Abstract
With the growing popularity of the Internet-of-Vehicles (IoV), it is of pressing necessity to understand transportation traffic patterns and their impact on wireless network designs and operations. Vehicular mobility patterns and traffic models are the keys to assisting a wide range of analyses and simulations in these applications. This study surveys the status quo of vehicular mobility models, with a focus on recent advances in the last decade. To provide a comprehensive and systematic review, the study first puts forth a requirement-model-application framework in the IoV or general communication and transportation networks. Existing vehicular mobility models are categorized into vehicular distribution, vehicular traffic, and driving behavior models. Such categorization has a particular emphasis on the random patterns of vehicles in space, traffic flow models aligned to road maps, and individuals’ driving behaviors (e.g., lane-changing and car-following). The different categories of the models are applied to various application scenarios, including underlying network connectivity analysis, off-line network optimization, online network functionality, and real-time autonomous driving. Finally, several important research opportunities arise and deserve continuing research efforts, such as holistic designs of deep learning platforms which take the model parameters of vehicular mobility as input features, qualification of vehicular mobility models in terms of representativeness and completeness, and new hybrid models incorporating different categories of vehicular mobility models to improve the representativeness and completeness.
Article PDF
Similar content being viewed by others
Explore related subjects
Discover the latest articles, news and stories from top researchers in related subjects.Avoid common mistakes on your manuscript.
References
Djahel S, Doolan R, Muntean G M, et al. A communications-oriented perspective on traffic management systems for smart cities: challenges and innovative approaches. IEEE Commun Surv Tut, 2015, 17: 125–151
Mehmood Y, Ahmad F, Yaqoob I, et al. Internet-of-Things-based smart cities: recent advances and challenges. IEEE Commun Mag, 2017, 55: 16–24
Xiong Z, Sheng H, Ro N, et al. Intelligent transportation systems for smart cities: a progress review. Sci China Inf Sci, 2012, 55: 2908–2914
Xu Z, Sun J. Model-driven deep-learning. Nat Sci Rev, 2018, 5: 26–28
Bonawitz K, Eichner H, Grieskamp W, et al. Towards federated learning at scale: system design. 2019. ArXiv:1902.01046
He H, Jin S, Wen C K, et al. Model-driven deep learning for physical layer communications. IEEE Wireless Commun, 2019, 26: 77–83
Lee M, Yu G, Li G Y. Learning to branch: accelerating resource allocation in wireless networks. 2019. ArXiv:1903.01819
He H, Wen C K, Jin S, et al. A model-driven deep learning network for MIMO detection. In: Proceedings of IEEE Global Conference on Signal and Information Processing (GlobalSIP), 2018
Liu S, Su H, Zhao Y, et al. Lane change scheduling for autonomous vehicle: a prediction-and-search framework. In: Proceedings of the 27th ACM SIGKDD Conference on Knowledge Discovery & Data Mining, 2021. 3343–3353
Leutzbach W. Introduction to the Theory of Traffic Flow. Berlin: Springer, 1988
Papageorgiou M. Some remarks on macroscopic traffic flow modelling. Transport Res Part A-Policy Pract, 1998, 32: 323–329
Hoogendoorn S P, Bovy P H L. State-of-the-art of vehicular traffic flow modelling. Proc Inst Mech Eng Part I-J Syst Control Eng, 2001, 215: 283–303
van Wageningen-Kessels F, van Lint H, Vuik K, et al. Genealogy of traffic flow models. EURO J Transport Log, 2014, 4: 445–473
Li Y, Sun D. Microscopic car-following model for the traffic flow: the state of the art. J Control Theor Appl, 2012, 10: 133–143
Rahman M, Chowdhury M, Xie Y, et al. Review of microscopic lane-changing models and future research opportunities. IEEE Trans Intell Transport Syst, 2013, 14: 1942–1956
Zheng Z. Recent developments and research needs in modeling lane changing. Transport Res Part B-Meth, 2014, 60: 16–32
Lefèvre S, Vasquez D, Laugier C. A survey on motion prediction and risk assessment for intelligent vehicles. Robomech J, 2014, 1: 1
Abu A N, Abou-zeid H. Driver behavior modeling: developments and future directions. Int J Veh Tech, 2016, 2016: 1–12
Härri J. Vehicular Mobility Modeling for VANET. Hoboken: John Wiley and Sons, Ltd., 2009. 107–156
Härri J, Filali F, Bonnet C. Mobility models for vehicular ad hoc networks: a survey and taxonomy. IEEE Commun Surv Tut, 2009, 11: 19–41
Zhang C, Zhang H, Qiao J, et al. Deep transfer learning for intelligent cellular traffic prediction based on cross-domain big data. IEEE J Sel Areas Commun, 2019, 37: 1389–1401
Yang Y, Xie X, Fang Z, et al. VeMo: enabling transparent vehicular mobility modeling at individual levels with full penetration. IEEE Trans Mobile Comput, 2022, 21: 2637–2651
Cutler A, Cutler D R, Stevens J R. Random Forests. Boston: Springer, 2012. 157–175
Zhu J, Rosset S, Zou H, et al. Multi-class AdaBoost. In: Statistics and Its Interface. Boston: International Press 2006. 2: 349–360
Bauer E, Kohavi R. An empirical comparison of voting classification algorithms: bagging, boosting, and variants. Machine Learn, 1999, 36: 105–139
Adankon M M, Cheriet M. Support Vector Machine. Boston: Springer, 2009. 1303–1308
Pan S J, Yang Q. A survey on transfer learning. IEEE Trans Knowl Data Eng, 2010, 22: 1345–1359
Bonawitz K, Eichner H, Grieskamp W, et al. Towards federated learning at scale: system design. 2019. ArXiv:1902.01046
Zhou S, Lee D, Leng B, et al. On the spatial distribution of base stations and its relation to the traffic density in cellular networks. IEEE Access, 2015, 3: 998–1010
Rehman O, Qureshi R, Ould-Khaoua M, et al. Analysis of mobility speed impact on end-to-end communication performance in VANETs. Vehicular Commun, 2020, 26: 100278
Smith B L, Demetsky M J. Traffic flow forecasting: comparison of modeling approaches. J Transport Eng, 1997, 123: 261–266
Chen C, Luan T H, Guan X, et al. Connected vehicular transportation: data analytics and traffic-dependent networking. IEEE Veh Technol Mag, 2017, 12: 42–54
Cacciabue P C. Modelling Driver Behaviour in Automotive Environments: Critical Issues in Driver Interactions with Intelligent Transport Systems. Berlin: Springer-Verlag, 2007
Solomatine D, See L, Abrahart R. Data-Driven Modelling: Concepts, Approaches and Experiences. Berlin: Springer, 2008. 17–30
Chiu S N, Stoyan D, Kendall W S, et al. Stochastic Geometry and Its Applications. 3rd ed. Hoboken: Wiley, 2013
Haenggi M. Stochastic Geometry for Wireless Networks. Cambridge: Cambridge University Press, 2012
Yu X L, Cui Q M, Wang Y J, et al. Stochastic geometry based analysis for heterogeneous networks: a perspective on meta distribution. Sci China Inf Sci, 2020, 63: 223301
Lighthill M J, Whitham G B. On kinematic waves. I. Flood movement in long rivers. In: Proceedings of the Royal Society of London. Series A. Mathematical and Physical Sciences, 1955. 229: 281–316
Chhabra R, Verma S, Krishna C R. A survey on driver behavior detection techniques for intelligent transportation systems. In: Proceedings of the 7th International Conference on Cloud Computing, Data Science Engineering — Confluence, 2017. 36–41
Engelbrecht J, Booysen M J, Rooyen G-J, et al. Survey of smartphone-based sensing in vehicles for intelligent transportation system applications. IET Intell Transp Syst, 2015, 9: 924–935
Cui Q, Wang N, Haenggi M. Vehicle distributions in large and small cities: spatial models and applications. IEEE Trans Veh Technol, 2018, 67: 10176–10189
Cui Q, Wang N, Haenggi M. Spatial point process modeling of vehicles in large and small cities. In: Proceedings of IEEE Global Communications Conference, 2017. 1–7
Jeyaraj J P, Haenggi M. Reliability analysis of V2V communications on orthogonal street systems. In: Proceedings of IEEE Global Communications Conference, 2017. 1–6
Barthélemy M. Spatial networks. Phys Reports, 2011, 499: 1–101
McCall J C, Trivedi M M. Video-based lane estimation and tracking for driver assistance: survey, system, and evaluation. IEEE Trans Intell Transport Syst, 2006, 7: 20–37
Urmson C, Anhalt J, Bagnell D, et al. Autonomous driving in urban environments: boss and the urban challenge. J Field Robot, 2008, 25: 425–466
Chen L-W, Sharma P, Tseng Y. Dynamic traffic control with fairness and throughput optimization using vehicular communications. IEEE J Sel Areas Commun, 2013, 31: 504–512
Jin P, Zhang X. A new approach to modeling city road network. In: Proceedings of International Conference on Computer Application and System Modeling, 2010. 305–309
Rzeszótko J, Nguyen S H. Machine learning for traffic prediction. Fundamenta Informaticae, 2012, 119: 407–420
Li Y, Shahabi C. A brief overview of machine learning methods for short-term traffic forecasting and future directions. SIGSPATIAL Spec, 2018, 10: 3–9
Li Q Q, Zeng Z, Yang B S. Hierarchical model of road network for route planning in vehicle navigation systems. IEEE Intell Transp Syst Mag, 2009, 1: 20–24
Abul-Magd A Y. Modeling highway-traffic headway distributions using superstatistics. Phys Rev E, 2007, 76: 057101
Muhlethaler P, Bouchaala Y, Shagdar O, et al. A simple stochastic geometry model to test a simple adaptive CSMA protocol: application for VANETs. In: Proceedings of International Conference on Performance Evaluation and Modeling in Wired and Wireless Networks (PEMWN), 2016. 1–6
Farooq M J, ElSawy H, Alouini M S. Modeling inter-vehicle communication in multi-lane highways a stochastic geometry approach. In: Proceedings of IEEE 82nd Vehicular Technology Conference (VTC2015-Fall), 2015. 1–5
Muhammed Ajeer V K, Neelakantan P C, Babu A V. Network connectivity of one-dimensional vehicular ad hoc network. In: Proceedings of International Conference on Communications and Signal Processing, 2011. 241–245
Ejaz W, Naeem M, Ramzan M R, et al. Charging infrastructure placement for electric vehicles: an optimization prospective. In: Proceedings of the 27th International Telecommunication Networks and Applications Conference (ITNAC), 2017. 1–6
Busanelli S, Ferrari G, Gruppini R. Performance analysis of broadcast protocols in VANETs with Poisson vehicle distribution. In: Proceedings of the 11th International Conference on ITS Telecommunications, 2011. 133–138
Wang X. Modeling the process of information relay through inter-vehicle communication. Transport Res Part B-Meth, 2007, 41: 684–700
Bouchaala Y, Muhlethaler P, Shagdar O, et al. Optimized spatial CSMA for VANETs: a comparative study using a simple stochastic model and simulation results. In: Proceedings of the 14th IEEE Annual Consumer Communications Networking Conference (CCNC), 2017. 293–298
Chetlur V V, Dhillon H S. Coverage analysis of a vehicular network modeled as Cox process driven by Poisson line process. IEEE Trans Wireless Commun, 2018, 17: 4401–4416
Chen J, Low K H, Yao Y, et al. Gaussian process decentralized data fusion and active sensing for spatiotemporal traffic modeling and prediction in mobility-on-demand systems. IEEE Trans Automat Sci Eng, 2015, 12: 901–921
Al-Hourani A, Evans R J, Kandeepan S, et al. Stochastic geometry methods for modeling automotive radar interference. IEEE Trans Intell Transport Syst, 2018, 19: 333–344
Massey W A, Whitt W. Networks of infinite-server queues with nonstationary Poisson input. Queueing Syst, 1993, 13: 183–250
Massey W A, Whitt W. A stochastic model to capture space and time dynamics in wireless communication systems. Prob Eng Inf Sci, 1994, 8: 541–569
Leung K K, Massey W A, Whitt W. Traffic models for wireless communication networks. In: Proceedings of INFOCOM’94 Conference on Computer Communications, 1994. 1029–1037
Ho I W H, Leung K K, Polak J W. Stochastic model and connectivity dynamics for VANETs in signalized road systems. IEEE ACM Trans Network, 2011, 19: 195–208
Khabazian M, Ali M. A performance modeling of connectivity in vehicular ad hoc networks. IEEE Trans Veh Technol, 2008, 57: 2440–2450
Ukkusuri S, Du L. Geometric connectivity of vehicular ad hoc networks: analytical characterization. Transport Res Part C-Emerging Tech, 2008, 16: 615–634
Yousefi S, Altman E, El-Azouzi R, et al. Analytical model for connectivity in vehicular ad hoc networks. IEEE Trans Veh Technol, 2008, 57: 3341–3356
Zhang X, Zhang J, Liu Z, et al. MDP-based task offloading for vehicular edge computing under certain and uncertain transition probabilities. IEEE Trans Veh Technol, 2020, 69: 3296–3309
Menouar H, Guvenc I, Akkaya K, et al. UAV-enabled intelligent transportation systems for the smart city: applications and challenges. IEEE Commun Mag, 2017, 55: 22–28
Yan G, Olariu S. A probabilistic analysis of link duration in vehicular ad hoc networks. IEEE Trans Intell Transport Syst, 2011, 12: 1227–1236
Jeong Y, Chong J W, Shin H, et al. Intervehicle communication: Cox-Fox modeling. IEEE J Sel Areas Commun, 2013, 31: 418–433
Leou R-C, Teng J-H, Su C-L. Modelling and verifying the load behaviour of electric vehicle charging stations based on field measurements. IET Gener Transm Distr, 2015, 9: 1112–1119
Liu J, Cui E, Hu H, et al. Short-term forecasting of emerging on-demand ride services. In: Proceedings of the 4th International Conference on Transportation Information and Safety (ICTIS), 2017. 489–495
Guo J, Zhang Y, Chen X, et al. Spatial stochastic vehicle traffic modeling for VANETs. IEEE Trans Intell Transport Syst, 2018, 19: 416–425
Baccelli F, Klein M, Lebourges M, et al. Stochastic geometry and architecture of communication networks. Telecommun Syst, 1997, 7: 209–227
Wisitpongphan N, Bai F, Mudalige P, et al. Routing in sparse vehicular ad hoc wireless networks. IEEE J Sel Areas Commun, 2007, 25: 1538–1556
Golmohammadi P, Mokhtarian P, Safaei F, et al. An analytical model of network connectivity in vehicular ad hoc networks using spatial point processes. In: Proceedings of IEEE International Symposium on a World of Wireless, Mobile and Multimedia Networks, 2014. 1–6
Chetlur V V, Dhillon H S, Dettmann C P. Characterizing shortest paths in road systems modeled as Manhattan Poisson line processes. 2018. ArXiv:1811.11332
Steinmetz E, Wildemeersch M, Wymeersch H. WiP abstract: reception probability model for vehicular ad-hoc networks in the vicinity of intersections. In: Proceedings of ACM/IEEE 5th International Conference on Cyber-Physical Systems, Washington, 2014. 223–223
Steinmetz E, Hult R, de Campos G R, et al. Communication analysis for centralized intersection crossing coordination. In: Proceedings of the 11th International Symposium on Wireless Communications Systems (ISWCS), 2014. 813–818
Wymeersch E S, Wildemeersch M, Quek T Q S, et al. A stochastic geometry model for vehicular communication near intersections. In: Proceedings of 2015 IEEE Globecom Workshops (GC Wkshps), 2015. 1–6
Singh G, Srivastava A, Bohara V A. Stochastic geometry-based interference characterization for RF and VLC-based vehicular communication system. IEEE Syst J, 2020, 15: 2035–2045
Tong Z, Lu H, Haenggi M, et al. A stochastic geometry approach to the modeling of DSRC for vehicular safety communication. IEEE Trans Intell Transport Syst, 2016, 17: 1448–1458
Jeyaraj J P, Haenggi M, Sakr A H, et al. The transdimensional Poisson process for vehicular network analysis. IEEE Trans Wireless Commun, 2021, 20: 8023–8038
Jeyaraj J P, Haenggi M. Cox models for vehicular networks: SIR performance and equivalence. IEEE Trans Wireless Commun, 2021, 20: 171–185
Lee C H, Shih C Y, Chen Y S. Stochastic geometry based models for modeling cellular networks in urban areas. Wireless Netw, 2013, 19: 1063–1072
Ying Q, Zhao Z, Zhou Y, et al. Characterizing spatial patterns of base stations in cellular networks. In: Proceedings of IEEE/CIC International Conference on Communications in China, 2014. 490–495
Wang Z G, Liu L C, Zhou M C, et al. A position-based clustering technique for ad hoc intervehicle communication. IEEE Trans Syst Man Cybern C, 2008, 38: 201–208
Chetlur V V, Dhillon H S. On the load distribution of vehicular users modeled by a Poisson line cox process. IEEE Wireless Commun Lett, 2020, 9: 2121–2125
Lavancier F, Møller J, Rubak E. Determinantal point process models and statistical inference. J Royal Stat Soc B, 2015, 77: 853–877
Guo A, Haenggi M. Spatial stochastic models and metrics for the structure of base stations in cellular networks. IEEE Trans Wireless Commun., 2013, 12: 5800–5812
Deng N, Zhou W, Haenggi M. The Ginibre point process as a model for wireless networks with repulsion. IEEE Trans Wireless Commun, 2015, 14: 107–121
Lighthill M J, Whitham G B. On kinematic waves II. a theory of traffic flow on long crowded roads. Proc R Soc Lond A, 1955, 229: 317–345
Richards P I. Shock waves on the highway. Oper Res, 1956, 4: 42–51
Wong G C K, Wong S C. A multi-class traffic flow model—an extension of LWR model with heterogeneous drivers. Transport Res Part A-Policy Pract, 2002, 36: 827–841
Yuan Y, van Lint J W C, Wilson R E, et al. Real-time lagrangian traffic state estimator for freeways. IEEE Trans Intell Transport Syst, 2012, 13: 59–70
Chu K, Yang L, Saigal R, et al. Validation of stochastic traffic flow model with microscopic traffic simulation. In: Proceedings of IEEE International Conference on Automation Science and Engineering, 2011. 672–677
Chu K, Saigal R, Saitou K. Stochastic Lagrangian traffic flow modeling and real-time traffic prediction. In: Proceedings of IEEE International Conference on Automation Science and Engineering (CASE), 2016. 213–218
Payne H J. Models of Freeway Traffic and Control. La Jolla: Simulation Councils, Inc., 1971. 28: 51–61
Whitham G B, Fowler R G. Linear and nonlinear waves. Phys Today, 1975, 28: 55–56
Kühne R. Macroscopic freeway model for dense traffic-stop-start waves and incident detection. In: Proceedings of the 9th International Symposium of Transportation and Traffic Theory, 1984. 21–42
Kerner B S, Konhäuser P. Cluster effect in initially homogeneous traffic flow. Phys Rev E, 1993, 48: R2335–R2338
Michalopoulos P G, Yi P, Lyrintzis A S. Continuum modelling of traffic dynamics for congested freeways. Transport Res Part B-Meth, 1993, 27: 315–332
Aw A, Rascle M. Resurrection of “second order” models of traffic flow. SIAM J Appl Math, 2000, 60: 916–938
Zhang L, Xu C, Yu L. Calibration of the Aw-Rascle traffic flow model via flow-density diagram data. In: Proceedings of Chinese Control Conference, 2016. 9234–9239
Colombo R M. A 2×2 hyperbolic traffic flow model. Math Comput Model, 2002, 35: 683–688
Zhang H M. A non-equilibrium traffic model devoid of gas-like behavior. Transport Res Part B-Meth, 2002, 36: 275–290
Lebacque J P, Mammar S, Haj-Salem H. Generic second order traffic flow modelling. In: Proceedings of Transportation and Traffic Theory, 2007. 755–776
Phillips W F. A kinetic model for traffic flow with continuum implications. Transport Planning Tech, 1979, 5: 131–138
Helbing D. Traffic and related self-driven many-particle systems. Rev Mod Phys, 2001, 73: 1067–1141
Helbing D, Hennecke A, Shvetsov V, et al. MASTER: macroscopic traffic simulation based on a GAS-kinetic, non-local traffic model. Transport Res Part B-Meth, 2001, 35: 183–211
Daganzo C F. The cell transmission model: a dynamic representation of highway traffic consistent with the hydrodynamic theory. Transport Res Part B-Meth, 1994, 28: 269–287
Daganzo C F. The cell transmission model, part II: network traffic. Transport Res Part B-Meth, 1995, 29: 79–93
Szeto W Y. Enhanced lagged cell-transmission model for dynamic traffic assignment. Transport Res Record, 2008, 2085: 76–85
Munoz L, Sun X T, Horowitz R, et al. Traffic density estimation with the cell transmission model. In: Proceedings of the 2003 American Control Conference, 2003. 3750–3755
Sumalee A, Zhong R X, Pan T L, et al. Stochastic cell transmission model (SCTM): a stochastic dynamic traffic model for traffic state surveillance and assignment. Transport Res Part B-Meth, 2011, 45: 507–533
Gomes G, Horowitz R. Optimal freeway ramp metering using the asymmetric cell transmission model. Transport Res Part C-Emerging Tech, 2006, 14: 244–262
Smith B L, Williams B M, Oswald R K. Comparison of parametric and nonparametric models for traffic flow forecasting. Transport Res Part C-Emerging Tech, 2002, 10: 303–321
Smith B L, Demetsky M J. Short-term traffic flow prediction models—a comparison of neural network and nonparametric regression approaches. In: Proceedings of IEEE International Conference on Systems, Man and Cybernetics, 1994. 1706–1709
Williams B M, Durvasula P K, Brown D E. Urban freeway traffic flow prediction: application of seasonal autoregressive integrated moving average and exponential smoothing models. Transport Res Record, 1998, 1644: 132–141
Williams B M, Hoel L A. Modeling and forecasting vehicular traffic flow as a seasonal ARIMA process: theoretical basis and empirical results. J Transport Eng, 2003, 129: 664–672
Stathopoulos A, Karlaftis M G. A multivariate state space approach for urban traffic flow modeling and prediction. Transport Res Part C-Emerging Tech, 2003, 11: 121–135
Castro-Neto M, Jeong Y S, Jeong M K, et al. Online-SVR for short-term traffic flow prediction under typical and atypical traffic conditions. Expert Syst Appl, 2009, 36: 6164–6173
Tan M-C, Wong S C, Xu J-M, et al. An aggregation approach to short-term traffic flow prediction. IEEE Trans Intell Transport Syst, 2009, 10: 60–69
Jiang X, Adeli H. Dynamic wavelet neural network model for traffic flow forecasting. J Transport Eng, 2005, 131: 771–779
Zheng W Z, Lee D H, Shi Q X. Short-term freeway traffic flow prediction: bayesian combined neural network approach. J Transport Eng, 2006, 132: 114–121
Chang H, Lee Y, Yoon B, et al. Dynamic near-term traffic flow prediction: system-oriented approach based on past experiences. IET Intell Transport Syst, 2012, 6: 292–305
Akhtar N, Ergen S C, Ozkasap O. Vehicle mobility and communication channel models for realistic and efficient highway VANET simulation. IEEE Trans Veh Technol, 2015, 64: 248–262
Lv Y, Duan Y, Kang W, et al. Traffic flow prediction with big data: a deep learning approach. IEEE Trans Intell Transp Syst, 2015, 16: 865–873
Nagel K, Schreckenberg M. A cellular automaton model for freeway traffic. J de Physique I, 1992, 2: 2221–2229
Fukui M, Ishibashi Y. Traffic flow in 1D cellular automaton model including cars moving with high speed. J Phys Soc Jpn, 1996, 65: 1868–1870
Chowdhury D, Wolf D E, Schreckenberg M. Particle hopping models for two-lane traffic with two kinds of vehicles: effects of lane-changing rules. Phys A-Stat Mech Appl, 1997, 235: 417–439
Rickert M, Nagel K, Schreckenberg M, et al. Two lane traffic simulations using cellular automata. Phys A-Stat Mech Appl, 1996, 231: 534–550
Nagel K, Wolf D E, Wagner P, et al. Two-lane traffic rules for cellular automata: a systematic approach. Phys Rev E, 1998, 58: 1425–1437
Li X G, Jia B, Gao Z Y, et al. A realistic two-lane cellular automata traffic model considering aggressive lane-changing behavior of fast vehicle. Phys A-Stat Mech Appl, 2006, 367: 479–486
Chen Q, Wang Y. A cellular automata (CA) model for two-way vehicle flows on low-grade roads without hard separation. IEEE Intell Transport Syst Mag, 2016, 8: 43–53
Biham O, Middleton A A, Levine D. Self-organization and a dynamical transition in traffic-flow models. Phys Rev A, 1992, 46: R6124–R6127
Zhang H M. A theory of nonequilibrium traffic flow. Transport Res Part B-Meth, 1998, 32: 485–498
Newell G F. Nonlinear effects in the dynamics of car following. Oper Res, 1961, 9: 209–229
Charlesworth G. Methods of Making Traffic Surveys Especially “Before and After” Studies. London: Institution of Highway Engineers, 1950
Glanville W H. Road Research and Its Bearing on Road Transport. Houston: C. Baldwin Ltd., 1953
Glanville W H. Road safety and road research. J Royal Soc Arts, 1951, 99: 144–192
Prigogine I, Herman R. Vehicles as particles: kinetic theory of vehicular traffic. Science, 1971, 173: 3996
Nelson P, Sopasakis A. The Prigogine-Herman kinetic model predicts widely scattered traffic flow data at high concentrations. Transpation Res Part B-Meth, 1998, 32: 589–604
Pu Z, Jiao X, Yang C, et al. An adaptive stochastic model predictive control strategy for plug-in hybrid electric bus during vehicle-following scenario. IEEE Access, 2020, 8: 13887–13897
Cui Z, Lin L, Pu Z, et al. Graph Markov network for traffic forecasting with missing data. Transport Res Part C-Emerging Tech, 2020, 117: 102671
Daganzo C F. The lagged cell-transmission model. In: Proceedings of the 14th International Symposium on Transportation and Traffic Theory, Jerusalem, 1999
Xie B, Xu M, Härri J, et al. A traffic light extension to cell transmission model for estimating urban traffic JAM. In: Proceedings of IEEE 24th Annual International Symposium on Personal, Indoor, and Mobile Radio Communications, 2013. 2566–2570
Shao P, Wang L, Qian W, et al. A distributed traffic control strategy based on cell-transmission model. IEEE Access, 2018, 6: 10771–10778
Takayasu M, Takayasu H. 1/f noise in a traffic model. Fractals, 1993, 01: 860–866
Nagel K, Paczuski M. Emergent traffic jams. Phys Rev E Stat Phys Plasmas Fluids Relat Interdiscip Topics, 1995, 51: 2909–2918
Li X, Wu Q, Jiang R. Cellular automaton model considering the velocity effect of a car on the successive car. Phys Rev E, 2001, 64: 066128
Jin C, Knoop V L, Jiang R, et al. Calibration and validation of cellular automaton traffic flow model with empirical and experimental data. IET Intell Transport Syst, 2018, 12: 359–365
Kumar S V, Vanajakshi L. Short-term traffic flow prediction using seasonal ARIMA model with limited input data. Eur Transport Res Rev, 2015, 7: 21
Zhang L, Liu Q, Yang W, et al. An improved K-nearest neighbor model for short-term traffic flow prediction. Procedia-Soc Behavioral Sci, 2013, 96: 653–662
Hong H, Huang W, Xing X, et al. Hybrid multi-metric K-nearest neighbor regression for traffic flow prediction. In: Proceedings of International Conference on Intelligent Transportation Systems, 2015. 2262–2267
Lin W-H. A Gaussian maximum likelihood formulation for short-term forecasting of traffic flow. In: Proceedings of IEEE Intelligent Transportation Systems, 2001. 150–155
Li Y, Yu R, Shahabi C, et al. Graph convolutional recurrent neural network: Data-driven traffic forecasting. 2017. ArXiv:1707.01926
Yao H, Wu F, Ke J, et al. Deep multi-view spatial-temporal network for taxi demand prediction. In: Proceedings of the 32nd AAAI Conference on Artificial Intelligence, 2018
Hao S, Yang L, Shi Y. Data-driven car-following model based on rough set theory. IET Intell Transport Syst, 2018, 12: 49–57
Wang X, Jiang R, Li L, et al. Capturing car-following behaviors by deep learning. IEEE Trans Intell Transport Syst, 2018, 19: 910–920
Morton J, Wheeler T A, Kochenderfer M J. Analysis of recurrent neural networks for probabilistic modeling of driver behavior. IEEE Trans Intell Transport Syst, 2017, 18: 1289–1298
Hou Y, Edara P, Sun C. Modeling mandatory lane changing using Bayes classifier and decision trees. IEEE Trans Intell Transport Syst, 2014, 15: 647–655
Zheng G, Gu H, Chen Z. A short-term traffic flow prediction method based on asynchronous temporal and spatial correlation. In: Proceedings of 2021 IEEE International Intelligent Transportation Systems Conference (ITSC), 2021. 4015–4021
Jiang Y, Zhang X L, Xu X, et al. Event-triggered shared lateral control for safe-maneuver of intelligent vehicles. Sci China Inf Sci, 2021, 64: 172203
Ye J, Zhao J, Ye K, et al. Multi-STGCnet: a graph convolution based spatial-temporal framework for subway passenger flow forecasting. In: Proceedings of 2020 International Joint Conference on Neural Networks (IJCNN), 2020. 1–8
Zhou X, Shen Y, Huang L. Revisiting flow information for traffic prediction. 2019. ArXiv:1906.00560
Guo K, Hu Y, Qian Z, et al. Optimized graph convolution recurrent neural network for traffic prediction. IEEE Trans Intell Transport Syst, 2020, 22: 1138–1149
Chen W, Chen L, Xie Y, et al. Multi-range attentive bicomponent graph convolutional network for traffic forecasting. In: Proceedings of the AAAI Conference on Artificial Intelligence, 2020. 3529–3536
Gao H B, Su H, Cai Y F, et al. Trajectory prediction of cyclist based on dynamic Bayesian network and long short-term memory model at unsignalized intersections. Sci China Inf Sci, 2021, 64: 172207
Pan Z, Wang Z, Wang W, et al. Matrix factorization for spatio-temporal neural networks with applications to urban flow prediction. In: Proceedings of the 28th ACM International Conference on Information and Knowledge Management, 2019. 2683–2691
Li Y F, Ren C, Zhao H W, et al. Investigating long-term vehicle speed prediction based on GA-BP algorithms and the road-traffic environment. Sci China Inf Sci, 2020, 63: 190205
Abadi A, Rajabioun T, Ioannou P A. Traffic flow prediction for road transportation networks with limited traffic data. IEEE Trans Intell Transp Syst, 2015, 16: 653–662
Cui Q, Gong Z, Ni W, et al. Stochastic online learning for mobile edge computing: learning from changes. IEEE Commun Mag, 2019, 57: 63–69
Zhu X, Luo Y, Liu A, et al. A deep learning-based mobile crowdsensing scheme by predicting vehicle mobility. IEEE Trans Intell Transp Syst, 2021, 22: 4648–4659
Shi X, Chen Z, Hao W, et al. Convolutional LSTM network: a machine learning approach for precipitation nowcasting. In: Proceedings of International Conference on Neural Information Processing Systems, 2015
Veličković P, Cucurull G, Casanova A, et al. Graph attention networks. 2017. ArXiv:1710.10903
Chen X Q, Zhou L X, Cao Z. Short-term network-wide traffic prediction based on graph convolutional network (in Chinese). J Transport Syst Eng Inf Tech, 2020, 20: 49–55
Shi X, Qi H, Shen Y, et al. A spatial-temporal attention approach for traffic prediction. IEEE Trans Intell Transport Syst, 2021, 22: 4909–4918
Zheng C, Fan X, Wang C, et al. GMAN: a graph multi-attention network for traffic prediction. In: Proceedings of the AAAI Conference on Artificial Intelligence, 2020. 1234–1241
Liu J, Jayakumar P, Stein J L, et al. Combined speed and steering control in high-speed autonomous ground vehicles for obstacle avoidance using model predictive control. IEEE Trans Veh Technol, 2017, 66: 8746–8763
Zhao H, Ren B, Chen H, et al. Model predictive control allocation for stability improvement of four-wheel drive electric vehicles in critical driving condition. IET Control Theor Appl, 2015, 9: 2688–2696
Li Z, Xu X, Xu S, et al. A heterogeneous traffic flow model consisting of two types of vehicles with different sensitivities. Commun Nonlin Sci Numer Simul, 2017, 42: 132–145
Lindorfer M, Mecklenbräuker C F, Ostermayer G. Modeling the imperfect driver: incorporating human factors in a microscopic traffic model. IEEE Trans Intell Transport Syst, 2018, 19: 2856–2870
Ro J W, Roop P S, Malik A, et al. A formal approach for modeling and simulation of human car-following behavior. IEEE Trans Intell Transport Syst, 2018, 19: 639–648
Khodayari A, Ghaffari A, Kazemi R, et al. Improved adaptive neuro fuzzy inference system car-following behaviour model based on the driver-vehicle delay. IET Intell Transport Syst, 2014, 8: 323–332
Tejada F, Estevez C, Zacepins A, et al. Autoregressive dynamic mechanism for urban area microscopic traffic flow models. In: Proceedings of 2016 IEEE International Smart Cities Conference (ISC2), 2016. 1–5
Huang L, Guo H, Zhang R, et al. Capturing drivers’ lane changing behaviors on operational level by data driven methods. IEEE Access, 2018, 6: 57497–57506
Liu K, Gong J, Kurt A, et al. Dynamic modeling and control of high-speed automated vehicles for lane change maneuver. IEEE Trans Intell Veh, 2018, 3: 329–339
Pathirana P N, Savkin A V, Jha S. Location estimation and trajectory prediction for cellular networks with mobile base stations. IEEE Trans Veh Technol, 2004, 53: 1903–1913
Houenou A, Bonnifait P, Cherfaoui V, et al. Vehicle trajectory prediction based on motion model and maneuver recognition. In: Proceedings of 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013. 4363–4369
Oliva J A, Weihrauch C, Bertram T. Model-based remaining driving range prediction in electric vehicles by using particle filtering and Markov chains. In: Proceedings of World Electric Vehicle Symposium and Exhibition (EVS27), 2013. 1–10
Wang X, Jiang X, Chen L, et al. KVLMM: a trajectory prediction method based on a variable-order Markov model with kernel smoothing. IEEE Access, 2018, 6: 25200–25208
Bourigault S, Lagnier C, Lamprier S, et al. Learning social network embeddings for predicting information diffusion. In: Proceedings of the 7th ACM International Conference on Web Search and Data Mining. New York: ACM, 2014. 393–402
de Brébisson A, Simon E, Auvolat A, et al. Artificial neural networks applied to taxi destination prediction. 2015. ArXiv:1508.00021
Jia D, Lu K, Wang J, et al. A survey on platoon-based vehicular cyber-physical systems. IEEE Commun Surv Tut, 2016, 18: 263–284
Gazis D C, Herman R, Potts R B. Car-following theory of steady-state traffic flow. Oper Res, 1959, 7: 499–505
Hung S C, Zhang X, Festag A, et al. Vehicle-centric network association in heterogeneous vehicle-to-vehicle networks. IEEE Trans Veh Technol, 2019, 68: 5981–5996
Wang C, Coifman B. The effect of lane-change maneuvers on a simplified car-following theory. IEEE Trans Intell Transport Syst, 2008, 9: 523–535
Liang Z, Zheng G, Li J. Automatic parking path optimization based on Bezier curve fitting. In: Proceedings of 2012 IEEE International Conference on Automation and Logistics, 2012. 583–587
Ammoun S, Nashashibi F. Real time trajectory prediction for collision risk estimation between vehicles. In: Proceedings of 2009 IEEE 5th International Conference on Intelligent Computer Communication and Processing, 2009. 417–422
Berthelot A, Tamke A, Dang T, et al. Handling uncertainties in criticality assessment. In: Proceedings of 2011 IEEE Intelligent Vehicles Symposium (IV), 2011. 571–576
Li Y, Jin D, Wang Z, et al. A Markov jump process model for urban vehicular mobility: modeling and applications. IEEE Trans Mobile Comput, 2014, 13: 1911–1926
Saha A K, Johnson D B. Modeling mobility for vehicular ad-hoc networks. In: Proceedings of the 1st ACM International Workshop on Vehicular Ad Hoc Networks. New York: ACM, 2004. 91–92
Bratanov P I, Bonek E. Mobility model of vehicle-borne terminals in urban cellular systems. IEEE Trans Veh Technol, 2003, 52: 947–952
Treiber M, Kesting A. Traffic Flow Dynamics. Berlin: Springer, 2013
Punzo V, Montanino M, Ciuffo B. Do we really need to calibrate all the parameters? Variance-based sensitivity analysis to simplify microscopic traffic flow models. IEEE Trans Intell Transport Syst, 2015, 16: 184–193
Chakroborty P, Kikuchi S. Evaluation of the general motors based car-following models and a proposed fuzzy inference model. Transport Res Part C-Emerging Tech, 1999, 7: 209–235
Pawlak Z. Rough Sets: Theoretical Aspects of Reasoning About Data. Norwell: Kluwer Academic Publishers, 1992
Singh K, Li B. Estimation of traffic densities for multilane roadways using a Markov model approach. IEEE Trans Ind Electron, 2012, 59: 4369–4376
Peng W, Dong G, Yang K, et al. A random road network model and its effects on topological characteristics of mobile delay-tolerant networks. IEEE Trans Mobile Comput, 2014, 13: 2706–2718
Vazifeh M M, Santi P, Resta G, et al. Addressing the minimum fleet problem in on-demand urban mobility. Nature, 2018, 557: 534–538
Marshall S, Gil J, Kropf K, et al. Street network studies: from networks to models and their representations. Netw Spat Econ, 2018, 18: 735–749
Marshall S. Line structure representation for road network analysis. J Transport Land Use, 2015, 9: 29–64
Santi P, Resta G, Szell M, et al. Quantifying the benefits of vehicle pooling with shareability networks. Proc Natl Acad Sci USA, 2014, 111: 13290–13294
Alonso-Mora J, Samaranayake S, Wallar A, et al. On-demand high-capacity ride-sharing via dynamic trip-vehicle assignment. Proc Natl Acad Sci USA, 2017, 114: 462–467
Gloaguen C, Fleischer F, Schmidt H, et al. Analysis of shortest paths and subscriber line lengths in telecommunication access networks. Netw Spat Econ, 2010, 10: 15–47
Voss F, Gloaguen C, Fleischer F, et al. Distributional properties of euclidean distances in wireless networks involving road systems. IEEE J Sel Areas Commun, 2009, 27: 1047–1055
Gwon G P, Hur W S, Kim S W, et al. Generation of a precise and efficient lane-level road map for intelligent vehicle systems. IEEE Trans Veh Technol, 2017, 66: 4517–4533
Guo C, Kidono K, Meguro J, et al. A low-cost solution for automatic lane-level map generation using conventional in-car sensors. IEEE Trans Intell Transport Syst, 2016, 17: 2355–2366
Xia L, Li X, Li H. Efficient and reliable road modeling for digital maps based on cardinal spline. J Southeast Univ, 2018, 34: 48–53
Chen L W, Chang C C. Cooperative traffic control with green wave coordination for multiple intersections based on the internet of vehicles. IEEE Trans Syst Man Cybern Syst, 2017, 47: 1321–1335
Wunderlich R, Liu C, Elhanany I, et al. A novel signal-scheduling algorithm with quality-of-service provisioning for an isolated intersection. IEEE Trans Intell Transport Syst, 2008, 9: 536–547
Zhang K, Yang A, Su H, et al. Service-oriented cooperation models and mechanisms for heterogeneous driverless vehicles at continuous static critical sections. IEEE Trans Intell Transport Syst, 2017, 18: 1867–1881
Sha Z R, Huang M, Wu H B. A conceptual multi-level data model for road networks. In: Proceedings of the 5th International Conference on Intelligent Computation Technology and Automation, 2012. 712–715
Geng X, Li Y, Wang L, et al. Spatiotemporal multi-graph convolution network for ride-hailing demand forecasting. In: Proceedings of the AAAI Conference on Artificial Intelligence, 2019. 3656–3663
Davis N, Raina G, Jagannathan K. Grids versus graphs: partitioning space for improved taxi demand-supply forecasts. IEEE Trans Intell Transport Syst, 2021, 22: 6526–6535
Loose H, Franke U. B-spline-based road model for 3D lane recognition. In: Proceedings of the 13th International IEEE Conference on Intelligent Transportation Systems, 2010. 91–98
Li X, Xia L, Song X, et al. Modeling the special intersection for enhanced digital map. In: Proceedings of IEEE Intelligent Vehicles Symposium (IV), 2018. 1490–1495
Bae S, Kwasinski A. Spatial and temporal model of electric vehicle charging demand. IEEE Trans Smart Grid, 2012, 3: 394–403
Ng M W, Lin D Y, Waller S T. Optimal long-term infrastructure maintenance planning accounting for traffic dynamics. Comput-Aided Civil Infrastruct Eng, 2009, 24: 459–469
Lo H K. A novel traffic signal control formulation. Transport Res Part A-Policy Pract, 1999, 33: 433–448
Esser J, Schreckenberg M. Microscopic simulation of urban traffic based on cellular automata. Int J Mod Phys C, 1997, 08: 1025–1036
Cui Q, Wang Y, Chen K C, et al. Big data analytics and network calculus enabling intelligent management of autonomous vehicles in a smart city. IEEE Internet Things J, 2019, 6: 2021–2034
Dorling K, Heinrichs J, Messier G G, et al. Vehicle routing problems for drone delivery. IEEE Trans Syst Man Cybern Syst, 2017, 47: 70–85
Tachet R, Sagarra O, Santi P, et al. Scaling law of urban ride sharing. Sci Rep, 2017, 7: 42868
Li Z, Kolmanovsky I, Atkins E, et al. Road risk modeling and cloud-aided safety-based route planning. IEEE Trans Cybern, 2016, 46: 2473–2483
Zhang J, Feng Y, Shi F, et al. Vehicle routing in urban areas based on the Oil Consumption Weight-Dijkstra algorithm. IET Intell Transport Syst, 2016, 10: 495–502
Yao E, Lang Z, Yang Y, et al. Vehicle routing problem solution considering minimising fuel consumption. IET Intell Transport Syst, 2015, 9: 523–529
Pandit K, Ghosal D, Zhang H M, et al. Adaptive traffic signal control with vehicular ad hoc networks. IEEE Trans Veh Technol, 2013, 62: 1459–1471
Vajedi M, Azad N L. Ecological adaptive cruise controller for plug-in hybrid electric vehicles using nonlinear model predictive control. IEEE Trans Intell Transport Syst, 2016, 17: 113–122
Bevly D, Cao X, Gordon M, et al. Lane change and merge maneuvers for connected and automated vehicles: a survey. IEEE Trans Intell Veh, 2016, 1: 105–120
Dang R, Wang J, Li S E, et al. Coordinated adaptive cruise control system with lane-change assistance. IEEE Trans Intell Transp Syst, 2015, 16: 2373–2383
Mar J, Lin H T. The car-following and lane-changing collision prevention system based on the cascaded fuzzy inference system. IEEE Trans Veh Technol, 2005, 54: 910–924
Xu G, Liu L, Ou Y, et al. Dynamic modeling of driver control strategy of lane-change behavior and trajectory planning for collision prediction. IEEE Trans Intell Transport Syst, 2012, 13: 1138–1155
Cesari G, Schildbach G, Carvalho A, et al. Scenario model predictive control for lane change assistance and autonomous driving on highways. IEEE Intell Transport Syst Mag, 2017, 9: 23–35
Butakov V A, Ioannou P. Personalized driver/vehicle lane change models for ADAS. IEEE Trans Veh Technol, 2015, 64: 4422–4431
Kwon S, Kim Y, Shroff N B. Analysis of connectivity and capacity in 1-D vehicle-to-vehicle networks. IEEE Trans Wireless Commun, 2016, 15: 8182–8194
Pritesh P, Rudra D. Joint modeling of mobility and communication in a V2V network for congestion amelioration. In: Proceedings of the 16th International Conference on Computer Communications and Networks, 2017. 575–582
Li Y, Zhu Z, Kong D, et al. Learning heterogeneous spatial-temporal representation for bike-sharing demand prediction. In: Proceedings of the AAAI Conference on Artificial Intelligence, 2019. 1004–1011
Liu L, Qiu Z, Li G, et al. Contextualized spatial-temporal network for taxi origin-destination demand prediction. IEEE Trans Intell Transport Syst, 2019, 20: 3875–3887
Ye J, Sun L, Du B, et al. Co-prediction of multiple transportation demands based on deep spatio-temporal neural network. In: Proceedings of the 25th ACM SIGKDD International Conference on Knowledge Discovery & Data Mining, 2019. 305–313
Chen K C, Zhang T, Gitlin R D, et al. Ultra-low latency mobile networking. IEEE Network, 2019, 33: 181–187
Lin C, Chen K, Wickramasuriya D, et al. Anticipatory mobility management by big data analytics for ultra-low latency mobile networking. In: Proceedings of IEEE International Conference on Communications (ICC), 2018. 1–7
Xiao Y, Krunz M, Volos H, et al. Driving in the fog: latency measurement, modeling, and optimization of LTE-based fog computing for smart vehicles. In: Proceedings of Annual IEEE International Conference on Sensing, Communication, and Networking, 2019. 1–9
Volos H, Bando T, Konishi K. ReLaDec: reliable latency decision algorithm for connected vehicle applications. In: Proceedings of IEEE Intelligent Vehicles Symposium, 2019. 1861–1868
Sivaraman S, Trivedi M M. Integrated lane and vehicle detection, localization, and tracking: a synergistic approach. IEEE Trans Intell Transport Syst, 2013, 14: 906–917
Keller C G, Gavrila D M. Will the pedestrian cross? A study on pedestrian path prediction. IEEE Trans Intell Transport Syst, 2014, 15: 494–506
Lin I, Lin C, Hung H, et al. Autonomous vehicle as an intelligent transportation service in a smart city. In: Proceedings of IEEE 86th Vehicular Technology Conference (VTC-Fall), 2017. 1–7
Wang Y, Zhou Z, Liu K, et al. Large-scale intelligent taxicab scheduling: a distributed and future-aware approach. IEEE Trans Veh Technol, 2020, 69: 8176–8191
Mukhtar A, Xia L, Tang T B. Vehicle detection techniques for collision avoidance systems: a review. IEEE Trans Intell Transport Syst, 2015, 16: 2318–2338
Liu J, Guo H Y, Song L H, et al. Driver-automation shared steering control for highly automated vehicles. Sci China Inf Sci, 2020, 63: 190201
Odat E, Shamma J S, Claudel C. Vehicle classification and speed estimation using combined passive infrared/ultrasonic sensors. IEEE Trans Intell Transport Syst, 2018, 19: 1593–1606
Hostettler R, Birk W, Nordenvaad M L. Joint vehicle trajectory and model parameter estimation using road side sensors. IEEE Sens J, 2015, 15: 5075–5086
Balid W, Tafish H, Refai H H. Intelligent vehicle counting and classification sensor for real-time traffic surveillance. IEEE Trans Intell Transport Syst, 2018, 19: 1784–1794
Ni J, Chen Y, Chen Y, et al. A survey on theories and applications for self-driving cars based on deep learning methods. Appl Sci, 2020, 10: 2749
Fu J, Liu J, Li Y, et al. Contextual deconvolution network for semantic segmentation. Pattern Recogn, 2020, 101: 107152
Xiao D, Yang X, Li J, et al. Attention deep neural network for lane marking detection. Knowledge-Based Syst, 2020, 194: 105584
Xu H, Srivastava G. Automatic recognition algorithm of traffic signs based on convolution neural network. Multimed Tools Appl, 2020, 79: 11551–11565
McCall J C, Trivedi M M. Driver behavior and situation aware brake assistance for intelligent vehicles. Proc IEEE, 2007, 95: 374–387
Carvalho A, Lefévre S, Schildbach G, et al. Automated driving: the role of forecasts and uncertainty—a control perspective. Eur J Control, 2015, 24: 14–32
Ohn-Bar E, Tawari A, Martin S, et al. On surveillance for safety critical events: in-vehicle video networks for predictive driver assistance systems. Comput Vision Image Underst, 2015, 134: 130–140
Ohn-Bar E, Trivedi M M. Looking at humans in the age of self-driving and highly automated vehicles. IEEE Trans Intell Veh, 2016, 1: 90–104
Derbel O, Landry R. Driver behavior assessment based on the belief theory in the driver-vehicle-environment system. In: Proceedings of IEEE International Conference on Vehicular Electronics and Safety (ICVES), 2015. 7–12
Li N, Busso C. Predicting perceived visual and cognitive distractions of drivers with multimodal features. IEEE Trans Intell Transport Syst, 2015, 16: 51–65
Huang H Y, Wang J Q, Fei C, et al. A probabilistic risk assessment framework considering lane-changing behavior interaction. Sci China Inf Sci, 2020, 63: 190203
Li L, Chen X M. Vehicle headway modeling and its inferences in macroscopic/microscopic traffic flow theory: a survey. Transport Res Part C-Emerging Tech, 2017, 76: 170–188
Moutari S, Rascle M. A hybrid lagrangian model based on the aw-rascle traffic flow model. SIAM J Appl Math, 2007, 68: 413–436
Jiang R, Wu Q S, Zhu Z J. A new continuum model for traffic flow and numerical tests. Transport Res Part B-Meth, 2002, 36: 405–419
Klar A, Wegener R. A hierarchy of models for multilane vehicular traffic I: modeling. SIAM J Appl Math, 1998, 59: 983–1001
Klar A, Wegener R. A hierarchy of models for multilane vehicular traffic II: numerical investigations. SIAM J Appl Math, 1998, 59: 1002–1011
Li K, Ioannou P. Modeling of traffic flow of automated vehicles. IEEE Trans Intell Transport Syst, 2004, 5: 99–113
Goatin P. The Aw-Rascle vehicular traffic flow model with phase transitions. Math Comput Model, 2006, 44: 287–303
Hoogendoorn S P, van Lint H, Knoop V. Dynamic first-order modeling of phase-transition probabilities. In: Proceedings of Traffic and Granular Flow’07. Berlin: Springer, 2009. 85–92
Khelifi A, Haj-Salem H, Lebacque J P, et al. Lagrangian generic second order traffic flow models for node. J Traffic Transport Eng, 2018, 5: 14–27
Acknowledgements
The work was supported by Joint Funds for Regional Innovation and Development of National Natural Science Foundation of China (Grant No. U21A20449), National Natural Science Foundation of China (Grant No. 61971066), National Youth Top-notch Talent Support Program, and Major Key Project of PCL (Grant No. PCL2021A15).
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
Open access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/.
About this article
Cite this article
Cui, Q., Hu, X., Ni, W. et al. Vehicular mobility patterns and their applications to Internet-of-Vehicles: a comprehensive survey. Sci. China Inf. Sci. 65, 211301 (2022). https://doi.org/10.1007/s11432-021-3487-x
Received:
Revised:
Accepted:
Published:
DOI: https://doi.org/10.1007/s11432-021-3487-x