Design and stability analysis of driving safety field for CAV

In the foreseeable future, connected intelligent vehicles (CAV) will coexist with conventional vehicles (HV), but problems such as unclear traffic rules for mixed traffic flows, unclear safety mechanisms, and optimized formation control schemes always constrain the commercialization of CAV. Optimizing the control of CAV queue and enhancing the continuity and smoothness of the queue is the key to optimize the stability of the mixed traffic flow and the pure intelligent connected vehicle queue, this paper introduces kinetic indexes based on the theory of driving safety field, and combines the road marking and other environmental factors to construct the driving safety field of connected vehicles. Secondly, the CAV queue following model and the mixed traffic flow basic diagram model are derived, and the stability of the designed queue following model is verified by combining with the traffic wave theory. The study shows that the driving safety field designed in this paper can effectively analogize the safety distance constraints, and at the same time, under different CAV vehicle penetration rates, the derived mixed traffic flow queue has stability.