混合交通（人类驾驶和无人驾驶车辆）的道路交叉口协调方案：系统回顾（英文版）

emergence leads to a paradigm shift in the road traffic system, making the penetration of autonomous vehicles fast and its

coexistence with human-driven cars inevitable. ) e migration from the traditional driving to the intelligent driving system with

AV’s gradual deployment needs supporting technology to address mixed traffic systems problems, mixed driving behaviour in a

car-following model, variation in-vehicle type control means, the impact of a proportion of AV in traf