Freeway Traffic Speed Estimation of Mixed Traffic Using Data from Connected and Autonomous Vehicles with a Low Penetration Rate

Figure 4

Speed-flow diagrams on Link 7. (a) No CAVs. (b) CAVs account for 1%. (c) CAVs account for 3%. (d) CAVs account for 5%. (e) CAVs account for 7%. (f) CAVs account for 10%.

(a)

(b)

(c)

(d)

(e)

(f)