A Mixed Equilibrium Model and Optimal Path Platooning Method for CAV Platoons in Heterogeneous Traffic Flow

Table 2

Travel cost saving rate (%).

Scenarios	Penetration
	0%	20%	40%	60%	80%	100%
CAV-OPP, congested	0	1.91	13.47	19.67	38.17	45.86
UE-SUE, congested	0	−1.98	11.79	19.04	37.23	43.51
CAV-OPP, uncongested	0	8.78	17.36	32.28	39.68	43.90
UE-SUE, uncongested	0	7.96	17.82	32.72	38.72	42.19
Average	0	4.17	15.11	25.93	38.45	43.87