Fundamental Diagram Model of Freeway Heterogeneous Traffic Flow of CAV Considering Safety Concerns and Platoon Intensity

With the rapid development of connected and automated vehicle (CAV) technology, the presence of freeway heterogeneous traffic flow mixed with CAVs is a possibility. Through the fundamental diagram model established by theoretical analysis and SUMO simulation, this study analyzes the CAV penetration rate, safety concerns of human-driven vehicle (HDV) drivers regarding CAVs, and the CAV platoon intensity on the capacity of heterogeneous traffic flow on freeways, taking into account their combined effects and addressing the deficiencies of existing studies that overlook safety concerns and insufficiently consider the combined effects. The consistency between theoretical analysis and SUMO simulation results can provide better guidance for future management of heterogeneous traffic flow.