Connected and automated vehicle loading system for improving operational inefficiency from human driven vehicle in roll-on/roll-off port operations

Figures & data

Figure 1. Pyeongtaek Port 3D layout.

Figure 2. Simulation flowchart of current loading system.

Figure 3. Simulation flowchart of CAV loading system.

Table 1. Maximum vehicle speed (unit: m/s).

	HDV	Shuttle van	CAV	Driver
Yard	6.39	5.83	6.39	1.11
External ramp	1.89	1.89	1.89	–
Deck	5.70	5.5	5.7	–
Internal ramp	1.89	1.89	1.89	–
Parking area	2.24	2.24	2.24	1.11
Parking speed	1.4	–	–	–

Table 2. Vehicle acceleration (unit: m/s²).

	HDV	Shuttle van	CAV
Yard	1.28	1.16	1.28
External ramp	0.945	0.945	0.945
Deck	1.9	1.83	1.9
Internal ramp	0.945	0.945	0.945
Parking area	1.12	1.12	1.12
Parking speed	0.7	–	–

Table 3. Vehicle deceleration (unit: m/s²).

	HDV	Shuttle van	CAV
Yard	1.60	1.25	1.28
External ramp	0.945	0.945	0.945
Deck	1.9	1.83	1.9
Internal ramp	0.945	0.945	0.945
Parking area	1.12	1.12	1.12
Parking speed	0.7	–	–

Table 4. Safe following distance (unit: m).

	HDV	Shuttle van	CAV
Yard	5 s (18 m)	6 m	5 s (18 m)
External ramp	12 m	15 m	12 m
Internal ramp	12 m	15 m	12 m

Table 5. CAV loading system simultaneous parking capacity (unit: s).

	Parking capacity	Parking preparation time
CAV	3 cars	30

Figure 4. FlexSim process flow development.

Figure 5. Simulation model of current loading system in FlexSim: (a) yard, (b) parking area.

Figure 6. Simulation Gantt chart for current loading system.

Figure 7. Stop points of shuttle vans.

Table 6. Coordinates of start/stop points of shuttle vans (unit: x, y, z axis).

	Shuttle van 1	Shuttle van 2	Shuttle van 3
Yard stop point	157.05, −193.43, 0	157.21, −199.43, 0	157.20, −205.03, 0

Figure 8. Simulation Gantt chart for shuttle vans.

Table 7. Average waiting times at bottlenecks in current loading system (unit: s).

	External ramp	Internal ramp	Parking area
Drivers	17.85	26.33	45.54

Table 8. Average parking times of parking attendants (unit: s).

	Parking attendant 1	Parking attendant 2	Parking attendant 3
Average parking time	13.75	14.00	13.81
Average walking time in first cycle	22	22	21
Average walking time in second cycle	17	16	16
Total average working time	32.75	33	32.81

Figure 9. Simulation Gantt chart for current loading system (8 drivers, 1 shuttle van, and 48 cars).

Figure 10. The simulation Gantt chart for the shuttle van (8 drivers, 1 shuttle van, and 48 cars).

Figure 11. Simulation Gantt chart for CAV loading system.

Table 9. Average waiting times within main sections in CAV loading system (unit: s).

	External ramp	Internal ramp	Parking area	Average parking time
CAV	31.72	54.79	62.79	46