The influence of performance limitations of roadside sensors on the stability of mixed traffic under vehicle-road cooperation

The reasonable layout of roadside sensors under the condition of vehicle-road cooperation plays an important role in the effective interaction and deep fusion between vehicle and road. In this paper, based on cooperative adaptive cruise control model and intelligent driver model, a novel micro model of mixed traffic which considered the sensor performance limitation and communication topology. After that, the stability of the model is proved by Routh-Horwitz stability criterion, and the stability conditions are obtained. Based on this, this paper studies the influence of the spacing of roadside sensors on the operation of the mixed traffic flow in holographic environment. The experiment demonstrates the dynamic characteristics of mixed traffic flow when the roadside sensors are deployed in accordance with the sensor’s accurate sensing range, effective sensing range and limit sensing range respectively. And the result shows that the model presented in this paper can accurately describe the process that the fluctuation amplitude of mixed traffic flow in evolution increases with the increase of spacing.