Modelling Road Congestion Using a Fuzzy System and Real-World Data for Connected and Autonomous Vehicles

The central point in designing a fuzzy system for modeling and control is the generation of a set of efficient and effective fuzzy rules. Generally, fuzzy rules can be generated either from heuristics or from experimental data. Heuristic fuzzy rule generation, as discussed in Chapter 1, consists of the following main steps: Determination of the structure of the fuzzy systems. This includes mainly the selection of the inputs and outputs. Usually, a multi-input multi-output fuzzy systems can be decomposed into a number of multi-input single-output fuzzy systems. Definition of linguistic terms and their fuzzy membership function for each fuzzy variables. If a Mamdani fuzzy system is designed, each input and output can be seen as a linguistic variable. Therefore, it is necessary to define the linguistic terms (e.g., Small, Medium, Large etc.) and their fuzzy membership function. Details about the definition of a linguistic variable is presented in Section 1.2.1. Determination of fuzzy inference method. For example, for fuzzy mapping rules, the fuzzy Cartesian product can be used to define the fuzzy relation. Refer to Section 1.2.2. Defuzzification. If the Mamdani type fuzzy rules are used, the fuzzy output derived from the fuzzy rule base should be defuzzified. Refer also to Section 1.2.2 for different defuzzification methods. If the Takagi-Sugeno fuzzy rules are used, the defuzzification is included in the fuzzy inference and a crisp output is obtained directly.

The fast emergence of autonomous vehicles promises a drastic change on how road traffic congestion is detected, controlled, and mitigated. To this end, we believe that it is beneficial to explore different ways of collaboration between autonomous vehicles, with the aid of modern road infrastructure, to optimize the commuters' travel time. We, therefore, propose in this paper a novel solution based on a multi-parties collaboration framework and built upon the WAVE standard to optimize the usage of the road network and lower commuters' travel time. Our solution, which is based on a Belief-Desire-Intention architecture, enables autonomous vehicles to opt for selfish or collaborative behaviors depending on their goals and current situations. The results obtained from our preliminary prototype under three representative road maps demonstrate the effectiveness of our approach in dealing with traffic congestion.

Traffic congestion has become increasingly prevalent in many urban areas, and researchers are continuously looking into new ways to resolve this pertinent issue. Autonomous vehicles are one of the technologies expected to revolutionize transportation systems. To this very day, there are limited studies focused on the impact of autonomous vehicles in heterogeneous traffic flow in terms of different driving modes (manual and self-driving). Autonomous vehicles in the near future will be running parallel with manual vehicles, and drivers will have different characteristics and attributes. Previous studies that have focused on the impact of autonomous vehicles in these conditions are scarce. This paper proposes a new cellular automata model to address this issue, where different autonomous vehicles (cars and buses) and manual vehicles (cars and buses) are compared in terms of fundamental traffic parameters. Manual cars are further divided into subcategories on the basis of age groups and gender. Each category has its own distinct attributes, which make it different from the others. This is done in order to obtain a simulation as close as possible to a real-world scenario. Furthermore, different lane-changing behavior patterns have been modeled for autonomous and manual vehicles. Subsequently, different scenarios with different compositions are simulated to investigate the impact of autonomous vehicles on traffic flow in heterogeneous conditions. The results suggest that autonomous vehicles can raise the flow rate of any network considerably despite the running heterogeneous traffic flow.

By regarding the set of fuzzy membership functions as a subset of the set of functions which depend on time, we show compactness in weak topology. We prove also that the function which composes the control of the function given by the center of gravity calculation is continuous for the topology of pointwise convergence. As an application, we discuss the existence of an optimal solution in fuzzy control for an open-loop system.

This paper proposes the use of hybrid models based on neural networks and fuzzy systems to build intelligent intrusion detection systems based on the theory of fuzzy rules. The presented system will be able to generate rules based on the results using fuzzy logic neurons. To avoid oversaturation and assist in determining the necessary network topology, training models based on extreme learning machine and regularization theory will be used to find the most significant neurons. In this paper, a type of SQL injection cyberattack is considered, which actively exploits errors in systems that communicate with the database via SQL commands, and for this reason is considered a kind of straightforward attack. The fuzzy neural network architecture used in detecting SQL injection attacks is a multi-component structure. The first two layers of the model are considered as a fuzzy inference system capable of extracting knowledge from data and transforming it into fuzzy rules. These rules help build automated systems for detecting SQL injection attacks. The third layer consists of a simple neuron that has an activation function called a leaky ReLU. The first layer consists of fuzzy neurons, the activation functions of which are Gaussian membership functions of fuzzy sets, defined in accordance with the partitioning of the input variables. The technique uses the concept of a simple linear regression model to solve the problem of choosing the best subsets of neurons. To perform model selection, the paper used the widely used least angular regression (LARS) algorithm.

The integration of autonomous vehicles (AVs) into public transportation systems has the potential to transform urban mobility by enhancing efficiency, accessibility, and sustainability. As cities continue to expand, traditional transit systems face challenges such as traffic congestion, high operational costs, and limited coverage. AVs, with their ability to optimize routes, reduce human error, and operate continuously, offer a promising solution to improve public transit networks. The adoption of AV technology in public transportation can redefine mobility patterns, particularly by bridging first- and last-mile connectivity gaps, enhancing commuter convenience, and improving mobility for elderly and disabled passengers. Unlike conventional transit modes, autonomous buses, shuttles, and taxis can dynamically adjust routes based on real-time data, reducing travel time and increasing overall system efficiency. Additionally, AVs can function seamlessly with multi-modal transport networks, integrating with metro, rail, and bus services to create a more cohesive and accessible urban transit system. Beyond improving passenger experience, AVs offer significant economic and environmental benefits. Their reduced dependence on human drivers leads to lower labor costs, while advanced energy-efficient systems contribute to lower fuel consumption and carbon emissions. Autonomous public transit solutions also help alleviate traffic congestion by minimizing unnecessary stops and optimizing roadway usage through vehicle-to-infrastructure (V2I) and vehicle-to vehicle (V2V) communication. However, the transition to a fully autonomous public transport system is not without challenges. Cities and governments must address issues such as infrastructure readiness, regulatory frameworks, liability concerns, cyber security risks, and public acceptance to ensure a smooth and secure transition. By analyzing real-world case studies and pilot projects, this chapter provides insights into how different cities worldwide are integrating AVs into their transit systems. Several pilot programs have demonstrated the feasibility of self driving shuttle services, particularly in urban areas with high commuter demand and limited transit accessibility. Furthermore, technological advancements in artificial intelligence (AI), machine learning, and sensor-based navigation continue to refine AV capabilities, making them increasingly viable for large-scale deployment in public transportation. This chapter also explores future trends, policy recommendations, and best practices that can accelerate AV adoption in public transport. Governments, urban planners, and transportation authorities must collaborate to design regulatory policies that encourage innovation while ensuring passenger safety and data security. Investment in smart infrastructure, including intelligent traffic management systems and dedicated AV lanes, will be crucial for optimizing AV operations in public transit. Ultimately, the successful integration of AVs into public transportation can lead to a more efficient, inclusive, and sustainable urban mobility ecosystem. With the right combination of technological innovation, policy support, and public engagement, AVs have the potential to redefine how people commute in the cities of the future, offering safe, affordable, and environmentally friendly solutions.

Abstract. Traffic congestion is a dynamic spatial and temporal process and as such might not be possible to model with linear functions of various dependent variables. That leaves a lot of space for non-linear approximates, such as neutral networks and fuzzy logic. In this paper, the focus is on the fuzzy logic as a possible approach for dealing with the problems of measuring traffic congestion. We investigate the application of this framework on a selected case study, and use floating car data (FCD) collected in Augsburg, Germany. A fuzzy inference system is built to detect degrees of congestion on a federal highway B17. With FCD, it is possible to obtain local speed information on almost all parts of the network. This information, together with collected vehicle location, time and heading, can be further processed and transformed into valuable information in the form of trip routes, travel times, etc. Initial results are compared with traditional method of expressing levels of congestion on a road network e.g. Level of Service – LOS. The fuzzy model, with segmented mean speed and travel time parameters, performed well and showed to be promising approach to detect traffic congestions. This approach can be further improved by involving more input parameters, such as density or vehicle flow, which might reflect traffic congestion event even more realistically.

We examine the performance of compact fuzzy rule-based classification systems that consist of a small number of simple fuzzy rules with high comprehensibility. Those fuzzy systems are designed in a heuristic manner using rule selection criteria. We first describe fuzzy rule-based classification. Next we describe heuristic rule selection criteria using the terminology in data mining: confidence and support. A small number of fuzzy rules are extracted from numerical data based on each rule selection criterion. Then we examine the classification performance of extracted fuzzy rules through computational experiments on a number of benchmark data sets from the UCI ML Repository. Our results should be viewed as the lowest benchmark performance of fuzzy rule-based classification systems because fuzzy rules are extracted using a simple heuristic method with no optimization or tuning procedures. Nevertheless our results on some data sets are comparable to reported results by the C4.5 algorithm in the literature.

A fuzzy system controls gaps between cars in single lane platoons. Fuzzy controllers create, maintain, and divide platoons on the highway. Each car's controller uses only data from sensors on the car. Tightly coupled platoons avoid the slinky effect by dropping back during platoon maneuvers. When the lead car reaches its goal, the follower cars return to the proper platoon spacing. Differences in car and engine types require changes in fuzzy rules and sets. A hybrid neural-fuzzy system combines supervised and unsupervised learning to find and tune the fuzzy-rules. Unsupervised competitive learning chooses the first set of ellipsoidal fuzzy rules. Supervised learning tunes the fuzzy rules with gradient descent. The authors tested the fuzzy gap controller with a realistic car model. >

Traffic congestion and travel time uncertainty remain major challenges to the operational efficiency of Bus Rapid Transit (BRT) systems in urban areas of developing countries. This study proposes an integrated solution for the Trans Metro Bandung (TMB) system by leveraging Internet of Things (IoT)–based GPS data and tree-based ensemble machine learning algorithms. Spatio-temporal data collected from on-board GPS modules are processed to predict traffic congestion levels and estimate travel time across route segments. The performance of Decision Tree, Random Forest, and XGBoost models is evaluated in terms of prediction accuracy, interpretability, and computational efficiency, with particular consideration for deployment on resource-constrained hardware. Experiments conducted on 20,156 data samples show that the Decision Tree model achieves the highest congestion classification accuracy of 96.8%, while Random Forest outperforms other models in travel time regression, achieving an R2 value of 0.95 and a root mean square error (RMSE) of 5.80 min. The trained models are successfully deployed on a Raspberry Pi 3B microcontroller for real-time inference, enabling fleet management and travel planning without reliance on cloud connectivity. The results demonstrate that cost-effective and interpretable machine learning solutions can deliver reliable performance in heterogeneous urban infrastructures while providing a replicable framework for medium-sized cities seeking to implement affordable smart transportation systems.

On the basis of PID engineering tuning methods, a fuzzy PID control algorithm based on the fuzzy rules is put forward. To design this kind of algorithm, firstly, simplify PID formula according to the Z-N and critical proportion methods, and then, construct a piece of fuzzy control table according to fuzzy control rules and fuzzy control reasoning. In the paper, three-dimensional fuzzy control is used, which is more predominant than that with two-dimension. In real-time control, by looking up fuzzy control table, the PID parameter can be adjusted on line. The simulation results of controlling the angle of the helm and course of the ship show that the algorithm raised in this paper has good performances such as simple operation, excellent personality, etc.

This study employs the PTV VISSIM simulation software to investigate the impact of increasing traffic volumes on conventional vehicles and autonomous vehicles (AVs) with distinct behavioural traits: cautious, normal, and aggressive. The simulations cover a range of traffic volumes, from 100 to 600 vehicles, and measure the effects on travel time, emissions (CO, NOX, VOC), and fuel consumption. The results show that with increasing penetration rates of AVs, travel times generally decrease, with aggressive AVs achieving the shortest times, followed by normal, then cautious AVs. Emissions and fuel consumption also tend to decrease as the penetration rate of AVs increases. Notably, the results demonstrate that aggressive AVs excel in reducing travel time, while normal AVs consistently balance between efficiency and reduced emissions, and cautious AVs emphasize safety and lower emissions. Despite the differing behavioural traits, all AV types exhibit a marked improvement over conventional vehicles in terms of travel time, emissions, and fuel consumption. At every penetration rate, AVs lead to shorter travel times and lower emissions, with aggressive AVs being the most efficient, followed by normal and then cautious AVs. These findings emphasize the potential benefits of integrating autonomous vehicles into transportation networks. They suggest that optimizing AV behaviour, depending on the context and objectives, can lead to more efficient, environmentally friendly traffic systems. The study offers valuable insights for policymakers, urban planners, and researchers aiming to leverage the distinct strengths of each AV behaviour to create a more sustainable and efficient future for autonomous transportation.

A heuristic controller is presented that takes the form of a set of fuzzy linguistic rules. Simulations show that the fuzzy logic controller (FLC) yields better results than the conventional PD controller. A self-paced fuzzy tracking controller (SPFTC) designed for two-dimensional path tracking is also presented. The SPFTC adjusts the tracking speed in accordance with contour conditions such as curvature; the fuzzy-rule-based adjustment of the tracking speed improves performance in terms of tracking precision and travel time. Advantages of the FLC and SPFTC are demonstrated by a simulation study. >

This study presents a field-programmable gate array (FPGA)-based mechatronic design and real-time fuzzy control method with computational intelligence optimization for omni-Mecanum-wheeled autonomous vehicles. With the advantages of cuckoo search (CS), an evolutionary CS-based fuzzy system is proposed, called CS-fuzzy. The CS’s computational intelligence was employed to optimize the structure of fuzzy systems. The proposed CS-fuzzy computing scheme was then applied to design an optimal real-time control method for omni-Mecanum-wheeled autonomous vehicles with four wheels. Both vehicle model and CS-fuzzy optimization are considered to achieve intelligent tracking control of Mecanum mobile vehicles. The control parameters of the Mecanum fuzzy controller are online-adjusted to provide real-time capability. This methodology outperforms the traditional offline-tuned controllers without computational intelligences in terms of real-time control, performance, intelligent control and evolutionary optimization. The mechatronic design of the experimental CS-fuzzy based autonomous mobile vehicle was developed using FPGA realization. Some experimental results and comparative analysis are discussed to examine the effectiveness, performance, and merit of the proposed methods against other existing approaches.

Aiming at increasing the performance of fuzzy control and keeping a fuzzy controller maintain an ideal given track to its objective value, and also aiming at finding an easy way to abstract fuzzy control rule set for the complex controlled process, this paper presents a new fuzzy control method, namely model based self-abstracting rule fuzzy control method (MBSAR). The MBSAR takes the one order inertia system as the reference model and abstracts the fuzzy control rules by self-organizing and self-tuning the consequences of each functioning fuzzy control rule both offline and online. A self-tuning rule set of the self-abstracting rules has been built by analyzing the dynamical response process of a controlled object. The simulations show that the MBSAR can decrease the overshoot significantly and has a wonderful control performance, which are better than that of the self-abstracting rule fuzzy control method without model and PI control method.