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    Connected and Automated Vehicle Trajectory Control in Stochastic Heterogeneous Traffic Flow with Human-Driven Vehicles Under Communication Delay and Disturbances by Meiqi Liu, Yang Chen, Ruochen Hao

    Published 2025-05-01
    “…To simplify the problem complexity from a stochastically heterogeneous traffic flow to multiple long vehicle control problems, three types of sub-platoons are identified according to the CAV arrivals, and each sub-platoon can be treated as a long vehicle. The car-following behaviors of HDVs and CAVs are simulated using the optimal velocity model (OVM) and the cooperative adaptive cruise control (CACC) system, respectively. …”
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