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This paper proposes a theoretical model to discuss the capacity of heterogeneous saturated flow. A crucial indicator, platooning intensity, which represents the willingness of connected and autonomous vehicles to form platoons, is taken into consideration. The relationship between platooning intensity and the penetration rate of connected and autonomous vehicles is also evaluated. Numerical analysis is conducted based on relevant parameters, which further improves the proposed theoretical model. Finally, a microscopic simulation is used to verify the accuracy of the proposed model. The results indicate that both the speed and the market penetration rate have a significant impact on capacity; however, the impact is not linear. The slope of the speed-affected curve gradually decreases, whereas the slope of the market penetration rate-affected curve gradually increases. The impact of market penetration rate on theoretical capacity intensifies with the increase in speed. As the number of vehicles within a fleet increase, the weighted average of platooning intensity gradually tends towards the market penetration rate. The formulation offers important insights into traffic performance with heterogeneous flow. |
