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This paper reports an experimental study on oscillation growth in mixedtraffic flow of automated vehicles (AVs) and human driven vehicles (HVs). Theleading vehicle moves with constant speed in the experiment. The followingvehicles consist of six developable AVs and different number of HVs. Thus, themarket penetration rate (MPR) of AVs decreases with the increase of platoonsize. The AVs are homogeneously distributed in the platoon. The constant timegap car-following policy is adopted for the AVs and the gap is set to 1.5 s.The experiment shows that in the 7-vehicle-platoon, the oscillations grow onlyslightly. In the 10-vehicle-platoon, the AVs could still significantly suppressthe growth of oscillations. With the further decrease of MPR of AVs in the 13-and 20-vehicle-platoon, the AVs become having no significant impact onoscillation growth. On the other hand, with the decrease of MPR of AVs, averagedensity of the vehicles and flow rate of the platoon increase, whichdemonstrates a trade-off between traffic stability and throughput under thegiven setup of AVs. The simulation study is also carried out, which exhibitsgood agreement with the experiment. Finally, sensitivity analysis of theparameters in the AV upper-level control algorithm has been performed, which isexpected to guide future experiment design.

Oscillation growth in mixed traffic flow of human driven vehicles and automated vehicles: Experimental study and simulation