Time Integrated Time-to-collision Research Articles

Influence of the feedback links of connected and automated vehicle on rear-end collision risks with vehicle-to-vehicle communication

Objective: Connected and automated vehicles (CAV) can monitor multiple vehicles ahead via vehicle-to-vehicle (V2V) communication. Although feedback information from more vehicles ahead may be more helpful for anticipations, it also makes control more complex and increases the probability of data packet loss. Then it needs an appropriate number of CAV feedback links, and the maximum number may be not suitable. Therefore, this article focuses on the influence of CAV feedback links on rear-end collision risks.Methods: To deal with this, stability analysis of a CAV car-following model was conducted to obtain the designs of CAV feedback gains for maintaining stable CAV flow. Simulation experiments were performed to describe a traffic accident on freeway, using car-following models of manually driven vehicles (MDVs) and CAV under different CAV penetration rates. Four scenarios are considered in simulation experiments; that is, the CAV monitors 1, 2, 3, and 4 preceding vehicles, respectively. Based on the simulation experiments, surrogate safety indicators, time-exposed time-to-collision (TET), and time-integrated time-to-collision (TIT) are used to evaluate risks of rear-end collisions.Results: Results indicated that CAV helped to decrease the collision risks, especially the more serious collision risks with smaller threshold values of time-to-collision (TTC). In addition, the reductions in collision risks are more obvious when CAV feedback changes from one link to 2 links. In addition, reducing amplitudes are not significant if the CAV feedback is extended from 2 links to 3 or 4 links.Conclusions: Two links of CAV feedback are appropriate when control complexity is a priority, whereas 3 links is the better choice when reductions in collisions are a priority. The findings of this study provide helpful reference for CAV control and design before larger-scale implementation in real vehicles.

Key risk indicators for accident assessment conditioned on pre-crash vehicle trajectory

Accident events are generally unexpected and occur rarely. Pre-accident risk assessment by surrogate indicators is an effective way to identify risk levels and thus boost accident prediction. Herein, the concept of Key Risk Indicator (KRI) is proposed, which assesses risk exposures using hybrid indicators. Seven metrics are shortlisted as the basic indicators in KRI, with evaluation in terms of risk behaviour, risk avoidance, and risk margin. A typical real-world chain-collision accident and its antecedent (pre-crash) road traffic movements are retrieved from surveillance video footage, and a grid remapping method is proposed for data extraction and coordinates transformation. To investigate the feasibility of each indicator in risk assessment, a temporal-spatial case-control is designed. By comparison, Time Integrated Time-to-collision (TIT) performs better in identifying pre-accident risk conditions; while Crash Potential Index (CPI) is helpful in further picking out the severest ones (the near-accident). Based on TIT and CPI, the expressions of KRIs are developed, which enable us to evaluate risk severity with three levels, as well as the likelihood. KRI-based risk assessment also reveals predictive insights about a potential accident, including at-risk vehicles, locations and time. Furthermore, straightforward thresholds are defined flexibly in KRIs, since the impact of different threshold values is found not to be very critical. For better validation, another independent real-world accident sample is examined, and the two results are in close agreement. Hierarchical indicators such as KRIs offer new insights about pre-accident risk exposures, which is helpful for accident assessment and prediction.

Longitudinal safety evaluation of connected vehicles’ platooning on expressways

Connected vehicles (CV) technology has recently drawn an increasing attention from governments, vehicle manufacturers, and researchers. One of the biggest issues facing CVs popularization associates it with the market penetration rate (MPR). The full market penetration of CVs might not be accomplished recently. Therefore, traffic flow will likely be composed of a mixture of conventional vehicles and CVs. In this context, the study of CV MPR is worthwhile in the CV transition period. The overarching goal of this study was to evaluate longitudinal safety of CV platoons by comparing the implementation of managed-lane CV platoons and all lanes CV platoons (with same MPR) over non-CV scenario. This study applied the CV concept on a congested expressway (SR408) in Florida to improve traffic safety. The Intelligent Driver Model (IDM) along with the platooning concept were used to regulate the driving behavior of CV platoons with an assumption that the CVs would follow this behavior in real-world. A high-level control algorithm of CVs in a managed-lane was proposed in order to form platoons with three joining strategies: rear join, front join, and cut-in joint. Five surrogate safety measures, standard deviation of speed, time exposed time-to-collision (TET), time integrated time-to-collision (TIT), time exposed rear-end crash risk index (TERCRI), and sideswipe crash risk (SSCR) were utilized as indicators for safety evaluation. The results showed that both CV approaches (i.e., managed-lane CV platoons, and all lanes CV platoons) significantly improved the longitudinal safety in the studied expressway compared to the non-CV scenario. In terms of surrogate safety measures, the managed-lane CV platoons significantly outperformed all lanes CV platoons with the same MPR. Different time-to-collision (TTC) thresholds were also tested and showed similar results on traffic safety. Results of this study provide useful insight for the management of CV MPR as managed-lane CV platoons.

Integrated Cooperative Adaptive Cruise and Variable Speed Limit Controls for Reducing Rear-End Collision Risks Near Freeway Bottlenecks Based on Micro-Simulations

Freeway bottlenecks lead to traffic congestion and speed reduction, resulting in increased risks of rear-end collision. This paper aimed to develop a control strategy of an integrated system of cooperative adaptive cruise control (CACC) and variable speed limit (VSL) to reduce rear-end collision risks near freeway bottlenecks. A microscopic simulation testbed was first constructed, in which the realistic PATH CACC models and surrogate safety measures of the time exposed time-to-collision (TET) and time integrated time-to-collision (TIT) were used. A feedback control algorithm was then developed for the proposed vehicle to infrastructure system of CACC and VSL. The simulation results showed that the proposed integration system with 100% CACC penetration rate can reduce the rear-end collision risks effectively, with the TIT and TET declined by 98%. The average travel time was also decreased by 33%, compared with the manual vehicles without any control. Moreover, the safety improvements of the proposed integrated system are quite stable at the various bottlenecks with different magnitudes of speed reductions. The sensitivity analyses suggested that the penetration rate of CACC has significant impact on safety performance. The VSL control plays an important role in reducing rear-end collision risks when the penetration rate of CACC is low. The combination of CACC and VSL controls mitigates the negative effects of the mixed traffic flow of the manual and CACC vehicles.

Evaluation of the impacts of cooperative adaptive cruise control on reducing rear-end collision risks on freeways

Although plenty of studies have been conducted recently about the impacts of cooperative adaptive cruise control (CACC) system on traffic efficiency, there are few researches analyzing the safety effects of this advanced driving-assistant system. Thus, the primary objective of this study is to evaluate the impacts of the CACC system on reducing rear-end collision risks on freeways. The CACC model is firstly developed, which is based on the Intelligent Driver Model (IDM). Then, two surrogated safety measures, derived from the time-to-collision (TTC), denoting time exposed time-to-collision (TET) and time integrated time-to-collision (TIT), are introduced for quantifying the collision risks. And the safety effects are analyzed both theoretically and experimentally, by the linear stability analysis and simulations.The theoretical and simulation results conformably indicate that the CACC system brings dramatic benefits for reducing rear-end collision risks (TET and TIT are reduced more than 90%, respectively), when the desired time headway and time delay are set properly. The sensitivity analysis indicates there are few differences among different values of the threshold of TTC and the length of a CACC platoon. The results also show that the safety improvements weaken with the decrease of the penetration rates of CACC on the market and the increase of time delay between platoons. We also evaluate the traffic efficiency of the CACC system with different desired time headway.

Developing a New Surrogate Safety Indicator Based on Motion Equations

Collision avoidance system (CAS), with the help of surrogate safety measures is a beneficial tool for reducing driver errors and preventing rear-end collisions. One of the most well-known surrogate safety measures to detect rear-end conflicts is Time-to-collision (TTC). TTC refers to the time remaining before the rear-end accident if the course and the speed of vehicles are maintained constant. Different surrogate measures have been derived from TTC; however, the most important are Time Exposed Time-to-collision (TET) and Time Integrated Time-to-collision (TIT). In this paper a new surrogate safety measure based on TTC notion has been developed. This new indicator merges TET and TIT into one measure and gives a score between 0 and 100%, as the probability of collision. Applying this indicator in CAS as a safety measure will be more useful than TET&TIT, to reduce driver errors and rear-end collisions.

Development of a variable speed limit strategy to reduce secondary collision risks during inclement weathers

Inclement weather reduces traveler's sight distance and increases vehicle's stopping distance. Once a collision occurred during inclement weather and resulted in a slow traffic, approaching vehicles may not have adequate time to make emergency responses to the hazardous traffic, resulting in increased potentials of secondary collisions. The primary objective of this study is to develop a control strategy of variable speed limits (VSL) to reduce the risks of secondary collisions during inclement weathers. By analyzing the occurrence condition of secondary collision, the VSL strategy is proposed to dynamically adjust the speed limits according to the current traffic and weather conditions. A car-following model is modified to simulate the vehicle maneuvers with the VSL control. Two surrogate safety measures, based on the time-to-collision notion, are used to evaluate the control effects of VSL. Five weather scenarios are evaluated in simulation. The results show that the VSL strategy effectively reduces the risks of secondary collisions in various weather types. The time exposed time-to-collision (TET) is reduced by 41.45%–50.74%, and the time integrated time-to-collision (TIT) is reduced by 38.19%–41.19%. The safety effects are compared to those with a previous VSL strategy. The results show that in most cases our strategy outperforms the previous one. We also evaluate how driver's compliance to speed limit affects the effectiveness of VSL control.

Comparing Safety Performance Measures Obtained from Video Capture Data

Safety performance is evaluated by using measures obtained experimentally from a videotaping of traffic operations at an urban roundabout situated in Cosenza, Italy. Five different expressions of safety performance from the perspective of “rear-end” vehicle interactions include maximum deceleration rate to avoid a crash (DRAC), time-to-collision (TTC), proportion of stopping distance (PSD), time integrated time-to-collision (TIT), and crash potential index (CPI). Differences in safety performance are discussed with respect to the type of measure, traffic conditions, and variations in roundabout geometry. The results of this analysis suggest that safety performance is highly sensitive to the way it is measured; different measures can highlight different locations or geometric features of the roundabout as posing potential safety problems. This study underscores the usefulness of safety performance measures for providing meaningful experimental indicators of potential safety problems at roundabouts and how ...