Mixed Traffic Flow Dynamics of Connected Autonomous Vehicles and Conventional Vehicles: Relation between Flow Destabilization and Vehicle Clustering

Abstract

Based on a cellular automaton model, the trade-off between an increase in flow and a destabilization of mixed traffic comprising connected autonomous vehicles (CAVs) and human-driven vehicles (HDVs) were elucidated from the perspective of cluster dynamics. CAVs behave synchronously with multiple CAVs ahead via communication, while HDVs travel based on a single vehicle traveling immediately ahead. CAVs clustered, whereas HDVs formed congested flow beyond the critical density. As the CAV penetration rate increases and/or the connection range expands, the flow rate increases by cluster size expansion. On the other hand, HDV’s congestion induced the velocity fluctuation of the CAV cluster.