View article

Despite the prosperous development of connected vehicle (CV) and its car-following (CF) models, human-driven CV and its CF properties are rarely investigated. This paper studies the stability characteristics of and then extends a recently-developed CF model of human-driven CV which incorporates human factors (CV-CF hereafter) by considering two levels of driver compliance, i.e., low compliance and high compliance. First, we investigate the stability of the CV-CF model, and validate the results with the simulation experiments. We then assess CV’s impact on the mixed traffic flow by deriving a stability criterion of heterogeneous traffic with the Laplace transform based method and analysing the influence of different levels of connectivity and their penetration rates. Furthermore, we extend the CV-CF model by considering two important additional human factors, i.e., time delay and estimation error, and evaluate …