Research Article
Freeway Traffic Speed Estimation of Mixed Traffic Using Data from Connected and Autonomous Vehicles with a Low Penetration Rate
Table 1
Existing studies on CAV simulation by the internal model.
| Parameters | Default value | Atkins [29] | Aria et al. [30] | Tibljaš et al. [31] | Stanek et al. [32] | Sukennik [28] | Asadi et al. [33] |
| Version of VISSIM | VISSIM 9 | VISSIM 8 | DK | DK | VISSIM 9 | VISSIM 11 | VISSIM 10 | CC0, standstill distance (m) | 1.50 | — | — | 1.00 | 1.25 | 1.00 | 1.00–1.50 | CC1, headway time (gap between vehicles) (s) | 0.90 | — | 0.30 | 0.50 | 0.25 | 0.60 | 0.50–1.50 | CC2, car-following distance/following variation (m) | 4 | 0 | — | 1.00 | 3 | 0 | 0 | CC3, threshold for entering following (s) | −8 | — | — | — | −12 | −6 | −8 | CC4, negative following threshold (m/s) | −0.35 | 0 | −0.56 | −0.10 | — | −0.10 | 0 | CC5, positive following threshold (m/s) | 0.35 | 0 | 0.56 | — | — | 0.10 | 0 | CC6, speed dependency of oscillation (1/(m/s)) | 11.44 | 0 | — | 0 | 0 | 0 | 0 | CC7, oscillation during acceleration (m/s2) | 0.25 | — | — | 0.40 | — | 0.10 | 0.15–0.45 | CC8, standstill acceleration (m/s2) | 3.50 | — | — | 4 | — | 4 | 3.30–3.90 | CC9, acceleration at 80 km/h (m/s2) | 1.50 | — | — | 2 | — | 2 | 1.30–1.90 | Look-ahead distance | 0 to 250 m | — | 150–200 m | 0–105 m | 0–500 m | 0–250 m | 0–800 m | Look-back distance | 0 to 150 m | — | 150–200 m | 0–280 m | 0–250 m | 0–150 m | 0–800 m | Observed vehicles | 2 | 10 | 6–8 | — | 10 | 99 | 10 | Smooth close-up behaviour | No | — | — | Yes | — | — | Yes | Accepted deceleration, trailing vehicle (m/s2) | −1 | — | — | — | — | −1.50 | — | Minimum headway, front/rear (m) | 0.50 | — | — | — | 0.40 | 0.50 | 0.20–0.70 | Safety distance reduction factor | 0.60 | — | — | — | 0.45 | 0.75 | 0.30–0.80 | Maximum deceleration for cooperative braking (m/s2) | −3 | — | — | — | −4 | −6 | — | Cooperative lane change | No | — | — | — | Yes | Yes | Yes | Maximum speed difference (km/h) | 3 | — | 3 | — | — | 10.80 | 10.80 |
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