Cooperative messages to enhance the performance of L3 vehicles approaching roadworks

Agriesti, Serio Angelo Maria; Ponti, Marco; Marchionni, Giovanna; Gandini, Paolo · 2021 · DOAJ

DOI: 10.1186/s12544-020-00457-z

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Summary

This study investigates the impact of Cooperative Intelligent Transport Systems (C-ITS) messages on the performance of Level 3 (L3) automated vehicles, specifically the "Highway Chauffeur" system, when approaching roadworks. The research addresses the challenge of managing take-over maneuvers—where control shifts from the vehicle to the human driver—during Operational Design Domain (ODD) boundaries, such as lane closures. The authors aim to determine if broadcasting C-ITS messages regarding lane closures can enhance traffic efficiency, reduce delays, and improve the driving regime for both automated vehicles and surrounding traffic. The methodology employs micro-simulation using PTV VISSIM software, calibrated with traffic data from the A22 highway in Italy. To simulate the complex take-over transition, the authors developed a custom Python script via the VISSIM COM interface. This script models the driver’s reaction time (13.5–18.5 seconds) and restricts lane changes during this period, reflecting the time needed for the driver to regain situational awareness. The study compares three scenarios: a baseline with no C-ITS messages, and two joint implementation scenarios where C-ITS messages are broadcasted 696 meters and 1,500 meters upstream of the roadworks, respectively. Various market penetration rates for L3 vehicles (10% to 100%) are tested to assess impacts across different adoption levels. The results demonstrate that triggering take-over maneuvers in advance significantly improves bottleneck efficiency. Specifically, speed increases of up to 30 km/h were recorded at the bottleneck, depending on market penetration and message range. The study found that the benefits achieved with a 1,500-meter message range at 50% market penetration were comparable to those achieved with a 696-meter range at 80–100% penetration. Furthermore, upstream delays were reduced by 6%, with congestion effects appearing approximately 700 meters before the roadworks entrance. The C-ITS messages allowed vehicles on the open lane to remain in automated mode, while vehicles on the closing lane performed smoother, earlier lane changes, thereby reducing abrupt braking and swerving behaviors associated with late take-over requests. The significance of this work lies in its demonstration that C-ITS integration can mitigate the negative traffic impacts of L3 take-over maneuvers. By providing early warning of lane closures, the system allows for more efficient traffic flow and higher speeds through bottlenecks. The authors conclude that the joint implementation of Highway Chauffeur systems and C-ITS messages offers substantial benefits for traffic efficiency. Additionally, the study provides an open-source modeling tool, enabling further research into the impacts of automated driving on various infrastructures and vehicle prototypes.

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