CAV mixed traffic flow characteristics considering feedback from multiple preceding vehicles

doi:10.3785/j.issn.1008-973X.2025.08.024

Journal of ZheJiang University (Engineering Science)

2025, Vol. 59

Issue (8): 1767-1774 DOI: 10.3785/j.issn.1008-973X.2025.08.024

CAV mixed traffic flow characteristics considering feedback from multiple preceding vehicles

Qingchang LU(

),Xu MENG,Liping LIU,Yongquan REN,Shixin WANG

School of Electronics and Control Engineering, Chang’an University, Xi’an 710064, China

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Abstract

A key limitation in existing research, namely the neglect of the capability of connected and automated vehicle (CAV) was addressed in order to receive feedback from multiple preceding vehicles beyond direct physical constraints. An improved car-following model, termed I-CACC, was proposed by incorporating multi-predecessor information feedback in order to evaluate the impacts of varying CAV penetration rates and vehicle platoon configurations on mixed traffic flow stability and fundamental diagram property. The spacing differentials between multiple preceding vehicles and the subject vehicle were employed as a criterion to quantify influence weights. A platoon configuration model was developed based on platoon intensity and Markov chain theory. The platoon stability and fundamental diagram property of mixed traffic flow were simulated and analyzed. Results showed that the stability of the mixed traffic platoon was maximized when the CAV penetration rate reached 0.7 and the platoon intensity was 0.5. Stability deteriorated beyond these thresholds. The capacity of a pure CAV flow with multi-predecessor feedback increased by 3.09 times compared with that of a pure human-driven vehicle (HV) flow, whereas the improvement was limited to 2.36 times when adopting the conventional CACC model in pure CAV flow.

Key words： mixed traffic flow car following model platoon intensity stability fundamental diagram property

Received: 01 October 2024 Published: 28 July 2025

CLC:

U 491

Fund: 国家自然科学基金资助项目（52232012，72471035）.

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	Qingchang LU
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Cite this article:

Qingchang LU,Xu MENG,Liping LIU,Yongquan REN,Shixin WANG. CAV mixed traffic flow characteristics considering feedback from multiple preceding vehicles. Journal of ZheJiang University (Engineering Science), 2025, 59(8): 1767-1774.

URL:

https://www.zjujournals.com/eng/10.3785/j.issn.1008-973X.2025.08.024 OR https://www.zjujournals.com/eng/Y2025/V59/I8/1767

考虑多前车信息反馈的CAV混合交通流特性

针对当前研究忽略了CAV可跨物理限制接收多前车信息反馈特性的问题，建立考虑多前车信息反馈的I-CACC车辆跟驰模型，分析不同CAV渗透率及队列排列对混合交通流稳定性和基本图特性的影响. 构建I-CACC跟驰模型，采用多前车与主体车的间距差作为判定影响程度的标准. 基于排队强度和马尔科夫链理论，建立混合交通流的队列排列模型. 仿真分析混合交通流的队列稳定性和基本图特性. 结果表明，当CAV采用I-CACC模型，渗透率达到0.7以及队列排队强度为0.5时，混合交通流的队列稳定性最大；当渗透率大于0.7或队列排队强度大于0.5时，稳定性下降. 考虑多前车信息反馈的纯CAV交通流通行能力较纯HV流通行能力提高了3.09倍，相比于采用CACC模型的纯CAV交通流，这一提升仅为2.36倍.

关键词： 混合交通流, 跟驰模型, 排队强度, 稳定性, 基本图特性

Fig.1 Schematic diagram of information transfer process of I-CACC model

Fig.2 Schematic of queue arrangement under different queuing intensity

Fig.3 Change in F-value under different CAV permeability levels

Fig.4 Changes in

$\overline \mu $

-value under different permeability levels

Fig.5 Change in F-value under different platoon intensity

Fig.6 Change in

$\overline \mu $

-value under different platoon intensity

Fig.7 Overall stability change of mixed traffic flow

Fig.8 Flow-density map for CAV using CACC model

Fig.9 Flow-density map for CAV using I-CACC model

Tab.1 Fundamental diagram property of mixed traffic flow with different

${P_{\mathrm{C}}}$

Fig.10 Flow-density map for CAV using CACC model

Fig.11 Flow-density map for CAV using I-CACC model

Tab.2 Fundamental diagram property of mixed traffic flow with different PI


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