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

Table 4

Traffic input in a scenario.

Simulation time interval (s)	Mainline traffic input (three-lane) (veh)	On-ramp traffic input (one-lane) (veh)
0∼2700	3000	300
2700∼4500	3600	300
4500∼6300	4500	300
6300∼8100	5100	300
8100∼9900	6000	300
9900∼11700	6300	300
11700∼12600	5100	300
12600∼13500	4500	300
13500∼14400	3600	300
14400∼15300	3000	300