Lane capacity and cost function for the mixed traffic scenario with connected and autonomous vehicles

LI Tong-fei; ZHAO Meng-qing; XIONG Jie; ZHOU Wen-han; DOU Xue-ping

doi:10.19818/j.cnki.1671-1637.2025.06.013

Volume 25 Issue 6

Dec. 2025

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LI Tong-fei, ZHAO Meng-qing, XIONG Jie, ZHOU Wen-han, DOU Xue-ping. Lane capacity and cost function for the mixed traffic scenario with connected and autonomous vehicles[J]. Journal of Traffic and Transportation Engineering, 2025, 25(6): 146-156. doi: 10.19818/j.cnki.1671-1637.2025.06.013

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LI Tong-fei, ZHAO Meng-qing, XIONG Jie, ZHOU Wen-han, DOU Xue-ping. Lane capacity and cost function for the mixed traffic scenario with connected and autonomous vehicles[J]. Journal of Traffic and Transportation Engineering, 2025, 25(6): 146-156. doi: 10.19818/j.cnki.1671-1637.2025.06.013

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Lane capacity and cost function for the mixed traffic scenario with connected and autonomous vehicles

doi: 10.19818/j.cnki.1671-1637.2025.06.013

College of Metropolitan Transportation, Beijing University of Technology, Beijing 100124, China

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Social Science Foundation of Beijing 22GLC060

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Corresponding author: XIONG Jie (1988-), male, associate professor, PhD, jxiong@bjut.edu.cn
Received Date: 2024-11-22
Accepted Date: 2025-07-02
Rev Recd Date: 2025-05-30
Publish Date: 2025-12-28

Abstract

Abstract

Aiming at the future mixed traffic scenario of human-driven vehicles and connected and autonomous vehicles (CAVs), this study derived the calculation formulas for mixed-lane capacity and cost function expressed in natural vehicle units through classification, based on different assumptions regarding safety headway classification and the limit of CAV platoon size. To ensure comparability between mixed traffic flows with different compositions, the passenger car equivalents (PCE) of CAV were inversely derived using the cost function represented by passenger car unit (PCU). Finally, without making any simplified assumptions about safety headway values of different car-following modes, three technical scenarios (positive, neutral, and conservative) were divided according to the development level of CAV technology, corresponding to different types of safety headways respectively. Research influence of the CAV penetration rate and the limit of platoon size on mixed-lane capacity, cost function, and CAV's PCE was explored through theoretical analysis and numerical experiments. Research results indicate that the calculation formulas for mixed-lane capacity, cost function, and CAV's PCE are all bivariate functions of the CAV penetration rate and the limit of platoon size. The monotonic relationship between each bivariate function and a single variable directly depends on the values of safety headways. When the CAV penetration rate is 0.4, compared with the scenario without platooning, the mixed-lane capacity increases by 5.04% in the positive technical scenario, 10.93% in the neutral technical scenario, and 4.55% in the conservative technical scenario. In the positive and neutral technical scenarios, CAV can effectively reduce traffic congestion and delay, while in the conservative technical scenario with a relatively low development level of connected and autonomous driving technology, the cost first increases and then decreases with the increase in CAV penetration rate.
- urban traffic,
- capacity and cost function,
- theoretical analysis and numerical experiment,
- mixed traffic lane,
- limit of CAV platoon size,
- passenger car equivalent

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Lane capacity and cost function for the mixed traffic scenario with connected and autonomous vehicles

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