This study focuses on network configurations to accommodate automated vehicles (AVs) on road networks during the transition period to full automation. The literature suggests that dedicated infrastructure for AVs and enhanced infrastructure for mixed traffic (i.e., AVs on the same lanes with conventional vehicles) are the main alternatives so far. We utilize both alternatives and propose a unified mathematical framework for optimizing road networks for AVs by simultaneous deployment of AV-ready subnetworks for mixed traffic, dedicated AV links, and dedicated AV lanes. We model the problem as a bilevel network design problem where the upper level represents road infrastructure adjustment decisions to deploy these concepts and the lower level includes a network equilibrium model representing the flows as a result of the travelers’ response to new network topologies. An efficient heuristic solution method is introduced to solve the formulated problem and find coherent network topologies. Applicability of the model on real road networks is demonstrated using a large-scale case study of the Amsterdam metropolitan region. Our results indicate that for low AV market penetration rates (MPRs), AV-ready subnetworks, which accommodate AVs in mixed traffic, are the most efficient configuration. However, after 30% MPR, dedicated AV lanes prove to be more beneficial. Additionally, road types can dictate the viable deployment plan for certain parts of road networks. These insights can be used to guide planners in developing their strategies regarding road network infrastructure during the transition period to full automation.

中文翻译：

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优化具有专用链接，专用车道和混合交通子网络的自动车辆的道路网络

这项研究的重点是网络配置，以适应向全自动化过渡期间道路网络上的自动驾驶汽车（AV）。文献表明，迄今为止，AV的专用基础设施和混合交通的增强基础设施（即，与传统车辆在同一车道上的AV）是主要的替代方案。我们同时使用这两种选择，并提出了一个统一的数学框架，通过同时部署可用于混合交通，专用AV链路和专用AV车道的AV就绪子网来优化AV的道路网络。我们将该问题建模为双层网络设计问题，其中上层代表部署这些概念的道路基础设施调整决策，下层包括代表旅行者对新网络拓扑的响应而产生的流量的网络平衡模型。引入了一种有效的启发式解决方法来解决所提出的问题并找到相干的网络拓扑。该模型在阿姆斯特丹都市圈的大型案例研究中证明了该模型在实际道路网络上的适用性。我们的结果表明，对于较低的AV市场渗透率（MPR），可将AV混入流量中的，支持AV的子网是最有效的配置。但是，在MPR达到30％之后，专用的AV通道被证明是更有利的。此外，道路类型可以决定路网某些部分的可行部署计划。这些见解可用于指导规划人员在向完全自动化的过渡期间制定有关道路网络基础设施的策略。