Routing controllability of connected and autonomous vehicles (CAVs) has been shown to reduce the adverse effects of selfish routing on the network efficiency. However, the assumption that CAV owners would readily allow themselves to be controlled externally by a central agency for the good of the system is unrealistic. In this paper, we propose a joint routing and pricing control scheme that aims to incentivize CAVs to seek centrally controlled system-optimal (SO) routing by saving on tolls while user equilibrium (UE) seeking human-driven vehicles (HVs) are subject to a congestion charge. The problem is formulated as a bi-level optimization program where the upper level optimizes the dynamic toll rates using the network fundamental diagram (NFD) and the lower level is a mixed equilibrium simulation-based dynamic traffic assignment model (SBDTA) considering different combinations of SO-seeking CAVs. We apply a feedback-based controller to solve for the optimal spatially differentiated distance-based congestion charge from which SO-seeking CAVs are exempt; but UE-seeking HVs are subject to the charge for entering the city center. To capture the distinct microscopic behavior of CAVs in the mixed autonomy traffic, we also implement an adaptive link fundamental diagram (FD) within the SBDTA model. The proposed joint control scheme encourages CAV owners to seek SO routing resulting in less total system travel time. It also discourages UE-seeking HVs from congesting the city center. We demonstrate the performance of the proposed scheme in both a small network and a large-scale network of Melbourne, Australia.

联网和自动驾驶汽车 (CAV) 的路由可控性已被证明可以减少自私路由对网络效率的不利影响。然而，为了系统的利益，CAV 所有者很容易让自己受中央机构外部控制的假设是不现实的。在本文中，我们提出了一种联合路由和定价控制方案，旨在通过节省通行费来激励 CAV 寻求中央控制的系统优化 (SO) 路由，而用户均衡 (UE) 寻求人类驾驶车辆 (HV) 则受制于拥堵费。该问题被表述为一个双层优化程序，其中上层使用网络基本图 (NFD) 优化动态收费率，下层是考虑不同组合的基于混合均衡模拟的动态交通分配模型 (SBDTA) SO-seeking CAV。我们应用基于反馈的控制器来解决最佳空间差异化的基于距离的拥堵费，寻求 SO 的 CAV 可以免除该费用；但寻求 UE 的 HV 需要支付进入市中心的费用。为了捕捉混合自主交通中 CAV 的独特微观行为，我们还在 SBDTA 模型中实施了自适应链路基本图 (FD)。提议的联合控制方案鼓励 CAV 所有者寻求 SO 路线，从而减少总系统旅行时间。它还阻止了寻求 UE 的 HV 使市中心拥挤。我们在澳大利亚墨尔本的小型网络和大型网络中展示了所提出方案的性能。