Modelling multi-lane heterogeneous traffic flow with human-driven, automated, and communicating automated vehicles

A new set of lane changing rules is introduced with that the model introduced in Vranken et al. (2021) is able to simulate multi lane heterogeneous traffic where human driven vehicles mix with automated or communicating automated vehicles. The model predicts that (communicating) automated vehicles will increase road capacity and traffic flow in all traffic situations more strongly than on one lane traffic even though they behave more passive while lane changing and following human driven vehicles. The main reason for this improvement was found to be the creation of automated vehicle platoons naturally organised by the system.