Heterogeneous traffic flow of expressway with Level 2 autonomous vehicles considering moving bottlenecks

Abstract

With the development of autonomous driving technology, autonomous vehicles (AV) will gradually replace human-driven vehicles (HDV), but it will still be a mixed traffic flow of autonomous vehicles with different levels of automation for a long time. In addition to cars, trucks regarded as moving bottleneck are also an important part of traffic flow of expressway. In this paper, the elimination rule of moving bottleneck is introduced into the traffic flow model, and the improved hybrid traffic flow cellular automata model is proposed. Next, through numerical simulation, the existence and influence of moving bottleneck caused by heavy duty trucks are hypothesized and verified. The simulation results show that with the proportion of trucks increases, the influence range of moving bottleneck expands, resulting in the decrease of capacity and traffic congestion. Then, the impact of Level 2 autonomous vehicles (hereinafter referred to as L2 AVs) on the traffic flow of moving bottlenecks is explored. The simulation results show that with the proportion of L2 AVs increases, traffic capacity increases, and traffic congestion ratio at medium and high density decreases. Under medium density, the average velocity fluctuates greatly, while under high density, the average velocity decreases due to limitation of density. In summary, L2 AVs can alleviate influence of moving bottlenecks, increase traffic capacity, improve traffic congestion, and lift road safety. The cellular automata model of traffic flow including moving bottleneck proposed in this paper is based on the actual road situation, considering the fact that most of autonomous vehicles on the expressway currently are L2 AVs, and moving bottleneck is mainly caused by heavy trucks. This research contributes to an in-depth analysis of L2 AVs on heterogeneous traffic flows under moving bottleneck environment.