Investigating the Impact of Connected and Automated Vehicles on Signalized and Unsignalized Intersections Safety in Mixed Traffic
Abstract
:1. Introduction
- (1)
- To what extent can CAVs affect road safety if we use the same car following models?
- (2)
- To what extent can CAVs affect road safety if we use different car following models for CAVs and HDVs?
2. Literature Review
2.1. Previous Studies on the Effect of CAVs on Safety
2.2. Car Following Models and Networks Used in Previous Studies
3. Methodology
3.1. Car-Following Models
3.1.1. Krauss Car-Following Model
3.1.2. IDM Car-Following Model
3.1.3. CACC Car-Following Model
3.2. Safety Analysis
3.3. Case Studies and Demands
4. Results
4.1. Grid Network Results
4.2. Unsignalized Intersection Results
5. Discussion
6. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
Appendix A
CFM | PR (%) | Number of Total Conflicts | Number of Conflicts Based on the Type of Conflict | ||
---|---|---|---|---|---|
Lead/Follow | Merging | Crossing | |||
Krauss | 0 | 3236 | 12 | 26 | 3198 |
20 | 3166 | 610 | 16 | 2540 | |
40 | 2800 | 924 | 19 | 1857 | |
60 | 2203 | 912 | 10 | 1281 | |
80 | 1246 | 580 | 6 | 660 | |
100 | 2 | 0 | 0 | 2 | |
IDM | 0 | 3236 | 12 | 26 | 3198 |
20 | 3155 | 652 | 19 | 2484 | |
40 | 2840 | 984 | 12 | 1844 | |
60 | 2217 | 961 | 8 | 1248 | |
80 | 1243 | 608 | 6 | 629 | |
100 | 3 | 0 | 0 | 3 | |
CACC | 0 | 3236 | 12 | 26 | 3198 |
20 | 2630 | 100 | 22 | 2508 | |
40 | 2004 | 132 | 16 | 1856 | |
60 | 1403 | 120 | 12 | 1271 | |
80 | 754 | 76 | 10 | 668 | |
100 | 0 | 0 | 0 | 0 |
CFM | PR (%) | Demand = 1200 veh/h | Demand = 1500 veh/h | Demand = 1800 veh/h | |||
---|---|---|---|---|---|---|---|
Number of Conflicts Based on the Type of Conflict | Number of Conflicts Based on the Type of Conflict | Number of Conflicts Based on the Type of Conflict | |||||
Lead/Follow | Crossing | Lead/Follow | Crossing | Lead/Follow | Crossing | ||
Krauss | 0 | 0 | 137 | 0 | 211 | 0 | 524 |
20 | 5 | 114 | 14 | 143 | 54 | 428 | |
40 | 11 | 92 | 19 | 112 | 59 | 267 | |
60 | 10 | 63 | 21 | 70 | 46 | 168 | |
80 | 4 | 37 | 15 | 40 | 45 | 101 | |
100 | 0 | 0 | 0 | 0 | 0 | 0 | |
IDM | 0 | 0 | 137 | 0 | 211 | 0 | 524 |
20 | 3 | 114 | 16 | 170 | 53 | 442 | |
40 | 8 | 90 | 24 | 119 | 63 | 354 | |
60 | 12 | 63 | 21 | 88 | 77 | 190 | |
80 | 11 | 29 | 16 | 47 | 60 | 118 | |
100 | 0 | 0 | 0 | 0 | 0 | 0 | |
CACC | 0 | 0 | 137 | 0 | 211 | 0 | 524 |
20 | 1 | 116 | 0 | 179 | 0 | 501 | |
40 | 2 | 95 | 1 | 124 | 2 | 287 | |
60 | 2 | 58 | 1 | 95 | 0 | 252 | |
80 | 0 | 26 | 0 | 42 | 1 | 106 | |
100 | 0 | 0 | 0 | 0 | 0 | 0 |
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Authors | Network | Car Following Model | SSM | Impact on Safety |
---|---|---|---|---|
Tibas et al. [16] | Roundabouts | CAV: Wiedemann HDV: Wiedemann | TTC, PET, MaxS | Positive |
Morando et al. [17] | Roundabouts, Intersections | CAV: Wiedemann HDV: Wiedemann | TTC, PET | Positive |
Virdi et al. [7] | Intersections, Roundabouts, Highways | CAV: VCCP HDV: Wiedemann | TTC, PET | Positive |
Papadoulis et al. [19] | Motorways | CAV: BDMCA HDV: Wiedemann | TTC, PET | Positive |
Arvin et al. [20] | Intersections | CAV: ACC, CACC HDV: Wiedemann | TTC | Positive |
Zhang et al. [8] | Freeway | CAV: IDM HDV: Wiedemann | TTC | When Lane changing is allowed: negative Managed lane: positive |
Vehicle Type (Car-Following Model) | Minimum Headway (s) | Minimum Gap (m) | Acceleration (m/s2) | Deceleration (m/s2) |
---|---|---|---|---|
HDV (Krauss) | 0.9 | 1.5 | 3.5 | 4.5 |
CAV (Krauss) | 0.5 | 0.5 | 3.9 | 4.5 |
CAV (IDM) | 0.5 | 0.5 | 3.9 | 4.5 |
CAV (CACC) | 0.5 | 0.5 | 3.9 | 4.5 |
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Karbasi, A.; O’Hern, S. Investigating the Impact of Connected and Automated Vehicles on Signalized and Unsignalized Intersections Safety in Mixed Traffic. Future Transp. 2022, 2, 24-40. https://doi.org/10.3390/futuretransp2010002
Karbasi A, O’Hern S. Investigating the Impact of Connected and Automated Vehicles on Signalized and Unsignalized Intersections Safety in Mixed Traffic. Future Transportation. 2022; 2(1):24-40. https://doi.org/10.3390/futuretransp2010002
Chicago/Turabian StyleKarbasi, Amirhosein, and Steve O’Hern. 2022. "Investigating the Impact of Connected and Automated Vehicles on Signalized and Unsignalized Intersections Safety in Mixed Traffic" Future Transportation 2, no. 1: 24-40. https://doi.org/10.3390/futuretransp2010002