowledge gaps regarding the impact of delay in communicated messages on CAV platoon safety and stability. This study contributes by analyzing the impact of delay while controlling for other factors on CAV platoon safety and stability using the concept of driving volatility. Real-world experimental data from a field test were used to examine the lead vehicle (LV) and following vehicles (FVs) behavior in a five-vehicle platoon with multiple scenarios by developing switching regime models. Results show that CACC reduces volatility in both LV and FVs compared to ACC system which can be attributed to the vehicular communication and motion synchronization of CACC. However, delay is observed to increase the likelihood of volatility and contribute to instability of platoons. FVs have more volatile behavior as compared to LV since the instability is transmitted through the string of the platoon. Further, Bayesian model reveals that a unit increase in delay is observed to increase the collision risk by 4%. Other confounding factors such as disengagement and ACC override contribute to higher volatility of platoon while the likelihood of high volatility in both LV and FVs decreases with increases in gap to the preceding vehicle. The risk of collision is expected to increase by 6.2% in response to a unit increase in disengagements. Likewise, ACC override increases the risk of collisions by 5.4%. These results have practical implications for considering delays in CAV performance analysis and for designing robust CACC algorithms with minimum delays in the future.

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Section: Comparison With Results From Past Studiesmentioning

confidence: 99%

Section: Literature Reviewmentioning

confidence: 99%

Impact of Communications Delay on Safety and Stability of Connected and Automated Vehicle Platoons: Empirical Evidence From Experimental Data

Khattak,

Rios-Torres,

Fontaine

2023

IEEE Access

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show abstract

“…In the area of stability analysis for heterogeneous traffic flow, Qin et al [14,15] studied the stability of heterogeneous traffic flows and verified the correctness of the analytical results through numerical simulation experiments. Luo et al [16] analyzed the linear stability conditions of heterogeneous traffic flow by using the characteristic equation method, and demonstrated that the CAV can enhance the linear internal stability of heterogeneous traffic flow. Zhang et al [17] established a hybrid car following model for adaptive cruise vehicle and normal vehicle, analyzed the linear and nonlinear stability of the heterogeneous traffic flow.…”

Section: Introductionmentioning

confidence: 99%

Effects of connected automated vehicle on stability and energy consumption of heterogeneous traffic flow system

Shen 申,

Zhao 赵,

Liu 刘

et al. 2024

Chinese Phys. B

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With the progression of intelligent and interconnected traffic system, a convergence of traffic stream is anticipated in the foreseeable future, where both connected automated vehicle (CAV) and human driven vehicle (HDV) will coexist. In order to examine the effect of CAV on the overall stability and energy consumption of such heterogeneous traffic system, we first take into account the interrelated perception of distance and speed by CAV to establish a macroscopic dynamic model utilizing the full velocity difference (FVD) model. Subsequently, drawing upon the linear stability theory, we propose the linear stability condition for the model using the small perturbation method，and the validity of the heterogeneous model is verified comparing with the FVD model. Through nonlinear theoretical analysis, we further derive the KdV-Burgers equation, which captures the propagation characteristics of traffic density waves. Finally, by means of numerical simulation experiments utilizing a macroscopic model of heterogeneous traffic flow, the effect of CAV permeability on the stability of density waves in heterogeneous traffic flow and the energy consumption of the traffic system is investigated. Subsequent analysis reveals emergent traffic phenomena. The experimental findings demonstrate that as CAV permeability increases, the ability to dampen the propagation of fluctuations in heterogeneous traffic flow gradually intensifies when giving system perturbation, leading to enhanced stability of the traffic system. Furthermore, higher initial traffic density renders the traffic system more susceptible to congestion, resulting in local clustering effect and stop-and-go traffic phenomenon. Remarkably, the total energy consumption of the heterogeneous traffic system exhibits a gradual decline with increasing CAV permeability. Further evidence has demonstrated the positive impact of CAV on heterogeneous traffic flow. This research contributes to providing theoretical guidance for future CAV applications, aiming to enhance urban road traffic efficiency and alleviate congestion.

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“…All vehicles are supposed to maintain the same driving behavior in most car-following traffic models, yet the actual situations are difficult to represent. In actual traffic scenarios, the car-following behaviors exhibit heterogeneity due to varying conditions of drivers or vehicles [ [28] , [29] , [30] , [31] , [32] , [33] , [34] , [35] , [36] , [37] , [38] ]. One of the most typical examples is that vehicles vary in size.…”

Section: Introductionmentioning

confidence: 99%

An improved microscopic traffic model for heterogeneous vehicles using the vehicle's mass effect

Hossain

Tanimoto

2023

Heliyon

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Analysis of linear internal stability for mixed traffic flow of connected and automated vehicles considering multiple influencing factors

Cited by 25 publications

References 35 publications

Impact of Communications Delay on Safety and Stability of Connected and Automated Vehicle Platoons: Empirical Evidence From Experimental Data

Impact of Communications Delay on Safety and Stability of Connected and Automated Vehicle Platoons: Empirical Evidence From Experimental Data

Effects of connected automated vehicle on stability and energy consumption of heterogeneous traffic flow system

An improved microscopic traffic model for heterogeneous vehicles using the vehicle's mass effect

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