Fig 1.
Sketch diagram and structural diagram of mixed vehicle platoon with AV and HDV.
Fig 2.
Sketch diagram and structural diagram of mixed vehicle platoon with CAV and HDV.
Fig 3.
Four typical CAV front and/or tail spatial distribution patterns in a CAV, HDV mixed platoon with 40% CAV market penetrate rate.
Fig 4.
Structure diagram of the four typical CAV front and/or tail spatial distribution patterns in a CAV, HDV mixed platoon.
Fig 5.
Four typical CAV within a CAV, HDV mixed platoon spatial distribution patterns with 40% CAV market penetrate rate.
Fig 6.
Structure diagram of the four typical CAV within a CAV, HDV mixed platoon spatial distribution patterns.
Fig 7.
Sketch diagram of mixed vehicle platoon with AV, CAV and HDV.
Fig 8.
CAV, AV, HDV mixed platoon stable/unstable region.
Fig 9.
Four typical CAV front and/or tail spatial distribution patterns with 25% CAV and 25% AV market penetrate rates in a AV, CAV, HDV mixed platoon.
Fig 10.
Structure diagram of the four typical CAV front and/or tail spatial distribution patterns with 25% CAV and 25% AV market penetrate rates in a AV, CAV, HDV mixed platoon.
Fig 11.
Four typical CAV within platoon spatial distribution patterns with 37.5% CAV and 12.5% AV market penetrate rates in a AV, CAV, HDV mixed platoon.
Fig 12.
Structure diagram of the four typical CAV within platoon spatial distribution patterns with 37.5% CAV and 12.5% AV market penetrate rates in a AV, CAV, HDV mixed platoon.
Fig 13.
Distance gap profiles with statistical analysis.
Fig 14.
Two typical mixed vehicle platoon spatial distribution patterns with 40% AV market penetrate rate.
Table 1.
Parameter settings of HDV, AV and CAV in mixed platoons.
Fig 15.
Distance gap and acceleration profiles of platoon.
Fig 16.
Distance gap profiles of platoon under Model 1-4.
Fig 17.
Distance gap profiles of platoon under Model 5-8.
Table 2.
Maximum and minimum DRAC values of model 1 – model 8.
Fig 18.
Minimum TTC and TIT of platoon under Model 1-8.
Fig 19.
Distance gap profiles of platoon under Model 9-16.
Table 3.
Maximum and Minimum DRAC Values of Model 9 – Model 16.
Fig 20.
Minimum TTC and TIT of platoon under Model 9-16.
Fig 21.
Velocity perturbation gain under various CAV spatial distributions.
Fig 22.
Effect of spatial weighting coefficientγ on velocity oscillation amplitude (Center-loaded case).
Fig 23.
Stability margin variation under different CAV spatial distributions and delay conditions.