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Recently, connected vehicles (CV) are becoming a promising research area leading to the concept of CV as a Service (CVaaS). With the increase of connected vehicles and an exponential growth in the field of online cab booking services, new requirements such as secure, seamless and robust information exchange among vehicles of vehicular networks are emerging. In this context, the original concept of vehicular networks is being transformed into a new concept known as connected and autonomous vehicles. Autonomous vehicular use yields a better experience and helps in reducing congestion by allowing current information to be obtained by the vehicles instantly. However, malicious users in the internet of vehicles may mislead the whole communication where intruders may compromise smart devices with the purpose of executing a malicious ploy. In order to prevent these issues, a blockchain technique is considered the best technique that provides secrecy and protection to the control system in real time conditions. In this paper, the issue of security in smart sensors of connected vehicles that can be compromised by expert intruders is addressed by proposing a blockchain framework. This study has further identified and validated the proposed mechanism based on various security criteria, such as fake requests of the user, compromise of smart devices, probabilistic authentication scenarios and alteration in stored user’s ratings. The results have been analyzed against some existing approach and validated with improved simulated results that offer 79% success rate over the above-mentioned issues.

In an effort to reach accident-free milestones or drastically reduce/eliminate road fatalities rates and traffic congestion and to create disruptive, transformational mobility systems and services, different parties (e.g., automakers, universities, governments, and road traffic regulators) have collaborated to research, develop, and test connected vehicle (CV) technologies. CVs create new data-rich environments and are considered key enablers for many applications and services that will make our roads safer, less congested, and more eco-friendly. A deeper understanding of the CV technologies will pave the way to avoid setbacks and will help in developing more innovative applications and breakthroughs. In the CV paradigm, vehicles become smarter by communicating with nearby vehicles, connected infrastructure, and the surroundings. This connectivity will be substantial to support different features and systems, such as adaptive routing, real-time navigation, and slow and near real-time infrastructure. Further examples include environmental sensing, advanced driver-assistance systems, automated driving systems, mobility on demand, and mobility as a service. This article provides a comprehensive review on CV technologies including fundamental challenges, state-of-the-art enabling technologies, innovative applications, and potential opportunities that can benefit automakers, customers, and businesses. The current standardization efforts of the forefront enabling technologies, such as Wi-Fi 6 and 5G-cellular technologies are also reviewed. Different challenges in terms of cooperative computation, privacy/security, and over-the-air updates are discussed. Safety and non-safety applications are described and possible future opportunities that CV technology brings to our life are also highlighted.

Road transportation is among the global grand challenges affecting human lives, health, society, and economy, caused due to road accidents, traffic congestion, and other transportation deficiencies. Autonomous vehicles (AVs) are set to address major transportation challenges including safety, efficiency, reliability, sustainability, and personalization. The foremost challenge for AVs is to perceive their environments in real-time with the highest possible certainty. Relatedly, connected vehicles (CVs) have been another major driver of innovation in transportation. In this paper, we bring autonomous and connected vehicles together and propose TAAWUN, a novel approach based on the fusion of data from multiple vehicles. The aim herein is to share the information between multiple vehicles about their environments, enhance the information available to the vehicles, and make better decisions regarding the perception of their environments. TAWUN shares, among the vehicles, visual data acquired from cameras installed on individual vehicles, as well as the perceived information about the driving environments. The environment is perceived using deep learning, random forest (RF), and C5.0 classifiers. A key aspect of the TAAWUN approach is that it uses problem specific feature sets to enhance the prediction accuracy in challenging environments such as problematic shadows, extreme sunlight, and mirage. TAAWUN has been evaluated using multiple metrics, accuracy, sensitivity, specificity, and area-under-the-curve (AUC). It performs consistently better than the base schemes. Directions for future work to extend the tool are provided. This is the first work where visual information and decision fusion are used in CAVs to enhance environment perception for autonomous driving.

Due to the transition of vehicle fleets from conventional driver-operated vehicles (DVs) to connected vehicles (CVs) and/or automated vehicles (AVs), vehicles with different technologies will soon operate on the same roads in a mixed-vehicle environment. Although a major goal of vehicle connectivity and automation is to improve traffic safety, negative safety impacts may persist in the mixed-vehicle environment. Speed disparity measures have been shown in the literature to be related to safety performance. Therefore, speed disparity measures are derived from the expected speed distributions of different vehicle technologies and are used as surrogate measures to assess the safety of mixed-vehicle environments and identify the efficacy of prospective countermeasures. This paper builds on speed models in the literature to predict the speed behavior of CVs, AVs, and DVs on horizontal curves on freeways and major arterials. The paper first proposes a methodology to determine speed disparity measures on horizontal curves without any control in terms of speed limit. The impact of speed limit or advisory speed, as a safety countermeasure, is modeled and assessed using different strategies to set the speed limit. The results indicated that the standard deviation of the speeds of all vehicles (σc) in a mixed environment would increase on arterial roads under no control compared to the case of DV-only traffic. This speed disparity can be reduced using an advisory speed as a safety countermeasure to decrease the adverse safety impacts in this environment. Moreover, it was shown that compared to the practice of a constant speed limit based on road classification, the advisory speed is more effective when it is based on the speed behavior of various vehicle types.

Intelligent Transportation Systems (ITSs) utilize Vehicular Ad-hoc Networks (VANETs) to collect, disseminate, and share data with the Traffic Management Center (TMC) and different actuators. Consequently, packet drop and delay in VANETs can significantly impact ITS performance. Feedback-based eco-routing (FB-ECO) is a promising ITS technology, which is expected to reduce vehicle fuel/energy consumption and pollutant emissions by routing drivers through the most environmentally friendly routes. To compute these routes, the FB-ECO utilizes VANET communication to update link costs in real-time, based on the experiences of other vehicles in the system. In this paper, we study the impact of vehicular communication on FB-ECO navigation performance in a large-scale real network with realistic calibrated traffic demand data. We conduct this study at different market penetration rates and different congestion levels. We start by conducting a sensitivity analysis of the market penetration rate on the FB-ECO system performance, and its network-wide impacts considering ideal communication. Subsequently, we study the impact of the communication network on system performance for different market penetration levels, considering the communication system. The results demonstrate that, for market penetration levels less than 30%, the eco-routing system performs adequately in both the ideal and realistic communication scenarios. It also shows that, for realistic communication, increasing the market penetration rate results in a network-wide degradation of the system performance.

Autonomous driving has attracted significant research interests in the past two decades as it offers many potential benefits, including releasing drivers from exhausting driving and mitigating traffic congestion, among others. Despite promising progress, lane-changing remains a great challenge for autonomous vehicles (AV), especially in mixed and dynamic traffic scenarios. Recently, reinforcement learning (RL) has been widely explored for lane-changing decision makings in AVs with encouraging results demonstrated. However, the majority of those studies are focused on a single-vehicle setting, and lane-changing in the context of multiple AVs coexisting with human-driven vehicles (HDVs) have received scarce attention. In this paper, we formulate the lane-changing decision-making of multiple AVs in a mixed-traffic highway environment as a multi-agent reinforcement learning (MARL) problem, where each AV makes lane-changing decisions based on the motions of both neighboring AVs and HDVs. Specifically, a multi-agent advantage actor-critic (MA2C) method is proposed with a novel local reward design and a parameter sharing scheme. In particular, a multi-objective reward function is designed to incorporate fuel efficiency, driving comfort, and the safety of autonomous driving. A comprehensive experimental study is made that our proposed MARL framework consistently outperforms several state-of-the-art benchmarks in terms of efficiency, safety, and driver comfort.

Mixed traffic flows are opening up new areas for research and are seen as key drivers in the field of data and services that will make roads safer and more environmentally friendly. Understanding the effects of Connected Vehicles (CVs) and Connected Autonomous Vehicles (CAVs), as one of the vehicle components of mixed traffic flows, will make it easier to avoid traffic congestion and contribute to the creation of innovative applications and solutions. It is notable that the literature related to the analysis of the impact of mixed traffic flows on traffic signal control in urban areas rarely considers mixed traffic flow containing CVs, CAVs, and Human Driven Vehicles (HDVs). Therefore, this paper provides an overview of the relevant research papers covering the topic of urban Traffic Signal Control (TSC) and mixed traffic flows. Best practices for intersection state estimation and TSC in the case of mixed traffic flows in an urban environment are summarized and possible approaches for utilizing CVs and CAVs as mobile sensors and actuators are discussed.

Connected Autonomous Vehicle (CAV) dedicated lanes can spatially eliminate the disturbance from Human-Driven Vehicles (HDVs) and increase the probability of vehicle cooperative platooning, thereby enhancing road capacity. However, when the penetration rate of CAVs is low, CAV dedicated lanes may lead to a waste of road resources. This paper proposes a cooperative lane-changing control method for multiple vehicles considering Dynamic Intelligent Connected (DIC) dedicated lanes. Initially, inspired by the study of dedicated bus lanes, the paper elucidates the traffic regulations for DIC dedicated lanes, and two decision-making approaches are presented based on the type of lane-change vehicle and the target lane: CAV autonomous cooperative lane change and HDV mandatory cooperative lane change. Subsequently, considering constraints such as acceleration, speed, and safe headway, cooperative lane-change control models are proposed with the goal of minimizing the weighted sum of vehicle acceleration and lane-change duration. The proposed model is solved by the TOPSIS multi-objective optimization algorithm. Finally, the effectiveness and advancement of the proposed cooperative lane-changing method are validated through simulation using the SUMO software (Version 1.19.0). Simulation results demonstrate that compared to traditional lane-changing models, the autonomous cooperative lane-changing model for CAVs significantly improves the success rate of lane changing, reduces lane-changing time, and causes less speed disturbance to surrounding vehicles. The mandatory cooperative lane-changing model for HDVs results in shorter travel times and higher lane-changing success rates, especially under high traffic demand. The methods presented in this paper can notably enhance the lane-changing success rate and traffic efficiency while ensuring lane-changing safety.

PurposeThis paper aims to present a summary of the performance measurement and evaluation plan of the Wyoming connected vehicle (CV) Pilot Deployment Program (WYDOT Pilot).Design/methodology/approachThis paper identified 21 specific performance measures as well as approaches to measure the benefits of the WYDOT Pilot. An overview of the expected challenges that might introduce confounding factors to the evaluation effort was outlined in the performance management plan to guide the collection of system performance data.FindingsThis paper presented the data collection approaches and analytical methods that have been established for the real-life deployment of the WYDOT CV applications. Five methodologies for assessing 21 specific performance measures contained within eight performance categories for the operational and safety-related aspects. Analyses were conducted on data collected during the baseline period, and pre-deployment conditions were established for 1 performance measures. Additionally, microsimulation modeling was recommended to aid in evaluating the mobility and safety benefits of the WYDOT CV system, particularly when evaluating system performance under various CV penetration rates and/or CV strategies.Practical implicationsThe proposed performance evaluation framework can guide other researchers and practitioners identifying the best performance measures and evaluation methodologies when conducting similar research activities.Originality/valueTo the best of the authors’ knowledge, this is the first research that develops performance measures and evaluation plan for low-volume rural freeway CV system under adverse weather conditions. This paper raised some early insights into how CV technology might achieve the goal of improving safety and mobility and has the potential to guide similar research activities conducted by other agencies.

Integrating advanced technologies, such as Connected Autonomous Vehicles (CAVs) and Connected Vehicles (CVs), represents new strategies and solutions in urban mobility, particularly during unexpected urban events. Vehicle connectivity facilitates real-time communication between vehicles and infrastructure, enhancing traffic management by enabling dynamic rerouting to minimize delays and prevent bottlenecks. This study employs the SUMO (Simulation of Urban Mobility) microsimulation to analyze the impact of dynamic rerouting strategies during urban disruptions within the IN2CCAM project’s Turin Living Lab. The Living Lab integrates simulation with real-world testing, including autonomous shuttle operations, to evaluate new mobility solutions. In the initial phase, offline simulations examine street, lane, and intersection closures along shuttle routes to assess how penetration levels of CVs and CAVs influence mobility. The results indicate that higher connectivity penetration improves traffic flow, with the greatest benefits observed at increased levels of autonomous vehicles. These findings highlight the potential of dynamic routing strategies, supported by vehicle connectivity and autonomous driving technologies, to enhance urban mobility and effectively respond to real-time traffic conditions. Additionally, this work demonstrates the capabilities and flexibility of SUMO for simulating complex urban traffic scenarios.