Research Article

Characteristics Analysis and Equilibrium Optimization of Mixed Traffic Flow considering Connected Automated and Human-Driven Vehicles

Table 1

Notation summarization.

NotationsDefinitions

Sets
Set of nodes
Set of links
Set of paths
Set of vehicle types: type 1 denotes CAVs, type 2 denotes HDVs, type 3 denotes HDVs-I, type 4 denotes HDVs-II
Set of origin-destination (OD) pairs
Set of origin nodes and
Set of destination nodes and

Parameters
Index of link,
Index of path,
Index of vehicle types,
Index of OD pairs,
Link–path incidence that equals 1 if link belongs to path between OD pair and 0 otherwise.
Capacity of link
Length of link
Market penetration of CAVs among all vehicles
Market penetration of ATIS vehicles among human-driven vehicles

Variables
Multiplier of travel demand growth between OD pair
Basic travel demand between OD pair
Basic travel demand of vehicle types between OD pair
Traffic flow on link
Traffic flow of vehicle types on link
Traffic flow on path between OD pair
Traffic flow of vehicle types on path between OD pair
Travel time on link
Actual travel time on path between OD pair , i.e.
Marginal travel time on link