In this paper the new continuum traffic flow model proposed by Jiang et al is developed based on an improved car-following model,in which the speed gradient term replaces the density gradient term in the equation of motion.It overcomes the wrong-way travel which exists in many high-order continuum models.Based on the continuum version of car-following model,the condition for stable traffic flow is derived.Nonlinear analysis shows that the density fluctuation in traffic flow induces a variety of density waves.Near the onset of instability,a small disturbance could lead to solitons determined by the Korteweg-de-Vries (KdV) equation,and the soliton solution is derived.