Characteristics Analysis of Heterogeneous Traffic Flow Involving L2-L4 Autonomous Vehicles and Convoys

doi:10.3778/j.issn.1002-8331.2409-0443

Abstract

Abstract: Aiming at the problem that there are few research on mixed traffic flow involving different intelligence levels of autonomous vehicles, considering the different intelligence levels of each level autonomous vehicles, L2, L3 and L4 autonomous vehicles are taken as research objects. The graded autonomous mixed traffic flow simulation environment is established, and different following and lane-changing rules are formulated according to their vehicle characteristics. The hybrid traffic flow cellular automata model with the participation of graded autonomous vehicles is established, and the simulation analysis is carried out by MATLAB. Especially considering the time delay and takeover characteristics of L2 and L3 autonomous vehicles in the process of information transmission, L4 autonomous vehicles can form the characteristics of the convoy and improve the Gipps following model. The research results show that with the participation of graded autonomous vehicles, the road traffic capacity is higher and the vehicle driving environment is safer. The higher the proportion of autonomous vehicles, the greater the road traffic capacity, the lower the congestion ratio within a certain density range, and the improved safety. The maximum convoy length of autonomous vehicles is closely related to the density and the penetration rate of autonomous vehicles. In particular, compared with L2 and L3 autonomous vehicles, L4 autonomous vehicles have a better effect on improving road traffic capacity, easing traffic congestion, and improving vehicle safety.

Key words: hierarchical autonomous driving, heterogeneous traffic flow, autonomous driving convoy, cellular automata, expressway

摘要： 针对目前不同智能化级别的自动驾驶车辆参与的混合交通流研究较少的问题，考虑每一级别自动驾驶车的智能化程度不同，以L2、L3、L4级自动驾驶车为研究对象，建立分级自动驾驶混合交通流仿真环境，根据其车辆特性制定不同的跟驰、换道规则，建立分级自动驾驶车辆参与下的混合交通流元胞自动机模型，并应用MATLAB进行仿真分析。其中，特别考虑了L2和L3级自动驾驶车在信息传输过程中的时间延迟和接管特性，L4级自动驾驶车可以形成车队的特性，改进Gipps跟驰模型。研究结果表明，在分级自动驾驶车辆参与下，道路通行能力更高，车辆驾驶环境更安全，自动驾驶车比例越高，道路通行能力越大，拥堵率在一定密度范围内随之降低，安全性得到提升，自动驾驶车辆最大车队长度与车辆密度、自动驾驶车渗透率密切相关。特别的，与L2、L3级自动驾驶车相比，L4级自动驾驶车对于提高道路通行能力、缓解交通拥堵、提升车辆安全性效果更好。

关键词: 分级自动驾驶车, 异质交通流, 自动驾驶车队, 元胞自动机, 高速公路

WANG Xuan, ZENG Junwei, QIAN Yongsheng, WEI Xuting. Characteristics Analysis of Heterogeneous Traffic Flow Involving L2-L4 Autonomous Vehicles and Convoys[J]. Computer Engineering and Applications, 2025, 61(24): 360-370.

王旋, 曾俊伟, 钱勇生, 魏谞婷. L2~L4级自动驾驶车辆及车队参与的异质交通流特性分析[J]. 计算机工程与应用, 2025, 61(24): 360-370.

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