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Human drivers may behave in an imprecise/unstable manner, leading to trafficoscillations which are harmful to traffic throughput. Recent field experimentshave shown that the control of a single autonomous vehicle (AV) can increasetraffic throughput on a circular test track, as well as reduce trafficoscillations on straight roads. We consider a mixed traffic environmentconsisting of humans and autonomous vehicles, where the goal is to find acontrol policy for the autonomous vehicles which maximizes traffic throughputby preventing oscillations in speed. We formulate this problem as anoptimization problem which can be solved using gradient based optimization.Numerical experiments on a circular road show that the optimized control policyimproves traffic throughput by 28%.

Increasing Traffic Throughput by Controlling Autonomous Vehicles at Low Penetration Rates