Volume 42 Issue 2
Apr.  2024
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ZHANG Lu, ZHANG Zhaolei, LIU Zhizhen, TANG Feng. A Stability Analysis of Mixed Traffic Flows Considering Communication Delay of Connected and Autonomous Vehicles[J]. Journal of Transport Information and Safety, 2024, 42(2): 95-104. doi: 10.3963/j.jssn.1674-4861.2024.02.010
Citation: ZHANG Lu, ZHANG Zhaolei, LIU Zhizhen, TANG Feng. A Stability Analysis of Mixed Traffic Flows Considering Communication Delay of Connected and Autonomous Vehicles[J]. Journal of Transport Information and Safety, 2024, 42(2): 95-104. doi: 10.3963/j.jssn.1674-4861.2024.02.010

A Stability Analysis of Mixed Traffic Flows Considering Communication Delay of Connected and Autonomous Vehicles

doi: 10.3963/j.jssn.1674-4861.2024.02.010
  • Received Date: 2023-12-27
    Available Online: 2024-09-14
  • In traffic systems, minor disturbances can significantly destabilize traffic flow and cause vehicles to exhibit frequent start-stop problem. This study aims to identify disturbance suppression techniques for mixed traffic flows, taking into account the issue of communication delay of connected and autonomous vehicle (CAV). To study the influence mechanism of vehicle communication on the stability of mixed traffic flows, a comprehensive analysis of multiple factors such as the delay of communication among CAV, the market penetration of CAV and the platooning intensity is conducted. Considering the impact of maximum size of CAV platooning, a stability analysis model of mixed traffic flows is constructed based on Markov chain, which can derive the generation probability of different headway types. On such basis, the stability identification formula of mixed traffic flows is developed to analyze the stable speed range under different conditions. In order to improve the efficiency of communication among CAV, the roadside units are used to transmit information. According to the different directions of vehicle-road communication, the communication process is divided into uplink communication from vehicle-to-road and downlink communication from road-to-vehicle. Next, the communication delay estimation model under low traffic density is developed, based on which the communication delay under different CAV penetrations and its platooning intensities to analyze its impact on traffic flow stability. To validate the analytical results, simulation experiments of disturbance evolution are conducted. The results indicate that: ①The market penetration of CAV and its platooning intensity are beneficial to the stability of mixed traffic flow. ② Communication delay has a negative impact on the stability of mix traffic flow. In detail, the delay decreases with the increase of the market penetration of CAV and its platooning intensity, the coverage of roadside units and CAVs'communication radius.③ When the maximum size of CAV platoon equaling 6 and the steady speed of mixed flow travels equaling 25 m/s, only when the market penetration of CAV reaches 60% or its platooning intensity is greater than 0.5, can the delay be less than 0.3 s and the disturbance

     

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