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We study the problem of routing Connected and Automated Vehicles (CAVs) inthe presence of mixed traffic (coexistence of regular vehicles and CAVs). Inthis setting, we assume that all CAVs belong to the same fleet, and can berouted using a centralized controller. The routing objective is to minimize agiven overall fleet traveling cost (travel time or energy consumption). Weassume that regular vehicles (non-CAVs) choose their routing decisionsselfishly to minimize their traveling time. We propose an algorithm that dealswith the routing interaction between CAVs and regular uncontrolled vehicles. Weinvestigate the effect of assigning system-centric routes under differentpenetration rates (fractions) of CAVs. To validate our method, we apply theproposed routing algorithms to the Braess Network and to a sub-network of theEastern Massachusetts (EMA) transportation network using actual traffic dataprovided by the Boston Region Metropolitan Planning Organization. The resultssuggest that collaborative routing decisions of CAVs improve not only the costof CAVs, but also that of the non-CAVs. Furthermore, even a small CAVpenetration rate can ease congestion for the entire network.

The Penetration Rate Effect of Connected and Automated Vehicles in Mixed Traffic Routing