Modeling and Simulation of Hybrid Traffic Flow Considering the Inherent Dynamics of CACC Vehicular Platoons

doi:10.16182/j.issn1004731x.joss.24-0175

Abstract

Abstract:

To investigate the characteristics of single-lane mixed traffic flow with the presence of cooperative adaptive cruise control (CACC) vehicle platoons, a modeling approach based on cellular automata is proposed. This method distinguishes between the car-following strategies of human-driven vehicles and CACC vehicles, incorporating dynamic inter-vehicle spacing within the platoon and actual control behaviors to construct a mixed traffic flow model with inherent dynamic properties. The model enables an in-depth analysis of the influence of platoon features, such as geometric formation, car-following control strategies, and platoon size, on the characteristics of mixed traffic flow. It also allows us to study the coupling effects between platoon control adjustments and overall traffic flow. The results show that under conditions satisfying both the internal stability and string stability of platoon, increasing the penetration rate of CACC vehicles and reducing time headway can significantly enhance the peak flow of mixed traffic. As the platoon size increases, peak flow exhibits nonlinear variation, traffic flow fluctuations intensify, and uniformity decreases. Compared with ACC platoons, CACC platoons demonstrate stronger capabilities in suppressing traffic disturbances and improving the performance of mixed traffic flow more effectively.

Key words: intelligent transportation, intelligent vehicle, vehicular platoon, cellular automata, hybrid traffic flow

CLC Number:

TP391.9

Yang Xiujian, Huang Jingjing, Wang Xi. Modeling and Simulation of Hybrid Traffic Flow Considering the Inherent Dynamics of CACC Vehicular Platoons[J]. Journal of System Simulation, 2025, 37(6): 1388-1399.

Figures/Tables 13

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Table 1

Simulation parameter values

参数	取值
道路长度L/m	1 500
仿真时长/s	1 000
车辆长度l/m	5
人工驾驶车辆随机慢化概率P_slow	0.3
人工驾驶车辆最大加、减速度a_max/(m·s^-2)	6
人工驾驶车辆、队列车辆最大速度v_max/(m·s^-1)	33
人工驾驶车辆反应时间 $t i a$ /s	2
队列车辆反应时间 $t i b$ /s	1

Table 1

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