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