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

Table 7

Comparison of our method and the near-end location lane-changing scheme in the case of MLC vehicles expansion scenarios.

Number of vehicles to change lanes	Cell numbers matched by MLC vehicles	Total travel time (s)	Time saving compared to near-end location lane-changing scheme (%)
8	31, 36, 37, 39, 46, 48, 49, 50	84670	6.4
15	31, 32, 34, 35, 36, 39, 40, 41, 42, 44, 45, 47, 48, 49, 50	88210	11.5