A Cooperative Lane-Changing Strategy for Weaving Sections of Urban Expressway under the Connected Autonomous Vehicle Environment

Table 5

Simulation results of benchmark tests with different CAV MPRs under demand setting #6.

Test nos.	CAV MPR; (%)	(s/veh)	Operational efficiency			Traffic safety		Comfort
			(s/veh)	(s/veh)	(%)	(s^−1/veh)	(s/veh)	(%)
1	0	18.6	23.01	4.414	0	0.153	6.52	1.81
2	20	18.6	22.62	4.022	8.88	0.150	6.66	1.79
3	40	18.6	22.57	3.974	9.96	0.146	6.86	1.78
4	60	18.6	22.45	3.849	12.8	0.145	6.88	1.73
5	80	18.6	22.35	3.747	15.1	0.144	6.96	1.60
6	100	18.6	21.92	3.319	24.8	0.140	7.12	1.55