Modelling and analysis of mixed traffic flow with look-ahead controlled vehicles * *The research was supported by the National Research, Development and Innovation Fund through the project 'SEPPAC: Safety and Economic Platform for Partially Automated Commercial vehicles' (VKSZ 14-1-2015-0125). This paper was partially supported by the János Bolyai Research Scholarship of the Hungarian Academy of Sciences

The paper presents the modelling of a mixed traffic flow in which look-ahead controlled vehicles with a speed control are driven together with conventional vehicles. Since the speed profile of the lookahead control may differ from that of the conventional vehicle, the structure of the traffic flow changes. The paper analyses the impact of vehicles applying look-ahead control strategy on the traffic flow. In a simulation-based analysis it is shown that the fundamental diagram of the traffic network changes. A new mixed-traffic model incorporates the nonlinearity of the traffic dynamics using a polynomial formula, in which the look-ahead cruise control is considered with a parameter-dependent form. Using these nonlinear forms the impact of the look-ahead vehicles on the stability of the traffic is examined through controlled invariant sets. In this analysis the sum-of-squares programming method is applied. The results are demonstrated through simulation examples using the VISSIM simulation environment.