Research on coordinated control of vehicle’s speed in new mixed traffic flow

Figures & data

Figure 1. Schematic diagram of scene building.

Figure 2. Traffic information to be obtained.

Figure 3. Schematic diagram of trajectory offset.

Figure 4. Correction of offset trajectory near${ p}_{\text{end}}.$

Figure 5. Triangular fundamental diagrams.

Table 1. Comparison of dissipation time under different conditions.

Vehicle queue length/m	Dissipation time/s		$\vartheta$
	with $v_e$	without $v_e$
100	16.0	12.0	1.33
150	23.8	18.8	1.27
200	32.3	26.3	1.23
250	40.0	33.8	1.18
300	53.9	41.7	1.29

Figure 6. Connection merging points.

Figure 7. Modified offset trajectory.

Figure 8. The first speed of CAV guidance process of the upstream vehicle cluster.

Figure 9. Deceleration curves.

Figure 10. Acceleration curves.

Figure 11. Simulation results under different conditions.

Figure 12. Several different speed guide curves.

Table 2. The time of the last vehicle to reach the same position under different CAV permeability.

CAV Permeability/%	Time (s)			Reduction rate /%
	500 m	600 m	700 m
0 (Reference Group)	125.1	129.2	133.2	–
5	123.9	127.5	131.8	1.16
10	121.4	125.3	129.5	2.90
15	119.5	123.6	127.4	4.41
20	117.6	121.6	125.5	5.90
25	115.5	120.2	124.3	7.10

Table 3. Acceleration of the first CAV at different time corresponding to different $l_B$ values.

Timing	Acceleration at different locations at the beginning of the bottleneck (m/s^2)
	575 m	775 m	975 m
30s	−0.25	−0.18	−0.13
35s	−0.42	−0.21	−0.05
40s	−0.68	−0.34	−0.02
45s	−0.41	−0.23	0.00
50s	0.09	0.05	0.02
55s	1.63	1.22	0.06
60s	0.16	0.07	0.04
65s	0.08	0.05	0.02
70s	0.04	0.02	0.01
The most value difference	2.31	1.56	0.19

Data availability statement

The data used to support the findings of this study are available from the corresponding author upon request.