The Fundamental Diagram of Mixed-Traffic Flow with CACC Vehicles and Human-Driven Vehicles
Publication: Journal of Transportation Engineering, Part A: Systems
Volume 149, Issue 1
Abstract
As one key basis of traffic flow theory, the fundamental diagram (FD) has wide application in traffic management and control. However, the FD of mixed human-driven vehicles (HVs) and cooperative adaptive cruise control (CACC) vehicles remains unclear. The deterministic and stochastic FD of mixed traffic was obtained. First, the longitudinal control model (LCM) and connected LCM (CLCM) were selected as the car-following model of HVs and CACCs. Next, in deterministic simulation, the mathematical expression of mixed-traffic FD was conducted considering the CACC penetration rate and platooning intensity. Then, the stochastic distribution of perception and response time calibrated by the vehicle trajectory data set NGSIM was introduced to derive the stochastic FD. After that, in stochastic simulation, taking the variance and computation effort into account, the optimal number of simulated vehicles to obtain steady-state FD was obtained. The impact of CACC penetration rates and platooning intensity was also explored. It revealed that the optimal number of simulated vehicles is 400. CACC can improve the capacity and critical density of highways. In mixed traffic, due to the large variance of HV driver response time, scattering remains unchanged regardless of CACC penetration when there are enough vehicles. Pure CACC traffic has minimum scattering. More importantly, the proposed framework is applicable to other CACC, adaptive cruise control (ACC), and HV car-following models, including further experimental models.
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Data Availability Statement
Some or all data, models, or code that support the findings of this study are available from the corresponding author upon reasonable request.
Acknowledgments
This work is supported by the Natural Science Foundation of China (No. 52172331).
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Published In
Journal of Transportation Engineering, Part A: Systems
Volume 149 • Issue 1 • January 2023
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© 2022 American Society of Civil Engineers.
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Received: Nov 21, 2021
Accepted: May 13, 2022
Published online: Oct 25, 2022
Published in print: Jan 1, 2023
Discussion open until: Mar 25, 2023
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