A microscopic criterion for distinguishing synchronized flow and wide moving jam phases in single vehicle data measured at a single freeway location is presented. Empirical local congested traffic states in single vehicle data measured on different days are classified into synchronized flow states and states consisting of synchronized flow and wide moving jam(s). Then empirical microscopic characteristics for these different local congested traffic states are studied. Using these characteristics and empirical spatiotemporal macroscopic traffic phenomena, an empirical test of a microscopic three-phase traffic flow theory is performed. Simulations show that the microscopic criterion and macroscopic spatiotemporal objective criteria lead to the same identification of the synchronized flow and wide moving jam phases in congested traffic. It is found that microscopic three-phase traffic models can explain both microscopic and macroscopic empirical congested pattern features. It is obtained that microscopic distributions for vehicle speed difference as well as fundamental diagrams and speed correlation functions can depend on the spatial co-ordinate considerably. It turns out that microscopic optimal velocity (OV) functions and time headway distributions are not necessarily qualitatively different, even if local congested traffic states are qualitatively different. The reason for this is that important spatiotemporal features of congested traffic patterns are it lost in these as well as in many other macroscopic and microscopic traffic characteristics, which are widely used as the empirical basis for a test of traffic flow models, specifically, cellular automata traffic flow models.
Empirical and numerical microscopic features of moving traffic jams are presented. Based on a single vehicle data analysis, it is found that within wide moving jams, i.e., between the upstream and downstream jam fronts there is a complex microscopic spatiotemporal structure. This jam structure consists of alternations of regions in which traffic flow is interrupted and flow states of low speeds associated with "moving blanks" within the jam. Empirical features of the moving blanks are found. Based on microscopic models in the context of three-phase traffic theory, physical reasons for moving b…
This contribution compares several different approaches allowing one to derive macroscopic traffic equation directly from microscopic car-following models. While it is shown that some conventional approaches lead to theoretical problems, it is proposed to use a smooth particle hydrodynamic approach and to avoid gradient expansions. The derivation circumvents approximations and, therefore, demonstrates the large range of validity of macroscopic traffic equations, without the need of averaging over many vehicles. It also gives an expression for the ``traffic pressure'', which generalizes previou…
Traffic flow is a very prominent example of a driven non-equilibrium system. A characteristic phenomenon of traffic dynamics is the spontaneous and abrupt drop of the average velocity on a stretch of road leading to congestion. Such a traffic breakdown corresponds to a boundary-induced phase transition from free flow to congested traffic. In this paper, we study the ability of selected microscopic traffic models to reproduce a traffic breakdown, and we investigate its spatiotemporal dynamics. For our analysis, we use empirical traffic data from stationary loop detectors on a German Autobahn sh…
Two different deterministic microscopic traffic flow models, which are in the context of the Kerner's there-phase traffic theory, are introduced. In an acceleration time delay model (ATD-model), different time delays in driver acceleration associated with driver behaviour in various local driving situations are explicitly incorporated into the model. Vehicle acceleration depends on local traffic situation, i.e., whether a driver is within the free flow, or synchronized flow, or else wide moving jam traffic phase. In a speed adaptation model (SA-model), vehicle speed adaptation occurs in synchr…
We present the interactive Java-based open-source traffic simulator available at www.traffic-simulation.de. In contrast to most closed-source commercial simulators, the focus is on investigating fundamental issues of traffic dynamics rather than simulating specific road networks. This includes testing theories for the spatiotemporal evolution of traffic jams, comparing and testing different microscopic traffic models, modeling the effects of driving styles and traffic rules on the efficiency and stability of traffic flow, and investigating novel ITS technologies such as adaptive cruise control…
We propose a microscopic decision model for route choice based on discrete choice theory. The correlation of overlapping routes is included in the random portions of the utility explicitly. For computational efficiency, we restrict the choice set to the turning possibilities at the next intersection, assuming shortest paths to the destination afterwards. The proposed decision model also regards traffic conditions (e.g. traffic lights, long queues) such that drivers may revise their previously taken decision. Due to its compatibility to already existing microscopic traffic flow models, the prop…
This work provides a comprehensive analysis on naturalistic driving behavior for highways based on the highD data set. Two thematic fields are considered. First, some macroscopic and microscopic traffic statistics are provided. These include the traffic flow rate and the traffic density, as well as velocity, acceleration and distance distributions. Additionally, the dependencies to each other are examined and compared to related work. The second part investigates the distributions of criticality measures. The Time-To-Collision, Time-Headway and a third measure, which couples both, are analyzed…
Microscopic traffic flow models can be distinguished in lane-based or lane-free depending on the degree of lane-discipline. This distinction holds true only if motorcycles are neglected in lane-based traffic. In cities, as opposed to highways, this is an oversimplification and it would be more accurate to speak of hybrid situations, where lane discipline can be made mode-dependent. Empirical evidence shows that cars follow the lanes as defined by the infrastructure, while motorcycles do not necessarily adhere to predefined norms and may participate in self-organized formation of virtual lanes.…
We introduce a formalism to deal with the microscopic modeling of vehicular traffic on a road network. Traffic on each road is uni-directional, and the dynamics of each vehicle is described by a Follow-the-Leader model. From a mathematical point of view, this amounts to define a system of ordinary differential equations on an arbitrary network. A general existence and uniqueness result is provided, while priorities at junctions are shown to hinder the stability of solutions. We investigate the occurrence of the Braess paradox in a time-dependent setting within this model. The emergence of Nash…
The scientific field of traffic engineering encompasses a rich set of mathematical techniques, as well as researchers with entirely different backgrounds. This paper provides an overview of what is currently the state-of-the-art with respect to traffic flow theory. Starting with a brief history, we introduce the microscopic and macroscopic characteristics of vehicular traffic flows. Moving on, we review some performance indicators that allow us to assess the quality of traffic operations. A final part of this paper discusses some of the relations between traffic flow characteristics, i.e., the…
Traffic flow of athletes in classic-style cross-country ski marathons, with the Swedish Vasaloppet as prominent example, represents a non-vehicular system of driven particles with many properties of vehicular traffic flow such as unidirectional movement, the existence of lanes, and, moreover, severe traffic jams. We propose a microscopic acceleration and track-changing model taking into account different fitness levels, gradients, and interactions between the athletes in all traffic situations. The model is calibrated on microscopic data of the $\textit{Vasaloppet 2012}$ Using the multi-model …
Adaptive-Cruise Control (ACC) automatically accelerates or decelerates a vehicle to maintain a selected time gap, to reach a desired velocity, or to prevent a rear-end collision. To this end, the ACC sensors detect and track the vehicle ahead for measuring the actual distance and speed difference. Together with the own velocity, these input variables are exactly the same as in car-following models. The focus of this contribution is: What will be the impact of a spreading of ACC systems on the traffic dynamics? Do automated driving strategies have the potential to improve the capacity and stabi…
We have revealed a growing local speed wave of increase in speed that can randomly occur in synchronized flow (S) at a highway bottleneck. The development of such a traffic flow instability leads to free flow (F) at the bottleneck; therefore, we call this instability as an S$\rightarrow$F instability. Whereas the S$\rightarrow$F instability leads to a local {\it increase in speed} (growing acceleration wave), in contrast, the classical traffic flow instability introduced in 50s--60s and incorporated later in a huge number of traffic flow models leads to a growing wave of a local {\it decrease …
A testbed for wireless vehicle communication based on a microscopic model in the framework of three-phase traffic theory is presented. In this testbed, vehicle motion in traffic flow and analyses of a vehicle communication channel access based on IEEE 802.11e mechanisms, radio propagation modeling, message reception characteristics as well as all other effects associated with ad-hoc networks are integrated into a three-phase traffic flow model. Based on simulations of this testbed, some statistical features of ad-hoc vehicle networks as well as the effect of C2C communication on increase in th…
We study the derivation of macroscopic traffic models from car-following vehicle dynamics by means of hydrodynamic limits of an Enskog-type kinetic description. We consider the superposition of Follow-the-Leader (FTL) interactions and relaxation towards a traffic-dependent Optimal Velocity (OV) and we show that the resulting macroscopic models depend on the relative frequency between these two microscopic processes. If FTL interactions dominate then one gets an inhomogeneous Aw-Rascle-Zhang model, whose (pseudo) pressure and stability of the uniform flow are precisely defined by some features …
This paper presents a new approach to the modeling of vehicular traffic flows on road networks based on kinetic equations. While in the literature the problem has been extensively studied by means of macroscopic hydrodynamic models, to date there are still not, to the authors' knowledge, contributions tackling it from a genuine statistical mechanics point of view. Probably one of the reasons is the higher technical complexity of kinetic traffic models, further increased in case of several interconnected roads. Here such difficulties of the theory are overcome by taking advantage of a discrete …
Effects of vehicle-to-vehicle (or/and vehicle-to-infrastructure communication, called also V2X communication)on traffic flow, which are relevant for ITS, are numerically studied. To make the study adequate with real measured traffic data, a testbed for wireless vehicle communication based on a microscopic model in the framework of three-phase traffic theory is developed and discussed. In this testbed, vehicle motion in traffic flow and analyses of a vehicle communication channel access based on IEEE 802.11 mechanisms, radio propagation modeling, message reception characteristics as well as all…
Double parking that often negatively affects traffic operations and safety is not a new phenomenon on urban streets. This study proposes a novel data-driven integrated framework for estimating the actual frequency of double parking so that both microscopic and macroscopic models can be utilized to quantify area-wide impacts in the presence of double parking. The findings of the study can provide transportation agencies with useful insights on identifying locations that will experience the greatest benefits by removing problematic double parking. As a result, various parking enforcement and man…
Connections between microscopic follow-the-leader and macroscopic fluid-dynamics traffic flow models are already well understood in the case of vehicles moving on a single road. Analogous connections in the case of road networks are instead lacking. This is probably due to the fact that macroscopic traffic models on networks are in general ill-posed, since the conservation of the mass is not sufficient alone to characterize a unique solution at junctions. This ambiguity makes more difficult to find the right limit of the microscopic model, which, in turn, can be defined in different ways near …
Nowadays the city-wide traffic contains hundreds of thousands of vehicles with different scenarios of their behavior. If a microscopic approach is used it leads to solving tremendous systems of ordinary differential equations whose components have a wide range of variation rates. The given paper has introduced a multirate numerical scheme with a self-adjusting time stepping strategy. Instead of using a single step size for the whole system we have determined the step size for each component by estimating its own local variation. We also performed the stability analysis for the developed scheme…
We propose a microscopic traffic model where the update velocity is determined by the deceleration capacity and response time. It is found that there is a class of collisions that cannot be distinguished by simply comparing the stop positions. The model generates the safe, comfortable, and efficient traffic flow in numerical simulations with the reasonable values of the parameters, and this is analytically supported. Our approach provides a new perspective in modeling the traffic-flow safety and the perturbing situations like lane change.
We study the spatiotemporal patterns resulting from different boundary conditions for a microscopic traffic model and contrast it with empirical results. By evaluating the time series of local measurements, the local traffic states are assigned to the different traffic phases of Kerner's three-phase traffic theory. For this classification we use the rule-based FOTO-method, which provides `hard' rules for this assignment. Using this approach, our analysis shows that the model is indeed able to reproduce three qualitatively different traffic phases: free flow (F), synchronized traffic (S), and w…
City traffic is a dynamic system of enormous complexity. Modeling and predicting city traffic flow remains to be a challenge task and the main difficulties are how to specify the supply and demands and how to parameterize the model. In this paper we attempt to solve these problems with the help of large amount of floating car data. We propose a coarse-grained cellular automata model that simulates vehicles moving on uniform grids whose size are much larger compared with the microscopic cellular automata model. The car-car interaction in the microscopic model is replaced by the coupling between…
Starting from microscopic interaction rules we derive kinetic models of Fokker--Planck type for vehicular traffic flow. The derivation is based on taking a suitable asymptotic limit of the corresponding Boltzmann model. As particular cases, the derived models comprise existing models. New Fokker--Planck models are also given and their differences to existing models are highlighted. Finally, we report on numerical experiments.
Traffic congestion is one of the most notable problems arising in worldwide urban areas, importantly compromising human mobility and air quality. Current technologies to sense real-time data about cities, and its open distribution for analysis, allow the advent of new approaches for improvement and control. Here, we propose an idealized model, the Microscopic Congestion Model, based on the critical phenomena arising in complex networks, that allows to analytically predict congestion hotspots in urban environments. Results on real cities' road networks, considering, in some experiments, real-tr…
We study spatially non-homogeneous kinetic models for vehicular traffic flow. Classical formulations, as for instance the BGK equation, lead to unconditionally unstable solutions in the congested regime of traffic. We address this issue by deriving a modified formulation of the BGK-type equation. The new kinetic model allows to reproduce conditionally stable non-equilibrium phenomena in traffic flow. In particular, stop and go waves appear as bounded backward propagating signals occurring in bounded regimes of the density where the model is unstable. The BGK-type model introduced here also off…
We propose a quantitative approach for calibrating and validating key features of traffic instabilities based on speed time series obtained from aggregated data of a series of neighboring stationary detectors. We apply the proposed criteria to historic traffic databases of several freeways in Germany containing about 400 occurrences of congestions thereby providing a reference for model calibration and quality assessment with respect to the spatiotemporal dynamics. First tests with microscopic and macroscopic models indicate that the criteria are both robust and discriminative, i.e., clearly d…
The concept of resilience can be realized in natural and engineering systems, representing the ability of system to adapt and recover from various disturbances. Although resilience is a critical property needed for understanding and managing the risks and collapses of transportation system, an accepted and useful definition of resilience for urban traffic as well as its statistical property under perturbations is still missing. Here we define city traffic resilience based on the spatio-temporal clusters of congestion in real traffic, and find that the resilience follows a scale free distributi…
This article aims to study coupled mean-field equation and ODEs with discrete events motivated by vehicular traffic flow. Precisely, multi-lane traffic flow in presence of human-driven and autonomous vehicles is considered, with the autonomous vehicles possibly influenced by external policy makers. First a finite-dimensional hybrid system is developed based on the continuous Bando-Follow-the-Leader dynamics coupled with discrete events due to lane-change maneuvers. Then the mean-field limit of the finite-dimensional hybrid system is rigorously derived for the dynamics of the human-driven vehic…
This paper deals with a Boltzmann-type kinetic model describing the interplay between vehicle dynamics and safety aspects in vehicular traffic. Sticking to the idea that the macroscopic characteristics of traffic flow, including the distribution of the driving risk along a road, are ultimately generated by one-to-one interactions among drivers, the model links the personal (i.e., individual) risk to the changes of speeds of single vehicles and implements a probabilistic description of such microscopic interactions in a Boltzmann-type collisional operator. By means of suitable statistical momen…
