With the development of Connected Autonomous Vehicle (CAV), there will be a long-term heterogeneous traffic flow composed of Manual Vehicles (MVs) and CAVs on the road. Firstly, this study explores the traffic composition and distribution characteristics of heterogeneous traffic flow considering the limitation of communication range and CAV degradation. Secondly, we conduct a corresponding linear stability analysis for the heterogeneous traffic flow and introduce different types of time delays into the stability analysis framework. Thirdly, we verify theoretical derivation results through nonlinear numerical simulation. Finally, the influence of platoon management and time delays on the linear stability of heterogeneous traffic flow is explored. The results show that, at first, the stability of heterogeneous traffic flow deteriorates due to the involvement of CAV, and does not grow until the CAV market penetration rate reaches a certain threshold. In the speed range greater than 23.08 m/s, the heterogeneous traffic flow is constantly stable. Platoon management can significantly improve the linear stability of heterogeneous traffic flow with a high CAV market penetration rate, while time delays have a negative effect on the linear stability of heterogeneous traffic flow.

随着互联自动驾驶汽车（CAV）的发展，道路上将出现由手动车辆（MV）和自动驾驶汽车组成的长期异构交通流。首先，本研究考虑了通信范围和CAV退化的限制，探讨了异构交通流的交通组成和分布特征。其次，我们对异构交通流进行相应的线性稳定性分析，并将不同类型的时延引入稳定性分析框架中。第三，我们通过非线性数值模拟验证了理论推导结果。最后，探讨了队列管理和时间延迟对异构交通流线性稳定性的影响。结果表明，起初，异构交通流的稳定性由于CAV的介入而恶化，直到CAV市场渗透率达到一定阈值才会增长。在大于 23.08 m/s 的速度范围内，异构交通流始终保持稳定。队列管理可以显着提高CAV市场渗透率高的异构交通流的线性稳定性，而时间延迟对异构交通流的线性稳定性有负面影响。