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In this paper, we characterize the effects of turning and merging maneuversof connected and/or automated vehicles (CAVs or AVs) on network trafficinstability using the macroscopic or network fundamental diagram (MFD or NFD).We revisit the two-ring system from a theoretical perspective and develop anintegrated modeling framework consisting of different microscopic trafficmodels of human-driven vehicles (HVs), AVs, and CAVs. Results suggest thatnetwork traffic instability due to turning and merging maneuvers is anintrinsic property of road networks. When the turning probability is low, CAVsdo not significantly change the NFD bifurcation, but scatter in both thesimulated link fundamental diagrams (FDs) and NFDs reduces leading to higherand more stable network flows. When the turning probability is high,non-cooperative AVs worsen network traffic instability - the NFD undergoesbifurcation long before the critical density is reached. Results highlight theimportant impact of cooperative merging on network traffic stability when AVsare widely deployed in road networks.

Network traffic instability in a two-ring system with automated driving and cooperative merging