Abstract: To study the impact of CAV platooning considering formation willingness on intersection traffic capacity under mixed traffic flow conditions, considering the formation willingness of CAV in the mixed traffic flow composed of CAV, AV, and HDV, 10 types of vehicle following states and 4 types of headway were discussed. Based on Markov chain theory, the state transition matrix and state probability distribution of vehicle following state types were derived, and an intersection traffic capacity model was constructed. The effects of platoon duration, formation willingness, PC, and maximum platoon size on intersection traffic capacity were analyzed and numerical case validation was conducted. The research results indicate that the traffic capacity increases with the decrease of CAV platoon time interval. When PC is given, the traffic capacity increases with the increase of formation willingness. When the PC is less than 0.2, the effect of formation willingness on the improvement of intersection traffic capacity is very small. When the PC is greater than 0.4, the effect of formation willingness on the improvement of intersection capacity becomes significant. Whether a higher PC brings greater traffic capacity is depended on the willingness of formation and heterogeneous headway. The platoon size is controlled to not exceed the maximum value of km′, when PC is given, the traffic capacity increases with the increase of the maximum platoon size, but the amplification gradually decreases. When the PC is less than 0.2, the maximum platoon size has a small impact on the improvement of traffic capacity, while when the PC is greater than 0.6, the impact of the maximum platoon size on the improvement of traffic capacity becomes significant.

摘要： 为研究考虑编队意愿的网联自动驾驶车辆（CAV）队列对混合交通流条件下交叉口通行能力的影响，针对CAV、自动驾驶车辆（AV）、人工驾驶车辆（HDV）构成的混合交通流，考虑CAV的编队意愿，基于10种车辆跟随状态类型和4种车间时距类型，基于马尔可夫链理论，推导出车辆跟随状态类型的状态转移矩阵和状态概率分布，构建交叉口通行能力模型，分析队列时距、编队意愿、渗透率（PC）、最大队列规模对交叉口通行能力的影响并进行数值案例验证。研究结果表明：通行能力随CAV队列时距的减小而增加；在给定PC时，通行能力随编队意愿的增强而增加；PC小于0.2时，编队意愿对交叉口通行能力的提高很小，PC大于0.4时，编队意愿对提高交叉口通行能力的影响变得显著；更高的PC是否会带来更大的通行能力，取决于编队意愿和异质的车间时距；对于控制队列规模不超过一个最大值km′，在给定PC时，通行能力随最大队列规模的增大而增加，但增幅逐渐减小；PC小于0.2时，提高最大队列规模对通行能力的提高较小，PC大于0.6时，最大队列规模对提高通行能力的影响变得显著。