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On-ramp merging areas are typical bottlenecks in the freeway network since merging on-ramp vehicles may cause intensive disturbances on the mainline traffic flow and lead to various negative impacts on traffic efficiency and safety. The connected and autonomous vehicles (CAVs), with their capabilities of real-time communication and precise motion control, hold a great potential to facilitate ramp merging operation through enhanced coordination strategies. This paper aims to present a comprehensive review of the existing ramp merging strategies leveraging CAVs, focusing on the latest trends and developments in the research field.

The review comprehensively covers 44 papers recently published in leading transportation journals. Based on the application context, control strategies are categorized into three categories: merging into sing-lane freeways with total CAVs, merging into sing-lane freeways with mixed traffic flows and merging into multilane freeways.

Relevant literature is reviewed regarding the required technologies, control decision level, applied methods and impacts on traffic performance. More importantly, the authors identify the existing research gaps and provide insightful discussions on the potential and promising directions for future research based on the review, which facilitates further advancement in this research topic.

Many strategies based on the communication and automation capabilities of CAVs have been developed over the past decades, devoted to facilitating the merging/lane-changing maneuvers at freeway on-ramps. Despite the significant progress made, an up-to-date review covering these latest developments is missing to the authors’ best knowledge. This paper conducts a thorough review of the cooperation/coordination strategies that facilitate freeway on-ramp merging using CAVs, focusing on the latest developments in this field. Based on the review, the authors identify the existing research gaps in CAV ramp merging and discuss the potential and promising future research directions to address the gaps.

Metropolitan areas suffer from frequent road traffic congestion not only during peak hours but also during off-peak periods. Different machine learning methods have been used in travel time prediction, however, such machine learning methods practically face the problem of overfitting. Tree-based ensembles have been applied in various prediction fields, and such approaches usually produce high prediction accuracy by aggregating and averaging individual decision trees. The inherent advantages of these approaches not only get better prediction results but also have a good bias-variance trade-off which can help to avoid overfitting. However, the reality is that the application of tree-based integration algorithms in traffic prediction is still limited. This study aims to improve the accuracy and interpretability of the models by using random forest (RF) to analyze and model the travel time on freeways.

As the traffic conditions often greatly change, the prediction results are often unsatisfactory. To improve the accuracy of short-term travel time prediction in the freeway network, a practically feasible and computationally efficient RF prediction method for real-world freeways by using probe traffic data was generated. In addition, the variables’ relative importance was ranked, which provides an investigation platform to gain a better understanding of how different contributing factors might affect travel time on freeways.

The parameters of the RF model were estimated by using the training sample set. After the parameter tuning process was completed, the proposed RF model was developed. The features’ relative importance showed that the variables (travel time 15 min before) and time of day (TOD) contribute the most to the predicted travel time result. The model performance was also evaluated and compared against the extreme gradient boosting method and the results indicated that the RF always produces more accurate travel time predictions.

This research developed an RF method to predict the freeway travel time by using the probe vehicle-based traffic data and weather data. Detailed information about the input variables and data pre-processing were presented. To measure the effectiveness of proposed travel time prediction algorithms, the mean absolute percentage errors were computed for different observation segments combined with different prediction horizons ranging from 15 to 60 min.

Resilience concepts in integrated urban transport refer to the performance of dealing with external shock and the ability to continue to provide transportation services of all modes. A robust transportation resilience is a goal in pursuing transportation sustainability. Under this specified context, while before the perturbations, robustness refers to the degree of the system’s capability of functioning according to its design specifications on integrated modes and routes, redundancy is the degree of duplication of traffic routes and alternative modes to maintain persistency of service in case of perturbations. While after the perturbations, resourcefulness refers to the capacity to identify operational problems in the system, prioritize interventions and mobilize necessary material/ human resources to recover all the routes and modes, rapidity is the speed of complete recovery of all modes and traffic routes in the urban area. These “4R” are the most critical components of urban integrated resilience.

The trends of transportation resilience's connotation, metrics and strategies are summarized from the literature. A framework is introduced on both qualitative characteristics and quantitative metrics of transportation resilience. Using both model-based and mode-free methodologies that measure resilience in attributes, topology and system performance provides a benchmark for evaluating the mechanism of resilience changes during the perturbation. Correspondingly, different pre-perturbation and post-perturbation strategies for enhancing resilience under multi-mode scenarios are reviewed and summarized.

Cyber-physic transportation system (CPS) is a more targeted solution to resilience issues in transportation. A well-designed CPS can be applied to improve transport resilience facing different perturbations. The CPS ensures the independence and integrity of every child element within each functional zone while reacting rapidly.

This paper provides a more comprehensive understanding of transportation resilience in terms of integrated urban transport. The fundamental characteristics and strategies for resilience are summarized and elaborated. As little research has shed light on the resilience concepts in integrated urban transport, the findings from this paper point out the development trend of a resilient transportation system for digital and data-driven management.