CAVs, or connected and autonomous vehicles, have the potential to revolutionize the transportation system by making vehicle driving safer, more comfortable, and more efficient. As a result, there is the question of ensuring that CAVs and conventional vehicles can coexist insightfully. Our goal in this research is to understand better how CAVs can coexist with non-autonomous vehicles, i.e., human-driven vehicles (HVs) on city streets. To use as little energy as possible while maintaining high levels of safety, we apply the optimal control strategy and study the problems when vehicles in mixed traffic flow attempt to merge at on-ramp areas. To verify this approach, we conduct simulations with Python and SUMO. The effect of CAVs on fuel consumption is investigated under different penetration rates and traffic flow volumes. Energy efficiency gains become more significant as CAV penetration increases, whereas traffic volume decreases its significance.
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