A car-following stability analysis finds a density-dependent critical reaction time for traffic, and a frustration-based lane-changing model reproduces lane balancing while showing lane changes yield small speed gains.
Helbing, Tra ffic and related self-driven many-particle systems, Reviews of modern physics 73 (2001) 1067
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A car-following framework for traffic instability and lane changes
A car-following stability analysis finds a density-dependent critical reaction time for traffic, and a frustration-based lane-changing model reproduces lane balancing while showing lane changes yield small speed gains.