Analysis of heterogeneous traffic flow model integrating dynamic time headway and driver compliance uncertainty-aware

In the early stages of the development of intelligent connected technology, the heterogeneous traffic flow consisting of regular vehicles (RVs) and connected vehicles (CVs) will gradually become a typical traffic scenario where a CV is considered an RV equipped with an advanced driver assistance system (ADAS). To model such heterogeneous traffic flow, this paper proposes an integrated car-following model that incorporates both the novel model for RVs and the dynamic model for CVs. The novel model for RVs is developed by considering the dynamic time headway (DTH) characteristic, while the dynamic model for CVs is proposed by considering the multiple preceding vehicles' information supplied by ADAS and the compliance rate of CV drivers to ADAS. Then, through linear stability analysis, the unified expression for the stability condition shows that the stability of heterogeneous traffic is influenced by the penetration rate of CVs, the compliance rate of CV drivers, and the DTH characteristics. Ultimately, numerical simulations are conducted to confirm the theoretical findings. The results suggest that (1) When the CV penetration rate exceeds 60 % or the compliance rate of CV drivers exceeds 40 %, the effect of enhancing the stability of heterogeneous traffic flow becomes significantly stronger. (2) The characteristic of DTH expands the range of velocity fluctuation (3) When the penetration of CVs is greater than 80 % and the compliance rate of CV drivers is more than 90 %, the traffic flow remains stable throughout the complete velocity range. This model can not only be used to simulate the dynamic evolution of CV and RV in a heterogeneous traffic flow environment, but also provides a reference direction for studying the characteristics of heterogeneous stochastic traffic flows in multi-lane scenarios.