A cellular automaton model for mixed traffic flow considering the size of CAV platoon

Abstract

In the environment of intelligent connected vehicles, the mixed traffic flow consisting of human-driven vehicles (HDVs), connected and automated vehicles (CAVs), and their platoons will coexist for a long time. Exploring and discovering the operational rules of mixed traffic flow is the foundation for its management and control. This study delves into the distinct characteristics of various vehicles within a mixed traffic environment, particularly focusing on HDVs, CAVs, and CAV platoons. Drawing on the psychological predisposition of HDVs to maintain a prudent following distance, we introduce a discrete motion safety distance model to establish the longitudinal movement rule for HDVs. Furthermore, a longitudinal movement rule for CAVs is established based on their ability to keep a constant headway using Adaptive Cruise Control (ACC) and Cooperative Adaptive Cruise Control (CACC), alongside meeting specific speed and spacing criteria for platoon movement. On this basis, the paper proposes a cellular automaton model for single-lane mixed traffic flow that accounts for CAV platoon length and the decision-time disparity between HDVs and CAVs. The simulation results show that an increased proportion of CAVs can enhance the traffic capacity, elevate average speed, extend average platoon length, and reduce the congestion ratio and CACC degradation rate. Notably, in scenarios where the CAV proportion p > 0.7, the flow-density graph shows a trapezoidal shape, with the majority of CAVs in the traffic flow synchronizing their movements in CACC mode. Even when vehicular density surpasses the optimum threshold, the traffic flow maintains high-speed operation until reaching a critical congestion point, whereupon velocities precipitously decline. Through sensitivity analysis aimed at understanding the impact of maximum platoon length, it has been observed that, for CAV proportions below 0.7, variations in maximum platoon length negligibly impact traffic capacity, velocity, CACC degradation, and congestion levels. Only in scenarios dominated by CAVs does extending platoon length restrictions significantly enhance performance. However, as the maximum platoon length increases, the gains in traffic capacity, speed, CACC degradation rate, and congestion ratio diminish. When the platoon length of CACC exceeds a certain threshold, there will not be a significant improvement in traffic capacity or speed.