Optimal velocity model with relative velocity

The optimal velocity model which depends not only on the headway but also on the relative velocity is analyzed in detail. We investigate the effect of considering the relative velocity based on the linear and nonlinear analysis of the model. The linear stability analysis shows that the improvement in the stability of the traffic flow is obtained by taking into account the relative velocity. From the nonlinear analysis, the relative velocity dependence of the propagating kink solution for traffic jam is obtained. The relation between the headway and the velocity and the fundamental diagram are examined by numerical simulation. We find that the results by the linear and nonlinear analysis of the model are in good agreement with the numerical results.