Control Algorithm for CAV Cooperative Lane Control

Intelligent connected technology is the future development trend of intelligent transport system, however, the new hybrid traffic flow composed of Connected and Autonomous Vehicle (CAV) and Human-Driven Vehicle (HDV) will exist for a long time. The current research on lane control of mixed traffic flow mainly focuses on the right-of-way allocation under different CAV penetration rates, without fully considering the active adaptation capability of CAV and its bidirectional interaction with the traffic control system. In this paper, we propose the concept of CAV cooperative lanes, which are placed in CAV-specific lanes, and control the lane-changing rules of CAVs in cooperative lanes and mixed lanes through policy algorithms to achieve traffic control of specific objectives. Taking a three-lane motorway scenario as an example, a combination of four different control methods is proposed to achieve three CAV control strategies. The aim is to consider optimising the degree of vehicle aggregation in the traffic flow, while reducing the interaction between different types of vehicles through lane changing. Experimental results show that the CAV control algorithm proposed in this paper has a good improvement in traffic flow, travel time and CAV operational status. Therefore, the CAV cooperative lane control algorithm can give full play to the characteristics of two-way interaction of the CAV traffic control system, which is a new control method in the mixed traffic flow environment.