Connected Vehicle Penetration Research Articles

Signal control for overflow prevention at intersections using partial connected vehicle data

Various signal control methods assumed that the bottleneck capacity and traffic volume are known. However, both may be unknown in nonrecurrent congestion cases, such as traffic accidents. In this study, a signal control optimisation method is developed for overflow prevention considering unknown traffic volume and bottleneck dropped capacity. The proposed method predicts remaining space at the junction exits and arrival–departure curves using partial connected vehicle data. Subsequently, the signal control is reallocated using the model predictive control technique. The results of case study show that the model is valid to prevent overflow when the connected vehicle penetration rate exceeds 10%. The average delay of the proposed method is reduced by 48.56% and 24.49% compared with those of the adaptive signal control method considering the queue length of only the approach lanes and that considering the queue lengths of both the approach and exit lanes but without prediction, respectively.

Traffic state estimation from vehicle trajectories with anisotropic Gaussian processes

Accurately monitoring road traffic state is crucial for various applications, including travel time prediction, traffic control, and traffic safety. However, the lack of sensors often results in incomplete traffic state data, making it challenging to obtain reliable information for decision-making. This paper proposes a novel method for imputing traffic state data using Gaussian processes (GP) to address this issue. We propose a kernel rotation re-parametrization scheme that transforms a standard isotropic GP kernel into an anisotropic kernel, which can better model the congestion propagation in traffic flow data. The model parameters can be estimated by statistical inference using data from sparse probe vehicles or loop detectors. Moreover, the rotated GP method provides statistical uncertainty quantification for the imputed traffic state, making it more reliable. We also extend our approach to a multi-output GP, which allows for simultaneously estimating the traffic state for multiple lanes. We evaluate our method using real-world traffic data from the Next Generation simulation (NGSIM) and HighD programs, along with simulated data representing a traffic bottleneck scenario. Considering current and future mixed traffic of connected vehicles (CVs) and human-driven vehicles (HVs), we experiment with the traffic state estimation (TSE) scheme from 5% to 50% available trajectories, mimicking different CV penetration rates in a mixed traffic environment. We also test the traffic state estimation when traffic flow information is obtained from loop detectors. The results demonstrate the adaptability of our TSE method across different CV penetration rates and types of detectors, achieving state-of-the-art accuracy in scenarios with sparse observations.

Impact of Driver Compliance and Aggressiveness in Connected Vehicles on Mixed Traffic Flow Efficiency: A Simulation Study

Connected vehicles (CVs) are becoming increasingly prevalent in today’s transportation systems, and understanding their behavior in mixed traffic flow is crucial for enhancing traffic efficiency and safety. This paper presents a comprehensive study investigating the impact of CV drivers’ compliance and aggressiveness on mixed traffic flow through simulation experiments. The unique contribution of this research lies in the adoption of a clustering method to classify CV drivers’ compliance and aggressiveness based on trajectory data captured by Unmanned Aerial Vehicles (UAVs). This approach allows for the accurate calibration of car-following and lane-changing models, surpassing previous methodologies. The study outlines two primary methods: the intelligent driver model (IDM) with driver compliance (CVs-IDM) and the lane-change 2013 model with drivers’ style. These methods are applied to simulate various scenarios of mixed traffic flow, considering different CV penetration rates and driver types. The pivotal findings reveal that higher CV penetration rates lead to reduced traffic flow disturbance, improved safety, and enhanced efficiency. Specifically, CV drivers exhibiting high compliance and normal aggressiveness demonstrate optimal performance in terms of disturbance reduction, safety, and overall efficiency. This research offers valuable insights for policymakers and practitioners. It recommends increasing the CV penetration rate in mixed traffic flow to enhance overall efficiency. Moreover, selecting the appropriate CV driver type based on the penetration rate can further optimize traffic flow, positively impacting transportation systems and promoting safer and more efficient mixed traffic environments.

Integrating variable speed limit and ramp metering to enhance vehicle group safety and efficiency in a mixed traffic environment

The integrated variable speed limits and ramp metering (VSL-RM) strategy is a useful method to avoid crashes and alleviate congestion on expressways. Previous studies have mostly focused on specific roadway segments and optimized them with the single goal of efficiency or safety, which does not allow for a prompt response to high-risk moving vehicle groups to improve safety and efficiency. To reduce the crash and congestion risk of vehicle groups in real time, this study developed three VSL-RM strategies with different optimization objectives based on predicted risks in a mixed traffic flow environment including connected vehicles (CVs) and regular vehicles (RVs). Due to the different behaviors of CVs and RVs under the VSL-RM control strategy, a mixed traffic METANET model was introduced to predict traffic flow parameters, e.g., volume and speed. Furthermore, two risk prediction models were utilized to predict crash risk and congestion risk based on the traffic flow parameters predicted by the mixed-traffic METANET model. The objectives of the three VSL-RM strategies were to minimize the crash risk, congestion risk, and both crash and congestion risks of the vehicle groups, respectively. These strategies were evaluated using a well-calibrated micro-simulation network. The mixed flow METANET model and the risk prediction model were validated to be consistent with the simulated traffic flow. The results demonstrated that the three strategies could simultaneously improve safety and efficiency benefits in most scenarios. However, the safety-targeted strategy provided the highest safety benefits, while the efficiency-targeted strategy provided the highest efficiency benefits. The bi-objective strategy outperformed the other two strategies in balancing the benefits of safety and efficiency. Moreover, increasing the CV penetration rate resulted in higher benefits for all three strategies.

A cooperative longitudinal lane-changing distributions advisory for a freeway weaving segment

The lane-changing (LC) concentration problem in freeway weaving segments poses crash risks and reduces freeway efficiency. To address this issue, this paper proposes a cooperative longitudinal LC distribution (CLLCD) advisory for freeway weaving segments utilizing cooperative intelligent transport system technology. The weaving segment is divided into sections, and the CLLCD strategy distributes lane changes for each section using a general rule that allows easy calculation of each section’s CLLCD from the maximum permitted number of lane changes for different movements. A corresponding percentage of drivers in each section are then permitted to change lanes from the start of that section. The CLLCD strategy is evaluated for 27 scenarios with varying traffic demands. A sensitivity analysis is conducted to determine optimal parameters, and the performance of the proposed strategy is compared to other methods. This study also explores the working mechanism of the proposed approach using headway data and speed profiles. The effects of the section configurations and penetration rates of connected vehicles (CVs) are discussed. Simulation results show that this easy-to-apply strategy improves speed and delay as effectively as the heuristic algorithms-based strategy. The number of sections does not influence the CLLCD strategy’s performance when the maximum freeway-to-ramp lane changes per section and other parameters per 100 m remain constant. The delay in the weaving area decreases as the CV penetration rate increases; however, only marginal further improvements are observed when the penetration rate increases beyond 60%. This study provides a practical and effective solution to enhance weaving segments’ efficiency.

Field‐tested signal controller to mitigate spillover using trajectory data

AbstractTrajectory data from connected vehicles (CVs) provide a continuous and reliable means of obtaining information that can be leveraged to optimize traffic signals. This paper proposes a real‐time traffic signal control method using CV trajectory data as the sole input. The primary goal of the proposed signal control method is to prevent queue spillover, which may significantly decrease the traffic efficiency on urban networks and induce high delays to the travelers. The proposed method formulates the signal control problem via a linear quadratic optimization model, considering the constraints related to the duration and variability of green lights in practical traffic signal control systems. Compared to conventional max‐pressure‐based methods, the optimization model offers enhanced efficiency in handling these constraints, making it highly suitable for real‐life implementation. The proposed method has undergone testing in both simulated environments and real‐world applications. In the simulation experiments, the proposed method has been demonstrated to effectively reduce spillover risks and outperform a conventional max‐pressure‐based approach even when the CV penetration rate is as low as 5%. In the real‐world experiment, the proposed method had been tested in a traffic network around the Beijing Capital International Airport for several months. The severity of spillovers, which was represented by two performance indicators, had been significantly reduced after implementing the proposed method.

Traffic safety performance evaluation in a connected vehicle environment with queue warning and speed harmonization applications

With the increased adoption of connected vehicle (CV) technologies, safety information is becoming increasingly available to drivers. This study investigates three main questions (1) Do CV-based traffic management applications improve safety on roadways with existing infrastructure-based traffic management systems? (2) Can combining two CV technologies have a greater impact on safety than a single CV technology? and (3) Do geometric and traffic composition factors impact the efficiency of CV technologies? We applied a rarely-used CV dataset and conducted a comprehensive simulation analysis of varying conditions and CV penetration rates that studies have not considered. Two CV applications (queue warning and speed harmonization) implemented in the Intelligent Network Flow Optimization experiment in Seattle, WA were evaluated. Results showed that driver safety performance, based on speed metrics (standard deviation and percentage of extreme values) improved under the CV driving conditions. Combining conventional variable speed limit systems with queue warnings also improved safety for CV drivers. Furthermore, the implementation of a single CV application (queue warning) showed positive changes in the aforementioned speed metrics, congestion mitigation, and reduced conflicts. With the two CV applications combined, no significant differences were observed. Additional tests investigated the impacts of lane changes and roadway attributes on safety in the CV environment.

Research on the Platoon Speed Guidance Strategy at Signalized Intersections in the Connected Vehicle Environment

The development of connected vehicle (CV) technology has created conditions for improving the traffic efficiency of intersections and provided support for more effective speed guidance at signalized intersections. First, this paper proposes a platoon speed guidance strategy to reduce the fuel consumption and delay of the platoon passing through the intersection and smooth traffic oscillation, which includes constant speed guidance, deceleration guidance, acceleration guidance, and stop guidance. Then, the optimal speed calculation method is designed, including the calculation of the platoon’s passable period and maximum number of passing vehicles, the platoon restructure method, the analysis of the trajectory of the vehicles, and the calculation of the optimal trajectory of the platoon based on the goal of minimum fuel consumption and delay. Finally, eight different intersection scenarios are designed to simulate the proposed platoon speed guidance strategy. The results show that the platoon speed guidance strategy can effectively reduce the fuel consumption and delay of the platoon passing through the intersection and smooth traffic oscillation. In addition, the influences of queue length and CV penetration rate on the platoon speed guidance strategy are also discussed. The results show that when the queue length affects the passable period, the improvement in fuel consumption, drive time, and delay will decrease as the queue length increases. And as the penetration rate increases, the strategy becomes increasingly effective in reducing the delay and fuel consumption of the platoon in general.

Uncertainty Estimation of Connected Vehicle Penetration Rate

Knowledge of the connected vehicle (CV) penetration rate is crucial for realizing numerous beneficial applications during the prolonged transition period to full CV deployment. A recent study described a novel single-source data penetration rate estimator (SSDPRE) for estimating the CV penetration rate solely from CV data. However, despite the unbiasedness of the SSDPRE, it is only a point estimator. Consequently, given the typically nonlinear nature of transportation systems, model estimations or system optimizations conducted with the SSDPRE without considering its variability can generate biased models or suboptimal solutions. Thus, this study proposes a probabilistic penetration rate model for estimating the variability of the results generated by the SSDPRE. An essential input for this model is the constrained queue length distribution, which is the distribution of the number of stopping vehicles in a signal cycle. An exact probabilistic dissipation time model and a simplified constant dissipation time model are developed for estimating this distribution. In addition, to improve the estimation accuracy in real-world situations, the braking and start-up motions of vehicles are considered by constructing a constant time loss model for use in calibrating the dissipation time models. VISSIM simulation demonstrates that the calibrated models accurately describe constrained queue length distributions and estimate the variability of the results generated by the SSDPRE. Furthermore, applications of the calibrated models to the next-generation simulation data set and a simple CV-based adaptive signal control scheme demonstrate the readiness of the models for use in real-world situations and the potential of the models to improve system optimizations. Funding: This work was supported by The University of Hong Kong [Francis S Y Bong Professorship in Engineering and Postgraduate Scholarship] and by the Council of the Hong Kong Special Administrative Region, China [Grants 17204919 and 17205822]. Supplemental Material: The online appendices are available at https://doi.org/10.1287/trsc.2023.1209 .

Boundary Guidance Strategy and Method for Urban Traffic Congestion Region Management in Internet of Vehicles Environment

Accelerated urbanization has increased regional traffic congestion. To alleviate traffic congestion in a homogeneous road network, combined with the advantage of real-time traffic information obtained by the Internet of Vehicles (IoVs), a boundary guidance strategy for traffic congestion region is proposed. The strategy considers the optimal operation state of traffic congestion region and is divided into two categories according to different destinations of traffic demands. Meanwhile, a method for the boundary guidance strategy is presented in which the macroscopic fundamental diagram (MFD) is used to determine the optimal accumulation, a traffic flow equilibrium model is established to calculate the real-time accumulation, and a fuzzy adaptive PID control algorithm is designed to calculate the optimal traffic inflow of the traffic congestion region. Furthermore, an example is selected for simulation. The results show that the boundary guidance strategy can effectively improve the operational state of the road network and alleviate traffic congestion. Finally, the influence of connected vehicle penetration rate on the strategy is discussed. The simulation results show that the strategy can improve the operation state of the road network under mixed traffic flow, and the higher the penetration rate, the more significant its effect on alleviating traffic congestion.

Deep Reinforcement Learning for Vehicle Platooning at a Signalized Intersection in Mixed Traffic with Partial Detection

The intersection management system can increase traffic capacity, vehicle safety, and the smoothness of all vehicle movement. Platoons of connected vehicles (CVs) use communication technologies to share information with each other and with infrastructures. In this paper, we proposed a deep reinforcement learning (DRL) model that applies to vehicle platooning at an isolated signalized intersection with partial detection. Moreover, we identified hyperparameters and tested the system with different numbers of vehicles (1, 2, and 3) in the platoon. To compare the effectiveness of the proposed model, we implemented two benchmark options, actuated traffic signal control (ATSC) and max pressure (MP). The experimental results demonstrated that the DRL model has many outstanding advantages compared to other models. Through the learning process, the average waiting time of vehicles in the DRL method was improved by 20% and 28% compared with the ATSC and MP options. The results also suggested that the DRL model is effective when the CV penetration rate is over 20%.

Developing and evaluating a coordinated person-based signal control paradigm in a corridor network

ABSTRACT Connected Vehicles (CVs) provide both vehicle trajectory data and occupancy information to the junction controller, which make person-based signal controls to be possible by realizing the importance of reducing person delay. This study presents a coordinated person-based signal control algorithm (C-PBC), which has extended a previously developed approach from isolated junctions to multiple junctions. C-PBC incorporates vehicle information that is outside the CV communication range from the adjacent junction. It also updates data inputs for signal optimization algorithms based on formulated different arrival vehicle trajectory situations and coordinated data supplement algorithms. The developed algorithm has been evaluated using simulation with benchmarking signal control methods under a variety of scenarios involving CV penetration rates and predictive horizons. The results indicate that C-PBC is able to significantly improve person delay reduction when compared with fixed time control and vehicle-based control using CV data in 100% CV penetration rate under saturated flow conditions.

Real-Time Incident-Responsive Signal Control Strategy under Partially Connected Vehicle Environment

The performance of the traffic system can drastically drop when nonrecurrent congestion caused by incidents occurs. Early detection and clearing of traffic incidents will enable the mitigation of the congestion and early restoration of normal traffic conditions. The research in this paper utilized the vehicle information from the recent technological advancement in transportation systems, connected vehicles (CV), and loop-detector information for nonconnected vehicles (NCVs) and developed a novel algorithm to (1) control traffic signals for normal traffic conditions in the absence of incidents, (2) detect traffic incidents using CV/NCV information, and (3) control traffic signals during the occurrence and dissipation of incidents. All the 3 strategies were integrated into one algorithm, which runs as per the real-time traffic conditions, in the presence or absence of incidents. Space-mean speeds of the vehicles on nonincident lanes and throughput maximization criteria were taken as the indicators for the activation of specific signal timings directed at the incident-affected approach. Diverse incident scenarios were tested on a four-legged isolated intersection using the VISSIM simulation tool. Incident detection results showed a higher detection rate and lower mean detection time at higher CV penetration and higher traffic volumes, and at the incident locations nearer to the stop-line. The proposed incident-responsive signal control strategy at 40% and higher CV penetration showed better performance over EPICS adaptive signal control solution, in reducing average travel time delay and the average number of stops per vehicle.

Developing the Dynamic Bus Lane Using a Moving Block Concept

Existing dynamic bus lanes (DBLs) typically use a fixed and long blocking space to guarantee bus priority, leading to a conflict between bus priority and traffic capacity. This study proposes an innovative approach in a connected-vehicle (CV) environment, called dynamic bus lane with moving block (DBLMB). The length of the moving block can be adjusted with the bus speed in real time, aiming to ensure bus priority with fewer road resources, thus improving traffic capacity. A three-lane cellular automata model is established to evaluate DBLMB in comparison with two other strategies, bus lane without priority and bus lane with intermittent priority (BLIP). First, the benefits of DBLMB over the established DBLs are analyzed qualitatively by the macroscopic fundamental diagram. Next, simulation experiments are conducted to compare the coordination between bus priority and capacity under different strategies. Then, the impact of DBLMB on microscopic traffic flow is investigated through evaluation indicators including lane density, lane speed, lane-changing frequency, and travel speed. Finally, the sensitivity of bus delay and traffic capacity to CV penetration is discussed. The results show that: (1) the capacity of a three-lane road adopting DBLMB strategy can be stabilized above 5200 passenger car units per hour (pcu/h) when the bus departure interval is higher than 60 s and the expected level of service is below B. (2) With 100%, 80%, 60%, 40%, and 20% of CV penetration, DBLMB improves the average capacity of the road by 523 pcu/h compared with BLIP, with only an incremental bus delay of 6.43 s per vehicle.

Connected vehicles at single lane roundabouts and its performance evaluation

Connected vehicles (CVs) have led to innovative changes in the transportation field. In this wise, an extended CA model was established incorporating the CVs and regular vehicles to investigate a roundabout traffic flow under the open boundary condition. The throughput and the phase diagrams of the system in the ([Formula: see text]) area is constructed in both cases: with and without CVs. The density profile and the capacity are also calculated. The simulation findings show that CVs presentation changes the traffic dynamics, enhancing roundabout capacity in accordance with the CVs penetration rate. Furthermore, it is found that roundabout size plays a dominant role in its performance where it suggests that the midsized roundabouts operate more optimally. Another relevant aspect is the short sized of Splitter Island shows a better performance. Moreover, the traffic dynamics is negatively (resp. positively) correlated to the probability of displaying indicator [Formula: see text] as well as the probability of aggressive driving behavior of regular vehicles (resp. the cooperation probability [Formula: see text]).

CVLight: Decentralized learning for adaptive traffic signal control with connected vehicles

This paper develops a decentralized reinforcement learning (RL) scheme for multi-intersection adaptive traffic signal control (TSC), called “CVLight”, that leverages data collected from connected vehicles (CVs). The state and reward design facilitates coordination among agents and considers travel delays collected by CVs. A novel algorithm, Asymmetric Advantage Actor-critic (Asym-A2C), is proposed where both CV and non-CV information is used to train the critic network, while only CV information is used to execute optimal signal timing. Comprehensive experiments show the superiority of CVLight over state-of-the-art algorithms under a 2-by-2 synthetic road network with various traffic demand patterns and penetration rates. The learned policy is then visualized to further demonstrate the advantage of Asym-A2C. A pre-train technique is applied to improve the scalability of CVLight, which significantly shortens the training time and shows the advantage in performance under a 5-by-5 road network. A case study is performed on a 2-by-2 road network located in State College, Pennsylvania, USA, to further demonstrate the effectiveness of the proposed algorithm under real-world scenarios. Compared to other baseline models, the trained CVLight agent can efficiently control multiple intersections solely based on CV data and achieve the best performance, especially under low CV penetration rates.

Queue Length Estimation for Signalized Intersections under Partially Connected Vehicle Environment

Queue length is a crucial measurement of traffic signal control at urban intersections. Conventional queue length estimation methods mostly still rely on fixed detectors. The development of connected vehicles (CV) provides massive amounts of vehicle trajectory data, and the queue length estimation based on CV data has received considerable attention in recent years. However, most existing CV-based methods require the prior knowledge of the penetration rate of CV and vehicle arrivals, but the estimation of these prior distributions has not been well studied. To address this issue, this paper proposes a cycle-based queue length estimation method under partially connected vehicle (CV) environment, with the prior vehicle arrivals being unknown. The empirical Bayes method is adopted to estimate the arrival rate by leveraging the observed queued CV information such as the number and positions. The hyperparameter estimation problem of the prior distribution is solved by the maximum likelihood estimation (MLE) method. To validate the proposed queue length estimation method, a simulation environment with partially connected vehicles is established using VISSIM and Python for data generating. The results in terms of normalized mean absolute errors (NMAE) and normalized root mean square errors (NRMSE) show that the proposed method could produce accurate and reliable estimated queue length under various CV penetration rates.

A Deep Learning Based Traffic State Estimation Method for Mixed Traffic Flow Environment

Traffic state estimation plays a fundamental role in traffic control and management. In the connected vehicles (CVs) environment, more traffic-related data perceived and interacted by CVs can be used to estimate traffic state. However, when there is a low penetration rate of CVs, the data collected from CVs would be inadequate. Meanwhile, the representativeness of the collected data is positively correlated with the penetration rate. This article presents a traffic state estimation method based on a deep learning algorithm under a low and dynamic CVs penetration rate environment. Specifically, we design a K-Nearest Neighbor (KNN) data filling model integrating acceleration data to solve the problem of insufficient data. This method can fuse the time feature of speed by acceleration modification and mine the distribution features of speed by KNN. In addition, to reduce the estimation error caused by penetration rate, we design a Long Short-Term Memory (LSTM) model, which uses penetration rate estimated by Macroscopic Fundamental Diagram (MFD) as one of the input factors. Finally, we use the concept of operational efficiency for reference, dividing traffic state into three categories according to the estimated speed: free flow, optimal flow, and congestion. SUMO is used to simulate traffic cases under different penetration rates to evaluate our scheme. The results suggest that our data filling model can significantly improve filling accuracy under a low penetration rate; there is also a better performance of our estimation model than that of other comparison models in both low and dynamic penetration rates.

Motorway Bottleneck Probability Estimation in Connected Vehicles Environment Using Speed Transition Matrices.

Increased development of the urban areas leads to intensive transport service demand, especially on urban motorways. To increase traffic flow and reduce congestion, motorway traffic bottlenecks caused by high traffic demand need to be efficiently resolved using Intelligent Transport Systems services. Communication technology development that supports Connected Vehicles (CVs), which act as an active mobile sensor for collecting traffic data, provides an opportunity to harness the large datasets to develop novel methods regarding traffic bottlenecks detection. This paper presents a speed transition matrix based model for bottleneck probability estimation on motorways. The method is based on the computation of the speed at the vehicle transition point between consecutive motorway segments, which forms a traffic pattern that is represented using transition matrices. The main feature extracted from the traffic patterns was the center of mass, whose position is used as an input to the fuzzy-based system for bottleneck probability estimation. The proposed method is evaluated on four different simulated motorway traffic scenarios: (i) traffic collision site, (ii) short recurring bottleneck, (iii) long recurring bottleneck, and (iv) moving bottleneck. The method achieves comparable bottleneck detection results on every scenario, with a total accuracy of 92% on the validation dataset. The results indicate possible implementation of the method in the motorway traffic environment with a high CVs penetration rate using them as the sensory input data for the control systems based on the machine learning algorithms.

Optimal roadside units location for path flow reconstruction in a connected vehicle environment

The path flow reconstruction problem is used to determine the minimum set of links that must be equipped with traffic monitoring devices to identify vehicle paths in a road network. This study addresses the path flow reconstruction problem in a connected vehicles (CVs) environment. Unlike traditional sensors that can observe both CVs and non-connected vehicles (NCVs), CV-enabled infrastructures, known as roadside units (RSUs), can only identify CVs on roads through vehicle to infrastructure (V2I) communications. They can, however, provide critical traffic information, including traces of the historical trajectories of CVs and possibly the desired path to a destination, thereby inferring partial information on links that are not directly covered by RSUs. RSUs have an “area” rather than a “point” coverage capability. This allows them to simultaneously monitor more than one link. We mathematically developed four variant formulations for the path flow reconstruction problem to optimally locate either a network’s RSU or a mix of the network’s RSUs and automatic vehicle identification (AVI) sensors. The first two models assume 100% market penetration of CVs and the first model determines the links that should be directly covered by RSUs in a road network. While the desired path to a destination is assumed to be unknown. This model determines an upper bound for the number of RSUs required to fully reconstruct path flows by using each RSU to directly cover a link. To consider the coverage and range of the RSU (where RSU can cover more than one link) and to minimize the total cost, Model II optimizes the locations of traditional AVI sensors and RSUs. This allows the model to capitalize on the RSUs’ area and indirect coverage features to fully reconstruct path flow in a road network. Model III considers the gradual deployment of CVs and thus the prevailing mixed traffic environment consisting of both CVs and NCVs. Accordingly, this model relaxes the assumption of a 100% penetration rate of CVs and maximizes the path flow information gain subject to a budget constraint in a mixed traffic environment. Finally, Model IV explores the infrastructure to infrastructure (I2I) communication capability among RSUs, further maximizing the traffic flow information gain of CVs while guaranteeing full path flow reconstruction. The results suggest that fewer RSUs than AVI sensors are required to reach full path flow reconstruction in a road network. The level of unique path flow information obtained from RSUs is also considerably higher than what can be obtained from AVI sensors. It is demonstrated that, in mixed traffic conditions, the coverage range of RSUs and their cost compared to AVI sensors can significantly affect the deployment of either type of sensing devices for maximized path flow information gain.