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

Table 5

Speed difference.

Speed difference	CAV penetration rate (%)	Link no.
		1	2	3	4	5	6	7	8	9	10	11	12
Average difference (km/h)	1	3	1	1	2	2	1	1	1	2	3	2	2
	3	3	2	2	2	2	2	1	1	1	3	3	3
	5	3	2	2	2	2	2	2	2	2	4	3	3
	7	3	2	2	2	2	2	2	2	2	4	3	3
	10	3	2	3	2	2	2	2	2	2	3	3	3
Median difference (km/h)	1	3	1	1	1	2	1	1	1	2	2	1	1
	3	3	1	1	1	1	1	1	1	1	3	2	2
	5	3	2	2	2	1	1	1	1	1	4	3	3
	7	3	2	2	2	2	1	1	1	1	3	3	3
	10	3	2	2	2	2	2	2	1	2	3	3	3
Maximum difference (km/h)	1	21	32	12	17	29	19	19	20	22	18	14	14
	3	16	16	15	22	27	19	16	27	23	23	27	18
	5	14	11	16	16	13	22	20	22	22	21	17	14
	7	14	12	15	16	17	21	19	19	16	18	16	15
	10	15	17	14	13	26	15	16	18	22	15	23	14
Minimum difference (km/h)	1	−10	−24	−13	−14	−8	−9	−20	−13	−12	−8	−7	−6
	3	−9	−6	−8	−12	−9	−9	−10	−15	−39	−9	−4	−6
	5	−3	−5	−8	−8	−4	−9	−12	−15	−12	−12	−9	−5
	7	−6	−5	−4	−8	−4	−5	−8	−21	−20	−4	−6	−3
	10	−3	−5	−5	−6	−6	−14	−10	−5	−18	−7	−4	−4
Variance (km/h)^2	1	23	32	20	30	27	20	26	27	33	22	19	17
	3	14	13	14	27	18	16	19	24	41	18	22	19
	5	9	8	11	14	11	13	14	18	20	16	14	13
	7	8	7	7	12	9	10	12	16	19	12	10	10
	10	6	6	6	8	8	8	8	8	17	8	9	10