A Novel Model of Mixed Traffic Groups Considering Large Vehicles from Cyber-Physical Perspective

With the connectivity and informatization of vehicles, the road traffic system will be more complex due to the differences in the cyber and physical performance of individual vehicles. To describe the complexity of mixed traffic groups, an extended lattice hydrodynamic model is proposed considering the penetration rate of large vehicle groups and connected vehicles compliance from the perspective of cyber-physical system (CPS). In the model, vehicles in the same lattice are regarded as a group, compared to non-connected vehicles, connected vehicles can optimize the current lattice flow by using more information at the cyber layer. The stability condition of the extended model is obtained by using the perturbation method. The results of simulation show that with the increase of the penetration of large vehicles, the traffic will be more unstable. With the increase of connected vehicles compliance, the traffic will be more stable.