By incorporating the ITS in traffic flow,two lattice hydrodynamic models considering the difference of density are proposed to study the influence of the density difference between nearest lattice ahead and the current lattice on traffic flow stability.The results from the linear stability theory show that considering this density difference could lead to the improvement of the traffic flow stability.The modified Korteweg-de Vries equations (the mKdV equation,for short) near the critical point are derived by using the nonlinear perturbation method to show that the traffic jam could be described by the kink-antikink soliton solutions for the mKdV equations.
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