Autonomous vehicles are expected to revolutionize the transportation industry. The goal of this research is to study the heterogeneity in traffic flow dynamics by comparing different penetration rates of four different types of vehicles: autonomous cars (AC), autonomous buses (AB), manual cars (MC), and manual buses (MB). For the purpose of this research, a modified cellular automata (CA) model is developed in order to analyze the effect of heterogeneous vehicles (manual and autonomous). Previously, studies have focused on manual and autonomous cars, but we believe a gap in perception and analysis of mixed traffic still exists, as inclusion of other modes of autonomous vehicle research is very limited. Therefore, we have explicitly examined the effect of the AB on overall traffic flow. Moreover, two types of lane changing behavior (aggressive lane changing and polite lane changing) were also integrated into the model. Multiple scenarios through different compositions of vehicles were simulated. As per the results, if AB is employed concurrently with AC, there will be a significant improvement in traffic flow and road capacity, as equally more passengers can be accommodated in AB as AC is also anticipated to be used in carpooling. Secondly, when the vehicles change the lanes aggressively, there is a substantial growth in the flow rate and capacity of the network. Polite lane change does not significantly affect the flow rate.

中文翻译：

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自主车辆对包括自主公交车在内的交通流特性影响的仿真研究

预计自动驾驶汽车将彻底改变运输行业。这项研究的目的是通过比较四种不同类型车辆的不同渗透率来研究交通流动力学的异质性：自动驾驶汽车（AC），自动驾驶公共汽车（AB），手动汽车（MC）和手动公共汽车（MB） 。出于本研究的目的，开发了一种改进的细胞自动机（CA）模型，以分析异构车辆（手动和自主）的影响。以前，研究主要集中在手动和自动驾驶汽车上，但是我们认为，在混合动力交通的感知和分析方面仍然存在差距，因为将自动驾驶汽车的其他研究模式纳入其中非常有限。因此，我们明确检查了AB对总体流量的影响。此外，该模型还集成了两种类型的变道行为（激进变道和礼貌变道）。模拟了通过不同车辆组成的多种场景。根据结果​​，如果将AB与AC同时使用，则将大大改善交通流量和道路通行能力，因为AB也有望容纳更多的乘客，因为预计AC也将用于拼车。其次，当车辆积极改变车道时，网络的流量和容量将大大增加。礼貌的车道变化不会显着影响流速。交通流量和道路通行能力将得到显着改善，因为AB也有望容纳更多的乘客，因为预计AC也将用于拼车。其次，当车辆积极改变车道时，网络的流量和容量将大大增加。礼貌的车道变化不会显着影响流速。交通流量和道路通行能力将得到显着改善，因为AB也有望容纳更多的乘客，因为预计AC也将用于拼车。其次，当车辆积极改变车道时，网络的流量和容量将大大增加。礼貌的车道变化不会显着影响流速。