Bifurcation analysis of energy-saving connected car-following model under cyberattack environments

Connected vehicles (CVs) are pivotal in transition to autonomous driving. To improve CVs car-following stability while reducing energy consumption and emissions, this paper proposes a dual-lane car-following model that systematically incorporates CV drivers' compliance with driver assistance systems and cyberattacks intensity. Through stability analysis and Hopf bifurcation analysis, this paper systematically investigates the stability conditions and stability intervals of key parameters influencing CVs performance, thereby establishing a foundation for further optimization of energy consumption. Then simulation involving 100 vehicles on circular road show that incorporation of CVs improves the anti-interference performance of heterogeneous traffic flows and reduces the amplitude of congestion fluctuations. Furthermore, energy consumption analysis based on simulation reveals that our model effectively reduces energy consumption and emissions, with both metrics decreasing as CV penetration increases. When CV penetration reaches 100%, the maximum average reductions in energy consumption, CO₂ and NOx emissions reach 29.57%, 45.41%, and 66.72% respectively.