Research On Mixed Traffic Performance And Vehicle Energy Consumption Under Different Intelligent And Connected Vehicles Market Penetration Rates

Intelligent and connected vehicles have considerable potential in improving traffic efficiency.However,the full marketization of intelligent and connected vehicles requires a process.The mixed traffic scenario composed of human-driven vehicles and intelligent and connected vehicles will exist for a long time,and it is of practical significance and engineering value to research in the field of mixed traffic.Most of the research on mixed traffic problems is aimed at specific car-following models or vehicle platoon control,lacking a systematic modeling analysis framework,and it is difficult to analyze and sort out the mixed traffic performance under the coexistence of multiple car-following type units.Based on this situation,this paper proposes a systematic modeling method that comprehensively considers the ratio of car-following type units and the performance of car-following type units to study the stability of mixed traffic flow and vehicle energy consumption problem under different intelligent and connected vehicles market penetration rates.Firstly,this paper establishes a general mathematical model of human-driven vehicles and intelligent and connected vehicles for the mixed traffic problem in the single-lane straight road scenario,and then adopts the idea of comprehensively considering the proportion of car-following type units and the performance of car-following type units.A systematic framework for the analysis of mixed traffic problems is presented,which provides a basis for systematic analysis of mixed traffic flow performance under different intelligent and connected vehicle market penetration rates.Secondly,based on the proposed system architecture,this paper uses the transfer function infinite norm theory to analyze the stability of mixed traffic flow and vehicle energy consumption under different intelligent and connected vehicle control strategies.The control strategy specifically includes three types:adaptive cruise control(ACC),cooperative adaptive cruise control(CACC),and connected cruise control(CCC).The main conclusions are as follows:1)The stability of mixed traffic flow has nothing to do with the parameter k_d of the ACC model,but only with k_p;2)The increase of the acceleration feedback control coefficient k_a and the car-following time headway t_h in the CACC control strategy can improve the stability of the mixed traffic flow.3)The MCCC strategy in the CCC control strategy performs best in stabilizing mixed traffic flow;4)When the penetration rate of intelligent and connected vehicles reaches a certain percentage,the entire transportation system can remain stable at any steady-state speed.Thirdly,this paper analyzes the controllability of the mixed vehicle platoon system in the connected cruise control(CCC)strategy.Using the method of system matrix partitioning,it is concluded that the vehicles in front of the intelligent and connected vehicle in the mixed vehicle platoon system are not controllable,the intelligent and connected vehicle and the vehicles behind it can be controlled only when the inequation conditions are established.Based on this conclusion,this paper designs the LQR optimal controller for a mixed vehicle platoon system and focuses on the analysis of the controller performance.Finally,this paper compares and analyzes the performance of the mixed transportation system under different intelligent and connected vehicle control strategies.Based on the proposed integrated analysis method of car-following unit ratio and car-following unit performance,the energy consumption problem of mixed traffic is further focused on the energy consumption of the car-following unit,it is concluded that the vehicle energy consumption under various intelligent and connected vehicle control strategies is roughly the same.