Journal Article Modeling Connected and Autonomous Vehicles in Heterogeneous Traffic Flow

Ye, Lanhang  ,  Yamamoto, Toshiyuki

The objective of this study was to develop a heterogeneous traffic-flow model to study the possibleimpact of connected and autonomous vehicles (CAVs) on the traffic flow. Based on a recentlyproposed two-state safe-speed model (TSM), a two-lane cellular automaton (CA) model wasdeveloped, wherein both the CAVs and conventional vehicles were incorporated in the heterogeneoustraffic flow. In particular, operation rules for CAVs are established considering the new characteristicsof this emerging technology, including autonomous driving through the adaptive cruise control andinter-vehicle connection via short-range communication. Simulations were conducted under variousCAV-penetration rates in the heterogeneous flow. The impact of CAVs on the road capacity wasnumerically investigated. The simulation results indicate that the road capacity increases with anincrease in the CAV-penetration rate within the heterogeneous flow. Up to a CAV-penetration rate of30%, the road capacity increases gradually; the effect of the difference in the CAV capability on thegrowth rate is insignificant. When the CAV-penetration rate exceeds 30%, the growth rate is largelydecided by the capability of the CAV. The greater the capability, the higher the road-capacity growthrate. The relationship between the CAV-penetration rate and the road capacity is numerically analyzed,providing some insights into the possible impact of the CAVs on traffic systems.

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