Investigating the Efficiency and Safety of Signalized Intersections Under Mixed Flow Conditions of Autonomous and Human-
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RESEARCH ARTICLE-CIVIL ENGINEERING
Investigating the Efficiency and Safety of Signalized Intersections Under Mixed Flow Conditions of Autonomous and Human‑Driven Vehicles Ang Pan1 · Xin Zhang1 · Hideki Nakamura1 · Wael Alhajyaseen2 Received: 3 April 2020 / Accepted: 17 July 2020 © King Fahd University of Petroleum & Minerals 2020
Abstract Field experiments of autonomous driving systems have already been started in several countries around the world. However, investigations on the performance of signalized intersections under the mixed flow condition of autonomous vehicle (AV) and human-driven vehicle (HDV) are still very limited, especially in terms of considering the interaction between vehicles. This study aims at developing a methodology to evaluate the efficiency and safety performance of signalized intersections under the conditions of AV mixed flows. If AVs are set aggressively such as small critical gap acceptance thresholds, approach capacity of signalized intersections may increase. However, the aggressive driving maneuver and the misjudgment by human drivers to AV may lead to some potential safety risks. On the other hand, if AVs are set conservatively to ensure large safety margins, for example by setting large critical gap thresholds or a longer following headway, a significant drop in the capacity is expected while the safety improvements may not be insured since extra delays will be imposed on HDVs which may induce risky behavior. This study finds that AVs with either excessively aggressive or conservative settings will lead to waste of capacity or potential safety hazard. AVs with aggressive settings will enable them to accept a short gap or lag, while AVs with conservative settings will increase the waiting time of the following HDVs, which may induce aggressive driving behavior. Both types of AV settings may contribute to safety risks represented by short time-to-collision and short post encroachment time. Keywords Autonomous vehicle · Mixed traffic flow · Misjudgment · Reaction of drivers · Safety analysis
1 Introduction Autonomous driving system is a combination of technology, which can receive sensory information and make decisions to accelerate, decelerate and steer automatically. Experiments have been conducted on autonomous vehicles (AVs) during the past decade, and the improvement of technologies makes the utilization of AVs on the real road more and more realistic. According to the National Highway Safety Administration [1], autonomous driving systems are classified * Ang Pan [email protected]‑u.ac.jp 1
Graduate School of Environmental Studies, Nagoya University, Nagoya 464‑8603, Japan
Qatar Transportation and Traffic Safety Center, College of Engineering, Qatar University, P.O. Box 2713, Doha, Qatar
2
into five levels. Under the condition of autonomous driving systems level 1, the vehicle will only give some support information to drivers who will perform all the tasks of the driving process. When autonomous driving system level 2 or 3 is utilized, some driving tasks ca
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