Anticipatory adaptive cruise control (AACC) for enhanced performance in mixed traffic flow
Publication: Canadian Journal of Civil Engineering
14 August 2025
Abstract
Adaptive cruise control (ACC) systems improve traffic efficiency by optimizing acceleration and deceleration, maintaining steady speeds, and reducing unnecessary braking, leading to smoother flow, lower fuel consumption, and reduced emissions. This paper introduces anticipatory adaptive cruise control (AACC), which enhances ACC through vehicle-to-vehicle communication, adjusting speeds based on multiple vehicles ahead. The study examines the effects of AACC in mixed traffic environments using MIXEM, a MATLAB microsimulation, modelling car following behavior of both manually-driven and AACC-equipped vehicles. Simulations cover various scenarios, including signalized intersections and fixed bottlenecks. Results show AACC halved clearance times at intersections and transformed traffic from wide moving jams to synchronized flow, altering the fundamental diagram. AACC effectively reverses capacity drops, increases discharge flow rates, and shifts the point of critical density, demonstrating its potential as a traffic regulator by promoting optimal driving behavior among nearby manually-driven vehicles.
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References
Ali Y., et al. 2020. The impact of the connected environment on driving behavior and safety: a driving simulator study. Accident Analysis & Prevention, 144(May): 105643.
Alkim T.P., Schuurman H., Tampere C.M.J. 2000. Effects of external cruise control and co-operative following on highways: an analysis with the MIXIC traffic simulation model. In IEEE intelligent vehicles symposium, Proceedings (Mi). pp. 474–479.
Arnaout G., Bowling S. 2011. Towards reducing traffic congestion using cooperative adaptive cruise control on a freeway with a ramp. Journal of Industrial Engineering and Management, 4(4): 699–717.
Bando M., Hasebe K., Nakanishi K., Nakayama A., 1998. Analysis of optimal velocity model with explicit delay. Physical Review E, 58(5): 5429–5435.
Bouadi M., Jiang R., Jia B., Zheng S., 2024. String stability analysis of cooperative adaptive cruise control vehicles considering multi-anticipation and communication delay. IEEE Transactions on Intelligent Transportation Systems, 25(Ccc): 11359–11369.
Broqua F. (no date). Proceedings, In DRIVE Conference 1991, Advanced telematics in road transport. Brussels, Belgium. Available from https://trid.trb.org/View/650294.
Chang X., Li H., Rong J., Zhao X., Li A., 2020. Analysis on traffic stability and capacity for mixed traffic flow with platoons of intelligent connected vehicles. Physica A: Statistical Mechanics and its Applications, 557(2018): 124829.
Chen D., Srivastava A., Ahn S. 2021. Harnessing connected and automated vehicle technologies to control lane changes at freeway merge bottlenecks in mixed traffic. Transportation Research Part C: Emerging Technologies, 123(December 2020): 102950.
Cui L., et al. 2021. Development of a robust cooperative adaptive cruise control with dynamic topology. pp. 1–12.
Darbha S., Rajagopal K.R. 1999. Intelligent cruise control systems and traffic flow stability. Transportation Research Part C: Emerging Technologies, 7(6): 329–352.
Davis L.C. 2003. Modifications of the optimal velocity traffic model to include delay due to driver reaction time. Physica A: Statistical Mechanics and its Applications, 319: 557–567.
Davis L.C. 2004. Effect of adaptive cruise control systems on traffic flow. Physical Review E, 69(6): 8.
Davis L.C. 2007. Effect of adaptive cruise control systems on mixed traffic flow near an on-ramp. Physica A: Statistical Mechanics and its Applications, 379(1): 274–290.
de Abreu M.P.S., de Oliveira F.S.S., Souza F.O. 2024. An improved adaptive cruise control law. Robotics and Autonomous Systems, 176(March): 104679.
de Bruin D., Kroon J., van Klaveren R., Nelisse M., 2004. Design and test of a cooperative adaptive cruise control system. IEEE Intelligent Vehicles Symposium, Proceedings, 392–396.
Delis A.I., Nikolos I.K., Papageorgiou M. 2018. A macroscopic multi-lane traffic flow model for ACC/CACC traffic dynamics. Transportation Research Record: Journal of the Transportation Research Board, 2672(20): 178–192.
Dollar R.A., Vahidi A. 2018. Efficient and collision-free anticipative cruise control in randomly mixed strings. IEEE Transactions on Intelligent Vehicles, 3(4): 439–452.
Donà R., Mattas K., He Y., Albano G., Ciuffo B., 2022. Multianticipation for string stable Adaptive Cruise Control and increased motorway capacity without vehicle-to-vehicle communication. Transportation Research Part C: Emerging Technologies, 140(January): 103687.
Dong-Fan X., Zi-You G., Xiao-Mei Z. 2008. The effect of ACC vehicles to mixed traffic flow consisting of manual and ACC vehicles. Chinese Physics B, 17(12): 4440–4445.
Ge J.I., Orosz G. 2014. Dynamics of connected vehicle systems with delayed acceleration feedback. Transportation Research Part C: Emerging Technologies, 46: 46–64.
Ge J.I., Avedisov S.S., He C.R., Qin W.B., Sadeghpour M., Orosz G., 2018. Experimental validation of connected automated vehicle design among human-driven vehicles. Transportation Research Part C: Emerging Technologies, 91(March): 335–352.
Gipps P.G. 1981. A behavioural car-following model for computer simulation. Transportation Research Part B: Methodological, 15(2): 105–111.
Gunter G., Gloudemans D., Stern R.E., McQuade S., Bhadani R., Bunting M., Delle Monache M.L., Lysecky R., Seibold B., Sprinkle J., Piccoli B., Work D.B., 2021. Are commercially implemented adaptive cruise control systems string stable? IEEE Transactions on Intelligent Transportation Systems, 22(11): 6992–7003.
Ioannou P. 2002. Evaluation of the effects of intelligent cruise control vehicles in mixed traffic 1. Order A Journal On The Theory Of Ordered Sets And Its Applications, (September).
Jia D., Lu K., Wang J. 2014. On the network connectivity of platoon-based vehicular cyber-physical systems. Transportation Research Part C: Emerging Technologies, 40: 215–230.
Jiang Y., Cong H., Chen H., Wu Y., Yao Z., 2024. Adaptive cruise control design for collision risk avoidance. Physica A: Statistical Mechanics and its Applications, 640(April): 129724.
Kamal M.A.S., Hashikura K., Hayakawa T., Yamada K., Imura J., 2022. Look-ahead driving schemes for efficient control of automated vehicles on urban roads. IEEE Transactions on Vehicular Technology, 71(2): 1280–1292.
Kamal M.A.S., Hayakawa T., Imura J.I. 2018. Road-speed profile for enhanced perception of traffic conditions in a partially connected vehicle environment. IEEE Transactions on Vehicular Technology, 67(8): 6824–6837.
Kamal M.A.S., Ramezani M., Wu G., Roncoli C., Rios-Torres J., Orfila O., 2020. Partially connected and automated traffic operations in road transportation. Journal of Advanced Transportation, 2020, 1–3.
Kerner B.S. 2004. Three-phase traffic theory and highway capacity. Physica A: Statistical Mechanics and its Applications, 333(1–4): 379–440.
Kerner B.S. 2018. Physics of automated driving in framework of three-phase traffic theory. Physical Review E, 97(4).
Kesting A., Treiber M., Helbing D. 2010. Enhanced intelligent driver model to access the impact of driving strategies on traffic capacity. Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences, 368(1928): 4585–4605.
Li P.Y., Shrivastava A. 2002. Traffic flow stability induced by constant time headway policy for adaptive cruise control vehicles. Transportation Research Part C: Emerging Technologies, 10(4): 275–301.
Li Y., Zhang Li, Zheng H., He X., Peeta S., Zheng T., Li Y., 2018. Nonlane-discipline-based car-following model for electric vehicles in transportation-cyber-physical systems. IEEE Transactions on Intelligent Transportation Systems, 19(1): 38–47.
Lidstrom K., Sjoberg K., Holmberg U., Andersson J., Bergh F., Bjade M., Mak S., 2012. A modular CACC system integration and design. IEEE Transactions on Intelligent Transportation Systems, 13(3): 1050–1061.
Liu H., Kan X., Shladover S.E., Lu X., Ferlis R.E., 2018. Modeling impacts of cooperative adaptive cruise control on mixed traffic flow in multi-lane freeway facilities. Transportation Research Part C: Emerging Technologies, 95(December 2017): 261–279.
Lu C., Aakre A. 2018. A new adaptive cruise control strategy and its stabilization effect on traffic flow. European Transport Research Review, 10(2).
Macioszek E., Iwanowicz D. 2021. A back-of-queue model of a signal-controlled intersection approach developed based on analysis of vehicle driver behavior. Energies, 14(4): 1204.
Mahdinia I., Arvin R., Khattak A.J., Ghiasi A., 2020. Safety, energy, and emissions impacts of adaptive cruise control and cooperative adaptive cruise control. Transportation Research Record: Journal of the Transportation Research Board, 2674(6): 253–267.
Mahmassani H.S. 2016. 50th Anniversary invited article autonomous vehicles and connected vehicle systems: flow and operations considerations. Transportation Science, 50(4): 1140–1162.
Melson C.L., Levin M.W., Hammit B.E., Boyles S.D., 2018. Dynamic traffic assignment of cooperative adaptive cruise control. Transportation Research Part C: Emerging Technologies, 90(March): 114–133.
Minderhoud M.M., Bovy P.H.L. 1999. Impact of intelligent cruise control on motorway capacity. Transportation Research Record: Journal of the Transportation Research Board, 1679: 1–9.
Moller D.P.F., Vakilzadian H. 2016. Cyber-physical systems in smart transportation. In IEEE International Conference on Electro Information Technology, 2016-August. pp. 776–781.
Orosz G. 2016. Connected cruise control: modelling, delay effects, and nonlinear behaviour. Vehicle System Dynamics, 54(8): 1147–1176.
Qin Y., Wang H., Ran B. 2018. Stability analysis of connected and automated vehicles to reduce fuel consumption and emissions. Journal of Transportation Engineering, Part A: Systems, 144(11): 1–9.
Rosique F., Navarro P.J., Fernández C., Padilla A., 2019. A systematic review of perception system and simulators for autonomous vehicles research. Sensors, 19(3): 648.
Santhanakrishnan K., Rajamani R. 2003. On spacing policies for highway vehicle automation. IEEE Transactions on Intelligent Transportation Systems, 4(4): 198–204.
Schakel W.J., Van Arem B., Netten B.D. 2010. Effects of cooperative adaptive cruise control on traffic flow stability. In IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC. IEEE, (Idm). pp. 759–764.
Sharma A., Zheng Z., Bhaskar A., Haque M.M. 2019. Modelling car-following behaviour of connected vehicles with a focus on driver compliance. Transportation Research Part B: Methodological, 126: 256–279.
Sharma A., Zheng Z., Kim J., Bhaskar A., Haque M.M. 2020. Is an informed driver a better decision maker? A grouped random parameters with heterogeneity-in-means approach to investigate the impact of the connected environment on driving behaviour in safety-critical situations. Analytic Methods in Accident Research, 27: 100127.
Sharma A., Zheng Z., Kim J., Bhaskar A., Mazharul Haque M. 2021. Assessing traffic disturbance, efficiency, and safety of the mixed traffic flow of connected vehicles and traditional vehicles by considering human factors. Transportation Research Part C: Emerging Technologies, 124(December 2020): 102934.
Sun D., Kang Y., Yang S. 2015. A novel car following model considering average speed of preceding vehicles group. Physica A: Statistical Mechanics and its Applications, 436: 103–109.
Talebpour A., Mahmassani H.S. 2016. Influence of connected and autonomous vehicles on traffic flow stability and throughput. Transportation Research Part C: Emerging Technologies, 71: 143–163.
Treiber M., Hennecke A., Helbing D. 2000. Congested traffic states in empirical observations and microsopic simulations. Physical Review E, 62(2): 1805–1824.
Van Arem B., Van Driel C.J.G., Visser R. 2006. The impact of cooperative adaptive cruise control on traffic-flow characteristics. IEEE Transactions on Intelligent Transportation Systems, 7(4): 429–436.
Vander Laan Z., Schonfeld P. 2020. Modeling heterogeneous traffic with cooperative adaptive cruise control vehicles: a first-order macroscopic perspective. Transportation Planning and Technology, 43(2): 113–140.
Vander Werf J., Shladover S.E., Miller M.A., Kourjanskaia N. 2002. Effects of adaptive cruise control systems on highway traffic flow capacity. Transportation Research Record: Journal of the Transportation Research Board, 1800: 78–84.
Vasebi S., Hayeri Y.M., Saghiri A.M. 2023. A literature review of energy optimal adaptive cruise control algorithms. IEEE Access, 11(January): 13636–13646.
Wang H., Qin Y., Wang W., Chen J., 2019. Stability of CACC-manual heterogeneous vehicular flow with partial CACC performance degrading. Transportmetrica B: Transport Dynamics, 7(1): 788–813.
Wang J., Rajamani R. 2004. Should adaptive cruise-control systems be designed to maintain a constant time gap between vehicles? IEEE Transactions on Vehicular Technology, 53(5): 1480–1490.
Wang Z., Bian Y., Shladover S.E., Wu G., Li S.E., Barth M.J. 2020. A survey on cooperative longitudinal motion control of multiple connected and automated vehicles. IEEE Intelligent Transportation Systems Magazine, 12(1): 4–24.
Xiao L., Wang M., Schakel W., van Arem B. 2018. Unravelling effects of cooperative adaptive cruise control deactivation on traffic flow characteristics at merging bottlenecks. Transportation Research Part C: Emerging Technologies, 96(May): 380–397.
Yao Z., Hu R., Wang Y., Jiang Y., Ran B., Chen Y. 2019. Stability analysis and the fundamental diagram for mixed connected automated and human-driven vehicles. Physica A: Statistical Mechanics and its Applications, 533: 121931.
Ye L., Yamamoto T. 2018. Impact of dedicated lanes for connected and autonomous vehicle on traffic flow throughput. Physica A: Statistical Mechanics and its Applications, 512: 588–597.
Yi J., Horowitz R. 2006. Macroscopic traffic flow propagation stability for adaptive cruise controlled vehicles. Transportation Research Part C: Emerging Technologies, 14(2): 81–95.
Yu S., Liu Q., Li X. 2013. Full velocity difference and acceleration model for a car-following theory. Communications in Nonlinear Science and Numerical Simulation, 18(5): 1229–1234.
Yuan Y., Jiang R., Hu M., Wu Q., Wang R., 2009. Traffic flow characteristics in a mixed traffic system consisting of ACC vehicles and manual vehicles: a hybrid modelling approach. Physica A: Statistical Mechanics and its Applications, 388(12): 2483–2491.
Zhang Y., Lin Y., Qin Y., Dong M., Gao L., Hashemi E. 2024. A new adaptive cruise control considering crash avoidance for intelligent vehicle. IEEE Transactions on Industrial Electronics, 71(1): 688–696.
Zohdy I.H., Rakha H.A. 2016. Intersection management via vehicle connectivity: the intersection cooperative adaptive cruise control system concept. Journal of Intelligent Transportation Systems, 20(1): 17–32.
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Published In
Canadian Journal of Civil Engineering
Volume 52 • Number 10 • October 2025
Pages: 1867 - 1884
Article versions
History
Received: 24 September 2024
Accepted: 10 May 2025
Accepted manuscript online: 11 June 2025
Version of record online: 14 August 2025
Copyright
© 2025 The Authors. Permission for reuse (free in most cases) can be obtained from copyright.com.
Data Availability Statement
Data generated or analyzed during this study are provided in full within the published article.
Key Words
Authors
Author Contributions
Conceptualization: OE, LK
Formal analysis: OE
Funding acquisition: LK
Investigation: LK
Methodology: OE, SH, LK
Supervision: LK
Validation: OE
Visualization: OE, SH
Writing – original draft: OE, SH
Writing – review & editing: SH, LK
Competing Interests
The authors declare there are no competing interests.
Funding Information
Urban Alliance professorship in Transportation Systems Optimization
ISL Engineering and Land Services
Alberta Motor Association
Natural Sciences and Engineering Research Council of Canada (NSERC)
Alberta Innovates Technology Futures
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Cite As
Omid Ebadi, Seiran Heshami, and Lina Kattan. 2025. Anticipatory adaptive cruise control (AACC) for enhanced performance in mixed traffic flow. Canadian Journal of Civil Engineering.
52(10): 1867-1884. https://doi.org/10.1139/cjce-2024-0447
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References
References
References
Ali Y., et al. 2020. The impact of the connected environment on driving behavior and safety: a driving simulator study. Accident Analysis & Prevention, 144(May): 105643.
Alkim T.P., Schuurman H., Tampere C.M.J. 2000. Effects of external cruise control and co-operative following on highways: an analysis with the MIXIC traffic simulation model. In IEEE intelligent vehicles symposium, Proceedings (Mi). pp. 474–479.
Arnaout G., Bowling S. 2011. Towards reducing traffic congestion using cooperative adaptive cruise control on a freeway with a ramp. Journal of Industrial Engineering and Management, 4(4): 699–717.
Bando M., Hasebe K., Nakanishi K., Nakayama A., 1998. Analysis of optimal velocity model with explicit delay. Physical Review E, 58(5): 5429–5435.
Bouadi M., Jiang R., Jia B., Zheng S., 2024. String stability analysis of cooperative adaptive cruise control vehicles considering multi-anticipation and communication delay. IEEE Transactions on Intelligent Transportation Systems, 25(Ccc): 11359–11369.
Broqua F. (no date). Proceedings, In DRIVE Conference 1991, Advanced telematics in road transport. Brussels, Belgium. Available from https://trid.trb.org/View/650294.
Chang X., Li H., Rong J., Zhao X., Li A., 2020. Analysis on traffic stability and capacity for mixed traffic flow with platoons of intelligent connected vehicles. Physica A: Statistical Mechanics and its Applications, 557(2018): 124829.
Chen D., Srivastava A., Ahn S. 2021. Harnessing connected and automated vehicle technologies to control lane changes at freeway merge bottlenecks in mixed traffic. Transportation Research Part C: Emerging Technologies, 123(December 2020): 102950.
Cui L., et al. 2021. Development of a robust cooperative adaptive cruise control with dynamic topology. pp. 1–12.
Darbha S., Rajagopal K.R. 1999. Intelligent cruise control systems and traffic flow stability. Transportation Research Part C: Emerging Technologies, 7(6): 329–352.
Davis L.C. 2003. Modifications of the optimal velocity traffic model to include delay due to driver reaction time. Physica A: Statistical Mechanics and its Applications, 319: 557–567.
Davis L.C. 2004. Effect of adaptive cruise control systems on traffic flow. Physical Review E, 69(6): 8.
Davis L.C. 2007. Effect of adaptive cruise control systems on mixed traffic flow near an on-ramp. Physica A: Statistical Mechanics and its Applications, 379(1): 274–290.
de Abreu M.P.S., de Oliveira F.S.S., Souza F.O. 2024. An improved adaptive cruise control law. Robotics and Autonomous Systems, 176(March): 104679.
de Bruin D., Kroon J., van Klaveren R., Nelisse M., 2004. Design and test of a cooperative adaptive cruise control system. IEEE Intelligent Vehicles Symposium, Proceedings, 392–396.
Delis A.I., Nikolos I.K., Papageorgiou M. 2018. A macroscopic multi-lane traffic flow model for ACC/CACC traffic dynamics. Transportation Research Record: Journal of the Transportation Research Board, 2672(20): 178–192.
Dollar R.A., Vahidi A. 2018. Efficient and collision-free anticipative cruise control in randomly mixed strings. IEEE Transactions on Intelligent Vehicles, 3(4): 439–452.
Donà R., Mattas K., He Y., Albano G., Ciuffo B., 2022. Multianticipation for string stable Adaptive Cruise Control and increased motorway capacity without vehicle-to-vehicle communication. Transportation Research Part C: Emerging Technologies, 140(January): 103687.
Dong-Fan X., Zi-You G., Xiao-Mei Z. 2008. The effect of ACC vehicles to mixed traffic flow consisting of manual and ACC vehicles. Chinese Physics B, 17(12): 4440–4445.
Ge J.I., Orosz G. 2014. Dynamics of connected vehicle systems with delayed acceleration feedback. Transportation Research Part C: Emerging Technologies, 46: 46–64.
Ge J.I., Avedisov S.S., He C.R., Qin W.B., Sadeghpour M., Orosz G., 2018. Experimental validation of connected automated vehicle design among human-driven vehicles. Transportation Research Part C: Emerging Technologies, 91(March): 335–352.
Gipps P.G. 1981. A behavioural car-following model for computer simulation. Transportation Research Part B: Methodological, 15(2): 105–111.
Gunter G., Gloudemans D., Stern R.E., McQuade S., Bhadani R., Bunting M., Delle Monache M.L., Lysecky R., Seibold B., Sprinkle J., Piccoli B., Work D.B., 2021. Are commercially implemented adaptive cruise control systems string stable? IEEE Transactions on Intelligent Transportation Systems, 22(11): 6992–7003.
Ioannou P. 2002. Evaluation of the effects of intelligent cruise control vehicles in mixed traffic 1. Order A Journal On The Theory Of Ordered Sets And Its Applications, (September).
Jia D., Lu K., Wang J. 2014. On the network connectivity of platoon-based vehicular cyber-physical systems. Transportation Research Part C: Emerging Technologies, 40: 215–230.
Jiang Y., Cong H., Chen H., Wu Y., Yao Z., 2024. Adaptive cruise control design for collision risk avoidance. Physica A: Statistical Mechanics and its Applications, 640(April): 129724.
Kamal M.A.S., Hashikura K., Hayakawa T., Yamada K., Imura J., 2022. Look-ahead driving schemes for efficient control of automated vehicles on urban roads. IEEE Transactions on Vehicular Technology, 71(2): 1280–1292.
Kamal M.A.S., Hayakawa T., Imura J.I. 2018. Road-speed profile for enhanced perception of traffic conditions in a partially connected vehicle environment. IEEE Transactions on Vehicular Technology, 67(8): 6824–6837.
Kamal M.A.S., Ramezani M., Wu G., Roncoli C., Rios-Torres J., Orfila O., 2020. Partially connected and automated traffic operations in road transportation. Journal of Advanced Transportation, 2020, 1–3.
Kerner B.S. 2004. Three-phase traffic theory and highway capacity. Physica A: Statistical Mechanics and its Applications, 333(1–4): 379–440.
Kerner B.S. 2018. Physics of automated driving in framework of three-phase traffic theory. Physical Review E, 97(4).
Kesting A., Treiber M., Helbing D. 2010. Enhanced intelligent driver model to access the impact of driving strategies on traffic capacity. Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences, 368(1928): 4585–4605.
Li P.Y., Shrivastava A. 2002. Traffic flow stability induced by constant time headway policy for adaptive cruise control vehicles. Transportation Research Part C: Emerging Technologies, 10(4): 275–301.
Li Y., Zhang Li, Zheng H., He X., Peeta S., Zheng T., Li Y., 2018. Nonlane-discipline-based car-following model for electric vehicles in transportation-cyber-physical systems. IEEE Transactions on Intelligent Transportation Systems, 19(1): 38–47.
Lidstrom K., Sjoberg K., Holmberg U., Andersson J., Bergh F., Bjade M., Mak S., 2012. A modular CACC system integration and design. IEEE Transactions on Intelligent Transportation Systems, 13(3): 1050–1061.
Liu H., Kan X., Shladover S.E., Lu X., Ferlis R.E., 2018. Modeling impacts of cooperative adaptive cruise control on mixed traffic flow in multi-lane freeway facilities. Transportation Research Part C: Emerging Technologies, 95(December 2017): 261–279.
Lu C., Aakre A. 2018. A new adaptive cruise control strategy and its stabilization effect on traffic flow. European Transport Research Review, 10(2).
Macioszek E., Iwanowicz D. 2021. A back-of-queue model of a signal-controlled intersection approach developed based on analysis of vehicle driver behavior. Energies, 14(4): 1204.
Mahdinia I., Arvin R., Khattak A.J., Ghiasi A., 2020. Safety, energy, and emissions impacts of adaptive cruise control and cooperative adaptive cruise control. Transportation Research Record: Journal of the Transportation Research Board, 2674(6): 253–267.
Mahmassani H.S. 2016. 50th Anniversary invited article autonomous vehicles and connected vehicle systems: flow and operations considerations. Transportation Science, 50(4): 1140–1162.
Melson C.L., Levin M.W., Hammit B.E., Boyles S.D., 2018. Dynamic traffic assignment of cooperative adaptive cruise control. Transportation Research Part C: Emerging Technologies, 90(March): 114–133.
Minderhoud M.M., Bovy P.H.L. 1999. Impact of intelligent cruise control on motorway capacity. Transportation Research Record: Journal of the Transportation Research Board, 1679: 1–9.
Moller D.P.F., Vakilzadian H. 2016. Cyber-physical systems in smart transportation. In IEEE International Conference on Electro Information Technology, 2016-August. pp. 776–781.
Orosz G. 2016. Connected cruise control: modelling, delay effects, and nonlinear behaviour. Vehicle System Dynamics, 54(8): 1147–1176.
Qin Y., Wang H., Ran B. 2018. Stability analysis of connected and automated vehicles to reduce fuel consumption and emissions. Journal of Transportation Engineering, Part A: Systems, 144(11): 1–9.
Rosique F., Navarro P.J., Fernández C., Padilla A., 2019. A systematic review of perception system and simulators for autonomous vehicles research. Sensors, 19(3): 648.
Santhanakrishnan K., Rajamani R. 2003. On spacing policies for highway vehicle automation. IEEE Transactions on Intelligent Transportation Systems, 4(4): 198–204.
Schakel W.J., Van Arem B., Netten B.D. 2010. Effects of cooperative adaptive cruise control on traffic flow stability. In IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC. IEEE, (Idm). pp. 759–764.
Sharma A., Zheng Z., Bhaskar A., Haque M.M. 2019. Modelling car-following behaviour of connected vehicles with a focus on driver compliance. Transportation Research Part B: Methodological, 126: 256–279.
Sharma A., Zheng Z., Kim J., Bhaskar A., Haque M.M. 2020. Is an informed driver a better decision maker? A grouped random parameters with heterogeneity-in-means approach to investigate the impact of the connected environment on driving behaviour in safety-critical situations. Analytic Methods in Accident Research, 27: 100127.
Sharma A., Zheng Z., Kim J., Bhaskar A., Mazharul Haque M. 2021. Assessing traffic disturbance, efficiency, and safety of the mixed traffic flow of connected vehicles and traditional vehicles by considering human factors. Transportation Research Part C: Emerging Technologies, 124(December 2020): 102934.
Sun D., Kang Y., Yang S. 2015. A novel car following model considering average speed of preceding vehicles group. Physica A: Statistical Mechanics and its Applications, 436: 103–109.
Talebpour A., Mahmassani H.S. 2016. Influence of connected and autonomous vehicles on traffic flow stability and throughput. Transportation Research Part C: Emerging Technologies, 71: 143–163.
Treiber M., Hennecke A., Helbing D. 2000. Congested traffic states in empirical observations and microsopic simulations. Physical Review E, 62(2): 1805–1824.
Van Arem B., Van Driel C.J.G., Visser R. 2006. The impact of cooperative adaptive cruise control on traffic-flow characteristics. IEEE Transactions on Intelligent Transportation Systems, 7(4): 429–436.
Vander Laan Z., Schonfeld P. 2020. Modeling heterogeneous traffic with cooperative adaptive cruise control vehicles: a first-order macroscopic perspective. Transportation Planning and Technology, 43(2): 113–140.
Vander Werf J., Shladover S.E., Miller M.A., Kourjanskaia N. 2002. Effects of adaptive cruise control systems on highway traffic flow capacity. Transportation Research Record: Journal of the Transportation Research Board, 1800: 78–84.
Vasebi S., Hayeri Y.M., Saghiri A.M. 2023. A literature review of energy optimal adaptive cruise control algorithms. IEEE Access, 11(January): 13636–13646.
Wang H., Qin Y., Wang W., Chen J., 2019. Stability of CACC-manual heterogeneous vehicular flow with partial CACC performance degrading. Transportmetrica B: Transport Dynamics, 7(1): 788–813.
Wang J., Rajamani R. 2004. Should adaptive cruise-control systems be designed to maintain a constant time gap between vehicles? IEEE Transactions on Vehicular Technology, 53(5): 1480–1490.
Wang Z., Bian Y., Shladover S.E., Wu G., Li S.E., Barth M.J. 2020. A survey on cooperative longitudinal motion control of multiple connected and automated vehicles. IEEE Intelligent Transportation Systems Magazine, 12(1): 4–24.
Xiao L., Wang M., Schakel W., van Arem B. 2018. Unravelling effects of cooperative adaptive cruise control deactivation on traffic flow characteristics at merging bottlenecks. Transportation Research Part C: Emerging Technologies, 96(May): 380–397.
Yao Z., Hu R., Wang Y., Jiang Y., Ran B., Chen Y. 2019. Stability analysis and the fundamental diagram for mixed connected automated and human-driven vehicles. Physica A: Statistical Mechanics and its Applications, 533: 121931.
Ye L., Yamamoto T. 2018. Impact of dedicated lanes for connected and autonomous vehicle on traffic flow throughput. Physica A: Statistical Mechanics and its Applications, 512: 588–597.
Yi J., Horowitz R. 2006. Macroscopic traffic flow propagation stability for adaptive cruise controlled vehicles. Transportation Research Part C: Emerging Technologies, 14(2): 81–95.
Yu S., Liu Q., Li X. 2013. Full velocity difference and acceleration model for a car-following theory. Communications in Nonlinear Science and Numerical Simulation, 18(5): 1229–1234.
Yuan Y., Jiang R., Hu M., Wu Q., Wang R., 2009. Traffic flow characteristics in a mixed traffic system consisting of ACC vehicles and manual vehicles: a hybrid modelling approach. Physica A: Statistical Mechanics and its Applications, 388(12): 2483–2491.
Zhang Y., Lin Y., Qin Y., Dong M., Gao L., Hashemi E. 2024. A new adaptive cruise control considering crash avoidance for intelligent vehicle. IEEE Transactions on Industrial Electronics, 71(1): 688–696.
Zohdy I.H., Rakha H.A. 2016. Intersection management via vehicle connectivity: the intersection cooperative adaptive cruise control system concept. Journal of Intelligent Transportation Systems, 20(1): 17–32.
