| With the development of Autonomous driving technology,urban traffic composed of manual vehicle(MV)and autonomous Vehicle(AV)will be in the mixed condition for a long time in the future.Through driving data,designing mixed traffic queueing schemes,simulating and extracting the factors of mixed traffic capacity and constructing a traffic capacity calculation model,this paper focuses on the research of the influence of MVs and AVs on traffic capacity in mixed traffic and presents the variable range of traffic capacity based on the micro queueing changes.The specific research contents and conclusions are as follows:1)Construction of micro traffic simulation system.The simulation scene of urban traffic is constructed.Based on the driving data of manual vehicle on urban roads,the car-following models for MVs、AVs and MVs that do not trust the AVs in front of them are calibrated and selected.Traffic flow characteristics of the three car-following models are obtained by simulation.2)Design the queuing scheme and summarize the influencing factors of traffic capacity.Queuing schemes are divided into AVs’ low permeability and high permeability.The queuing schemes of low permeability analyze the effect of AVs on traffic capacity at unstable phases in the mixed fleet.The queuing schemes of high permeability analyze the effect of AVs’ maximum queue length and AVs’ queuing form on traffic capacity in the fleet.Finally,it is concluded that the number of AV following AV in the fleet is the main factor affecting the traffic capacity.3)Based on the influencing factors of mixed queueing schemes in the straight road,the traffic capacity model is constructed.The concept of queuing intensity is introduced to quantify the proportion of AV following AV in the fleet.The total permutation algorithm is used to determine the quantitative relationship between the vehicles.The error between the average passing time model and SUMO simulation results is less than5%.The traffic capacity model with the permeability,queuing intensity and driver distrust ratio as independent variables is obtained.After comprehensive analysis of independent variables,the variable range of three variables on traffic capacity is obtained.4)Based on the influencing factors of mixed traffic queuing at signalized intersections,the traffic capacity model is constructed.The travel time model is important component in traffic capacity model which is divided into three parts: the starting reaction time of the head vehicle,the passing time of the mixed queuing with saturated headway and the starting loss time of positions 2-5 in the unstable stage of queuing.The expectation of three parts is calculated to construct the intersection travel time model of mixed queuing.The traffic capacity model for intersection based on mixed queueing is obtained,and the variable range of three variables on traffic capacity is obtained through the diagram. |
