Heterogeneity aware urban traffic control in a connected vehicle environment: A joint framework for congestion pricing and perimeter control

Kaidi Yang, Monica Menendez, Nan Zheng

Research output: Contribution to journalArticlepeer-review


Real-time control of large-scale urban networks has been attracting significant research attention. This paper, using the information provided by connected vehicles, proposes a novel control approach based on the concept of perimeter control to maximize the social welfare of all vehicles. The contributions of this paper are threefold. First, we consider vehicle heterogeneity (i.e. corresponding to different transportation modes, or with different occupancies, values of time, priority levels, etc.) and integrate a priority scheme into perimeter control to improve both the traffic performance and the social welfare. This is achieved by installing priority lanes at some of the perimeter intersections. Unlike the existing research works that provide priority to certain traffic modes, we dynamically identify the groups of vehicles that we should prioritize, in order to maximize the social welfare. Second, we develop a model predictive control approach to simultaneously optimize the toll for using the priority lanes and the traffic signal timings at the perimeter intersections. This approach can explicitly handle the constraint of the storage capacity of each intersection link. Third, we propose a recursive estimation algorithm to update our knowledge on the distribution of the value of times (VOTs), using the lane choice information of connected vehicles. The proposed approach is tested in a simulated network which resembles the main features of the city center of Zurich, Switzerland. By using the proposed strategy, the traffic accumulation inside the network is still stabilized, and the monetary costs due to delay are significantly reduced at the entire network (up to 25.8%) compared to the strategy without priority. The distribution of the combined cost (including cost due to delay and tolls) is more uniform across VOT groups than that resulting from the strategy without priority. It is also shown that the proposed recursive estimation algorithm quickly converges and further improves the social welfare.

Original languageEnglish (US)
Pages (from-to)439-455
Number of pages17
JournalTransportation Research Part C: Emerging Technologies
StatePublished - Aug 2019


  • Connected vehicle
  • MFD
  • MPC
  • Perimeter control
  • Priority lanes
  • Value of time

ASJC Scopus subject areas

  • Civil and Structural Engineering
  • Automotive Engineering
  • Transportation
  • Computer Science Applications


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