Vehicle–Vehicle Collaborative Control Strategy for Dedicated Lanes of Connected Vehicles

<div>To alleviate the problem of reduced traffic efficiency caused by the mixed flow of heterogeneous vehicles, including autonomous and human-driven vehicles, this article proposes a vehicle-to-vehicle collaborative control strategy for a dedicated lane in a connected and automated vehicle system. First, the dedicated lane’s operating efficiency and formation performance are described. Then, the characteristics of connected vehicle formations are determined, and a control strategy for heterogeneous vehicle formations was developed. Subsequently, an interactive strategy was established for queueing under the coordination of connected human-driven and autonomous vehicles, and the queue formation, merging, and splitting processes are divided according to the cooperative interaction strategy. Finally, the proposed lane management and formation strategies are verified using the SUMO+Veins simulation software. The simulation results show that the dedicated lane for connected vehicles can effectively improve road traffic efficiency with a market penetration rate of 30%, but the lane performance declines when the market penetration rate reaches 45%, mainly manifested by a turning point in the average speed of vehicles. After setting up the dedicated lane, the overall traffic efficiency increases by 58.8% according to the simulation of vehicle formations driving on the dedicated lane at a market penetration rate of 50%.</div>