| Citation: | MA Qinglu, FU Baoyu, ZENG Haowei. Fundamental Diagram and Stability Analysis of Heterogeneous Traffic Flow in a Connected and Autonomous Environment[J]. Journal of Transport Information and Safety, 2021, 39(5): 76-84. doi: 10.3963/j.jssn.1674-4861.2021.05.010
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This work focuses on the impacts of heterogeneous operation of manual driving vehicles and connected and autonomous vehicles(CAVs)on traffic flow. The fundamental diagram and stability of such traffic flow are set as the key technologies and methods to improve its operation. First, the full velocity difference model(FVDM)is selected as the car-following model of manual driving vehicles. Secondly, the cooperative adaptive cruise control(CACC)model calibrated with real-world vehicle location data from the University of California at Berkeley is used as the car-follow⁃ ing model of CAVs. Third, a fundamental diagram model of heterogeneous traffic flow is then developed to study the influence of CACC vehicles on road capacity and to compare the impacts of different manual driving models on hetero⁃ geneous flow capacity. In addition, based on the traditional research method of heterogeneous traffic flow consisting of vehicles of different sizes, the traditional car-following model is used to develop a stability analysis method for the het⁃ erogeneous traffic flow under study, and the stability analysis under different CACC ratios is carried out by Matlab. Study results confirms that, compared with the homogeneous manual-driving traffic flow, the road capacity under the homogeneous CACC traffic flow will be increased by about 95% and different manual driving models in the experiment has little impact onto the capacity. When the equilibrium speed is set at 15 m/s, a low proportion of CAVs(e.g. below 20%)won't improve the stability of traffic flow. On the other hand, when the proportion of CAVs reaches 20% and above, the heterogeneous flow gradually shows an increasing stable trend with an increased proportion of CAVs. It is al⁃ so found that, when the proportion of CAVs reaches 70% and above, traffic flow basically will maintain its stability.
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