Mixed traffic flows are opening up new areas for research and are seen as key drivers in the field of data and services that will make roads safer and more environmentally friendly. Understanding the effects of Connected Vehicles (CVs) and Connected Autonomous Vehicles (CAVs), as one of the vehicle components of mixed traffic flows, will make it easier to avoid traffic congestion and contribute to the creation of innovative applications and solutions. It is notable that the literature related to the analysis of the impact of mixed traffic flows on traffic signal control in urban areas rarely considers mixed traffic flow containing CVs, CAVs, and Human Driven Vehicles (HDVs). Therefore, this paper provides an overview of the relevant research papers covering the topic of urban Traffic Signal Control (TSC) and mixed traffic flows. Best practices for intersection state estimation and TSC in the case of mixed traffic flows in an urban environment are summarized and possible approaches for utilizing CVs and CAVs as mobile sensors and actuators are discussed.

Traffic congestion occurs when traffic demand is greater than the available network capacity. It is characterized by lower vehicle speeds, increased travel times, arrival unreliability, and longer vehicular queueing. Congestion can also impose a negative impact on the society by decreasing the quality of life with increased pollution, especially in urban areas. To mitigate the congestion problem, traffic engineers and scientists need quality, comprehensive, and accurate data to estimate the state of traffic flow. Various types of data collection technologies have different advantages and disadvantages as well as data characteristics, such as accuracy, sampling frequency, and geospatial coverage. Multisource data fusion increases the accuracy and provides a comprehensive estimation of the performance of traffic flow on a road network. This paper presents a literature overview related to the estimation of congestion and prediction based on the data collected from multiple sources. An overview of data fusion methods and congestion indicators used in the literature for traffic state and congestion estimation is given. Results of these methods are analyzed, and a disseminative analysis of the advantages and disadvantages of surveyed methods is presented.

The rising need for mobility, especially in large urban centers, consequently results in congestion, which leads to increased travel times and pollution. Advanced traffic management systems are being developed to take the advantage of increased mobility positive effects and minimize the negative ones. The first step dealing with congestion in urban areas is the detection of congested areas and the estimation of the congestion level. This paper presents a a method for a traffic state estimation on a citywide scale using the novel traffic data representation, named Speed Transition Matrix (STM). The proposed method uses traffic data to extract the STMs and to estimate the traffic state based on the Center Of Mass (COM) computation for every STM. The COM-based approach enables the simplification of the clustering process and provides increased interpretability of the resulting clusters. Using the proposed method, traffic data is analyzed, and the traffic state is estimated for the most relevant road segments in the City of Zagreb, which is the capital and the largest city in Croatia. The traffic state classification results are validated using the cross-validation method and the domain knowledge data with the resulting accuracy of 97% and 91%, respectively. The results indicate the possible application of the proposed method for the traffic state estimation on macro- and micro-locations in the city area. In the end, the application of STMs for traffic state estimation, traffic management, and anomaly detection is discussed.

The increased development of urban areas results in a larger number of vehicles on the road network, leading to traffic congestion, which often leads to potentially dangerous situations that can be described as anomalies. The tensor-based methods emerged only recently in applications related to traffic anomaly detection. They outperform other models regarding simultaneously capturing spatial and temporal components, which are of immense importance in traffic dataset analysis. This paper presents a tensor-based method for extracting the spatiotemporal road traffic patterns represented with the speed transition matrices, with the goal of anomaly detection. A novel anomaly detection approach is presented, which relies on computing the center of mass of the observed traffic patterns. The method was evaluated on a large road traffic dataset and was able to detect the most anomalous parts of the urban road network. By analyzing spatial and temporal components of the most anomalous traffic patterns, sources of anomalies can be identified. Results were validated using the extracted domain knowledge from the Highway Capacity Manual. The anomaly detection model achieved a precision score of 92.88%. Therefore, this method finds its usages for safety experts in detecting potentially dangerous road segments, urban traffic planners, and routing applications.