Stability of heterogeneous traffic considering impacts of platoon management with multiple time delays

Abstract

With the development of Connected Autonomous Vehicle (CAV), there will be a long-term heterogeneous traffic flow composed of Manual Vehicles (MVs) and CAVs on the road. Firstly, this study explores the traffic composition and distribution characteristics of heterogeneous traffic flow considering the limitation of communication range and CAV degradation. Secondly, we conduct a corresponding linear stability analysis for the heterogeneous traffic flow and introduce different types of time delays into the stability analysis framework. Thirdly, we verify theoretical derivation results through nonlinear numerical simulation. Finally, the influence of platoon management and time delays on the linear stability of heterogeneous traffic flow is explored. The results show that, at first, the stability of heterogeneous traffic flow deteriorates due to the involvement of CAV, and does not grow until the CAV market penetration rate reaches a certain threshold. In the speed range greater than 23.08 m/s, the heterogeneous traffic flow is constantly stable. Platoon management can significantly improve the linear stability of heterogeneous traffic flow with a high CAV market penetration rate, while time delays have a negative effect on the linear stability of heterogeneous traffic flow.