Abstract
We aim to understand and explore the performance of reinforcement learning based signal control algorithms in a mixed environment with less than 100% market share of connected and automated vehicles (CAVs). Within a simulation environment, we have considered partial connectivity—less than 100% market share of CAVs—in the network and investigated the impact on the performance of the signal control algorithm. Two test networks including a four-intersection arterial in Lankershim Boulevard, California and a portion of downtown Springfield, Illinois with 20 intersections. The first network is calibrated in the micro-simulator PTV Vissim with the US DOT provided NGSIM datasets. The results provide insights regarding the impact of the connectivity and sensing technologies on the practical implementation of traffic signal control algorithms that leverage the data sharing capability of a connected environment. For scenarios with 40% or more market share of CAVs, we observed improvement in the performance metrics—travel time, queue time, and energy consumption—with the increase in market share. Results from our experiments do not indicate any clear trend when the networks have low (less than 40%) market share of CAVs. The higher standard deviations as obtained from the statistical analyses of the performance metrics at low market share may indicate the instability of the RL controller arising from the partial (if not zero) observability of the traffic states. Further, we have conducted simplified scenario analyses to explore the impact of the market share of battery electric vehicles (BEVs) on energy consumption due to the regenerative braking feature. Our results and findings will be the foundation for the future reinforcement learning based control algorithm development that accounts for partial connectivity—less than 100% CAV market share, and the presence of BEVs in a network of connected and automated signalized intersections
