Modeling And Simulation Of Mixed Traffic Flow Of Connected And Autonomous Vehicle And Human Driving Vehicle

With the development of automobile technology,mobile Internet and automatic driving technology are becoming more and more mature,Connected and autonomous vehicles(CAV)have also developed rapidly.With the CAV coming into use,it will have a great impact on the existing road traffic.Therefore,it is very necessary to simulate the mixed traffic flow of CAV and Human driving vehicles(HV).This paper is based on this background,mainly studies the new mixed traffic flow of CAV and HV,establishes a multi-lanes mixed traffic flow model based on CA,analyzes the complex characteristics of the new mixed traffic flow through computer simulation,and provides a theoretical basis for the formation driving of CAV and lane management.The main work of this paper is as follows:(1)Considering the difference between CAV and HV,and the fact that CAV can travel in formation,a two lanes mixed traffic flow model of CAV and HV based on CA is established,and the characteristics of the new mixed traffic flow are analyzed by computer simulation.By setting the time interval of different CAV,the length of the CAV fleet,and the safety interval between the vehicles of CAV fleet,the influence of these factors on the traffic flow of single CAV is analyzed;Then,by changing the proportion of CAV in the mixed flow,the influence on the mixed traffic flow of CAV and HV is analyzed;The simulation results show that the CAV can greatly improve the road capacity and reduce the average energy consumption of the vehicle.(2)Considering that there are not only cars but also trucks in real traffic,based on the two lanes mixed traffic flow model of CAV and HV,this paper introduces Connected and autonomous trucks(CAT)and Human driving trucks(HT).Based on the analysis of truck appearance and driving characteristics,the lane changing rules of trucks are formulated.First of all,consider the mixed situation of CAT and HV.The simulation results show that the CAT can improve the road traffic conditions and reduce the average energy consumption of HV in a certain range;Then,the mixed situation of CAV,CAT,HV and HT is studied.The simulation results show that only increasing the proportion of CAV and CAT can increase traffic flow and reduce vehicle energy consumption.Only increasing the proportion of CAT and HT will worsen road traffic operation and increase energy consumption.(3)Based on CA,a three-lanes mixed traffic flow model is established by introducing the management strategy of exclusive lanes for CAV.The influence of exclusive lanes on mixed traffic flow is studied by setting different numbers of exclusive lanes,so as to formulate different road management strategies for different traffic compositions and maximize road traffic capacity.