ABSTRACT

To investigate the effects of different market penetration rates (MPRs) of intelligent vehicles – Intelligent Driving Model (IDM) for autonomous vehicles (AVs), Adaptive Cruise Control (ACC) for AVs, and Cooperative Adaptive Cruise Control (CACC) for connected and automated vehicles (CAVs) – in mixed traffic flows with human driving vehicles (HDVs) at intersections, three signalized intersections (fixed signal, gap-based actuated signal, and delay-based actuated signal-controlled intersections) with low, medium, and high traffic demands are investigated. The simulation results indicate that CAVs with the CACC system outperform AVs with ACC or IDM systems and could reduce the average delay under low and high demand scenarios by 49% to 96%. CAVs with the CACC system could also significantly reduce average delay with a 20% MPR, while significant drops could only be observed after 60% and 80% MPRs for AVs with the ACC/IDM system. Gap-based and delay-based actuated signal control schemes are preferred under medium traffic flow demand, and CACC/ACC systems could significantly improve the performance of actuated signal-controlled intersections under high traffic flow demand.

摘要

调查智能汽车不同市场渗透率 (MPR) 的影响——自动驾驶汽车 (AV) 的智能驾驶模型 (IDM)、自动驾驶汽车的自适应巡航控制 (ACC) 以及联网和自动化的协同自适应巡航控制 (CACC)车辆 (CAV) – 在与人类驾驶车辆 (HDV) 的混合交通流中，在具有低、中和高交通流量的三个信号交叉口（固定信号、基于间隙的驱动信号和基于延迟的驱动信号控制的交叉口）要求进行调查。仿真结果表明，采用 CACC 系统的 CAV 优于采用 ACC 或 IDM 系统的 AV，并且可以将低需求和高需求场景下的平均延迟降低 49% 至 96%。带有 CACC 系统的 CAV 还可以显着减少平均延迟，MPR 为 20%，而只有在使用 ACC/IDM 系统的 AV 达到 60% 和 80% MPR 后才能观察到显着下降。在中等交通流量需求下，基于间隙和基于延迟的驱动信号控制方案是首选方案，而 CACC/ACC 系统可以显着提高在高交通流量需求下驱动信号控制交叉口的性能。