Optimal Mandatory Lane-Changing Location Planning for CAV Based on Cell Transmission Model

Table 5

Lane-changing location matching schemes under varied upstream input vehicles increases.

Vehicle increasing proportion of the total initial vehicles (%)	The cell number corresponding to the best lane-changing locations	The optimal total travel time of the system (s)	Time saving compared to near-end location lane-changing scheme (%)
0	36, 40, 43, 49, 50	84130	5.9
4	31, 38, 39, 49, 50	85920	6.8
11	31, 34, 43, 46, 50	89060	9.2
15	31, 35, 43, 46, 47	90780	9.9