随着蜂窝车联网（Cellular Vehicle-to-Everything，C-V2X）技术的发展以及大规模路侧传感器设备的部署，越来越多的网联车（Connected Vehicle，CVs）与普通车辆（Regular Vehicle，RVs）共同行驶在道路上。由于普通车辆的保有量巨大，因此包括CVs和RVs的异质交通流会共存很长一段时间，交通流特性也随之逐渐改变。已存的大量的文献较多地考虑了CVs的自动驾驶性能而忽视了CVs车辆内驾驶员的反应时间，或者仅考虑了CVs之间的V2V（Vehicle-to-Vehicle，V2V）交互通信而忽视了CVs与其他交通参与者之间的V2X交互通信。结合C-V2X通信范围广、通信时延低、设计复杂度低以及落地成本小的优点，本文提出了一种基于C-V2X的车路协同场景。为了深入研究CVs的加入对交通流的特性产生的影响，对所提场景下的异质交通流特性进行分析研究，主要研究了该场景下RVs和CVs的跟驰模型和换道规则以及基于C-V2X的车路协同的参数对异质交通流特性的影响。本文的主要研究内容如下：
（1）基于C-V2X技术的大力发展以及大规模传感器的部署，本文提出了一种基于C-V2X的车路协同场景并在此基础上构建了车辆跟驰模型。在基于C-V2X的车路系统场景下，CVs能够获得路侧传感器检测范围内的所有车辆（包括CVs和RVs）的行驶数据。考虑到CVs和RVs获取车辆状态信息的方式不同，本文分别对CVs和RVs进行跟驰行为建模并将两者结合形成异质交通流的跟驰模型。然后在周期有界的情况下，采用微小扰动法从理论上对异质交通流的稳定性条件进行推导。推导过程中，本文采用一阶和二阶级数展开并结合长短波极限的分析得到异质交通流的稳定性的充分条件，该条件表明了异质交通流的稳定性与场景中的参数包括交通密度、CV的渗透率、路侧传感器的检测精度、V2X通信中的时间延迟密切相关。最后通过模拟仿真分析了基于C-V2X的车路协同的参数对异质交通流稳定性、流量及安全性的影响。
（2）实际的交通环境中不仅包含了车辆的跟驰行为，还存在着车辆的换道行为。在基于C-V2X的车路协同场景下，CVs可以获得更加准确可靠的车辆状态信息以及路况信息，实现更准确的换道行为。本文主要分析了车辆换道过程中的换道决策阶段，结合车辆间最小安全间隙以及车辆换道的动机分别建立了CVs和RVs的换道规则，并仿真分析了CV 渗透率对车辆换道的频次的影响及车辆的换道行为对异质交通流特性的影响。

With the development of cellular vehicle-to-everything (C-V2X) technology and the massive deployment of large-scale roadside sensors equipment, more and more connected vehicles (CVs) and regular vehicles (RVs) can drive together on the road. Due to the large number of regular vehicles, the heterogeneous traffic flow including CVs and RVs will coexist for a long time, and the characteristics of traffic flow is changing. A large number of existing documents have considered the automatic driving performance of CVs more than the reaction time of drivers in CVs vehicles, or only considered the vehicle-to-vehicle (V2V) interactive communication between CVs and ignored the V2X interactive communication between CVs and other traffic participants. In order to deeply study the impact of the addition of CVs on the characteristics of traffic flow, this paper proposes a vehicle-vehicle/vehicle-infrastructure cooperation scenario based on C-V2X, analyzes and studies the characteristics of heterogeneous traffic flow in this scenario. This paper respectively studies the car-following model and lane change rules of RVs and CVs in this scenario, and the impact of the parameters of C-V2X-based vehicle-vehicle/vehicle-infrastructure cooperation on heterogeneous traffic flow. It has positive significance for the future traffic congestion control and traffic safety improvement. The main research contents are as follows:
1. Based on the rapid development of C-V2X technology and the deployment of large-scale sensors, this paper propose a vehicle-vehicle/vehicle-infrastructure cooperation scenario based on C-V2X and build a car-following model for heterogeneous traffic flow. In this scenario, CVs can obtain the driving data of all vehicles (including CVs and RVs) within the detection range of roadside sensors. Considering the different ways of vehicle information obtained by CVs and RVs, this paper models different car following models of CVs and RVs respectively and combine them to form a car-following model of heterogeneous traffic flow. Then, in the case of bounded period, the stability condition of heterogeneous traffic flow is theoretically derived by using the perturbation method. In the process of derivation, the first and second order numbers are used to expand and the analysis of long and short wave limits is considered to obtain the sufficient stability conditions of heterogeneous traffic flow. The condition shows that the stability is related to the traffic density, the penetration of CV, the detection accuracy of roadside sensors, the time delay in V2X communication. Finally, the influence of the parameters of C-V2X-based vehicle-vehicle/vehicle-infrastructure cooperation on the stability, flow and safety of heterogeneous traffic flow is analyzed through simulation.
2. In the actual traffic environment, there is not only car following behavior but also vehicle lane changing behavior. In the scene of C-V2X-based vehicle-vehicle/vehicle-infrastructure cooperation, CVs can obtain more accurate and reliable vehicle status information and road condition information to achieve more accurate lane changing behavior. This paper mainly analyses the decision-making stage of changing lanes in the process of changing lanes. Combining the minimum safety gap between vehicles and the motivation of changing lanes, the paper establishes the rules of changing lanes for CVs and RVs, and analyses the influence of CV penetration on frequency of lane-changing behaviors and the effect of changing lanes behavior on traffic flow characteristics from both theoretical and simulation perspectives.

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