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

Table 6

Simulation results of comparison 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	22.79	4.392	0.50	0.153	6.54	1.78
3	40	18.6	22.97	4.373	0.93	0.155	6.45	1.75
4	60	18.6	22.75	4.149	5.99	0.155	6.46	1.69
5	80	18.6	22.36	3.763	14.7	0.158	6.34	1.62
6	100	18.6	22.32	3.720	15.7	0.160	6.25	1.47