Virtual track networks: A hierarchical modeling framework and open-source tools for simplified and efficient connected and automated mobility (CAM) system design based on general modeling network specification (GMNS)

This study presents a novel framework and open-source tools for simulating and managing connected and automated mobility (CAM) systems, taking into account their hierarchical nature and various levels of scheduling. The framework is based on a multi-layered network representation, which allows for efficient and accurate modeling of CAM systems at different levels of granularity, from macroscopic to microscopic. By employing this hierarchical approach, we achieve a balance between the level of detail in the representation and computational efficiency. Additionally, a spatial-discrete virtual track-based representation is introduced for precise vehicle dynamics modeling and for ensuring consistency with higher-level routing decisions. This facilitates individualized active traffic management for CAM applications. As part of our research, we have developed osm2gmns, an open-source package that allows users to effortlessly access and process transportation networks from OpenStreetMap in the General Modeling Network Specification (GMNS) format, facilitating data sharing and research collaboration. Furthermore, we explore traffic simulation, optimization, and operation methodologies for CAM systems, particularly focusing on the extent of scheduling capabilities. To support the research community, we further introduce an open-source package CAMLite for CAM system modeling. The effectiveness of our proposed methodologies and tools is demonstrated through a series of numerical experiments.