A linear car-following model for connected autonomous vehicles considering the asymmetricity of acceleration and deceleration

The connected autonomous vehicles (CAVs) will be mixed with the human-driven vehicle on roads for some time. The car-following (CF) process for the former must be consistent with the latter to ensure both safety and efficiency of the traffic. Because of the sharing of driving information among CAVs, the acceleration is also an influencing factor. However, none of the current CF models for CAVs cover this problem. In this paper, we presented a linear CF model for the CAVs based on the optimal spacing following the triangle speed-spacing relationship in the Highway Capacity Manual with the consideration of the asymmetricity of acceleration and deceleration. The theoretical basis, stability, controllability, and observability of the model are analyzed. The simulation result shows the model performs ideally in all respects inclusive of speed/velocity, distance, and spacing. The model is useful in the CF process for CAVs in the mixed traffic flow.