Setting Strategy For CAV Exclusive Entrance Lane At Intersections Considering Drivers’ Car-following Psychological Characteristics

With the continuous development of technologies related to Connected and Automated Vehicle(CAV),it will co-exist with Human-driven Vehicle(HDV)in the road for a long time.Therefore,the right-of-way allocation for different types of vehicles will be faced with two options: CAV and HDV mixed driving or setting CAV exclusive lanes.The reduced efficiency and elevated emissions generated by traffic congestion are more severe at signalized intersections than on urban roads and highways.Therefore,the key to improve the efficiency and reduce the emission of the intersection is to find the most suitable conditions for the setting of the intersection CAV exclusive entrace lane and the control measures of CAV in the mixed traffic flow through reasonable right-of-way allocation of the CAV.In this paper,the characteristic difference of HDV following CAV and HDV was analyzed based on the three representative parameters of gap,velocity and acceleration through the real vehicle comparison experiment of starting following at signalized intersection.It is found that drivers with different confidence degrees in CAV have different following behaviors when following CAV and HDV.According to this,they can be divided into CAV believers(HDVB),CAV doubters(HDVD)and neutral-opinion-hold drivers(HDVN).Then,on the basis of FVD model,F-HDV and F-CAV following models were established considering the heterogeneity of driver’s confidence degree in CAVs,and model calibration was carried out according to the measured data.Secondly,a comparison experiment was designed between the intersection setting and not setting the CAV exclusive entrance lane.The simulation experiment adopted emission and efficiency as the common optimization objective,and considered the influence of CAV’s penetration rate,vehicle arrangement mode,traffic volume and signal timing.When CAV’s penetration rate changes,the proportion of HDVB,HDVD and HDVN in HDV can be divided into three conditions: the same proportion,all HDVB and all HDVD.Finally,based on the results of simulation experiments,this paper proposes a CAV right-of-way allocation strategy including the setting conditions of CAV exclusive entrace lane and the CAV control measures of mixed traffic flow.The CAV’s penetration rate conditions are as follows: when the proportion of three HDVS is the same,the CAV exclusive entrance lane should be set when the CAV’s penetration rate is greater than or equal to 50%.When all drivers believe CAV,the CAV exclusive entrance lane should be set when the CAV’s penetration rate is greater than or equal to 70%.When all drivers doubt CAV,the CAV exclusive entrance lane should be set when the CAV’s penetration rate is greater than or equal to 40%.The signal timing conditions correspond to the three CAV’s penetration rate conditions under different traffic volumes,so as to avoid the mismatch between traffic volumes and road resources caused by the setting of CAV exclusive entrace lane when the traffic volume is larger.The traffic flow control measures are to make the CAVs gather in the platoon and gather in front of the platoon.The implementation of the two kinds of right-of-way allocation strategies can improve system efficiency and reduce system emissions in the stages of setting and not setting the CAV exclusive entrace lane.The CAV right-of-way allocation strategy proposed in this paper solves the difficult problem that there is no consistent conclusion in setting vs.not setting CAV exclusive lane.The research results can provide references for right-of-way allocation and collaborative management control at signalized intersections in different CAV’s penetration rate and recognition stages.The F-CAV following model can also provide a model basis for microsimulation of mixed traffic flow composed of HDV and CAV.