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Objectives New technologies such as autonomous driving, intelligent networking, and V2X (vehicle-to-everything) are considered to be the key to driving changes in the future transportation system. Many studies have reached a consensus that human-driven vehicles, intelligent connected vehicles, and different levels of self-driving vehicles will coexist for a long period of time in the future. How to analyze the characteristics of the mixed traffic flow composed of these different types of vehicles is the key to rea‑lize the full promotion and application of vehicle-circuit coordination and autonomous driving technology. Simulation is an important method, but most of the existing microscopic traffic simulation tools do not have the ability to simulate the mixed traffic flow under the environment of vehicle-road cooperation.

Methods First, we build a vehicle driving behavior model under vehicle-road collaborative environment based on SUMO, an open-source micro-traffic simulation software, including three modules of driving control, driving advice and intelligent navigation, and six typical vehicle-road collaborative scenarios. Combined with the advantages of vehicle simulation software CARLA, which has high precision physical and sensor models, a collaborative co-simulation framework for expressway mixed traffic flow is proposed and named SC-V2XSim. The framework makes up for the defects that micro-traffic simulation does not have vehicle-road co-simulation function, can not access automatic driving algorithm and vehicle simulation does not have real traffic flow model. Second, the Shanghai-Hang-Ningbo expressway in Zhejiang Province is selected …