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By employing MATLAB to simulate the heterogeneous traffic flow on expressways, this study focuses on the maximum platoon length of CAV platoons and explores their impact on the traffic flow characteristics on expressways. Firstly, based on four different car-following modes of heterogeneous traffic flow, F-STCA (Flexible\u2013Symmetric Two-Lane Cellular Automata Model) and the symmetric lane-changing strategy, the study refines and improves the construction of the NaSch (Nagel and Schreckenberg) model introduced into the Gipps safety distance formula. The whole improvement process is based on the acceleration decay characteristics of vehicles on expressway. Secondly, the congestion situations under different maximum platoon lengths are compared using fundamental heat maps of the simulation data. The evolution of the fundamental diagram with changes in maximum platoon length is studied to investigate the impact and magnitude of maximum platoon lengths on the road capacity under different CAV permeabilities. Finally, the study explores the stability and safety of heterogeneous traffic flow involving CAV platoons using SD (Standard Deviation) and TERCRI (Time-Exposed Rear-End Collision Risk Index). The results show that when the CAV\u2019s permeability does not reach a high level on heavily trafficked sections of the expressway, considering the overall average speed, the maximum platoon length should not be set too long and should be around five vehicles. This restriction does not apply when the CAV permeability approaches 100%.<\/jats:p>","DOI":"10.3390\/sym15122164","type":"journal-article","created":{"date-parts":[[2023,12,5]],"date-time":"2023-12-05T08:09:17Z","timestamp":1701763757000},"page":"2164","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["The Impact of Connected and Autonomous Vehicle Platoon\u2019s Length on Expressway Traffic Flow Characteristics Based on Symmetry Lane Changing Rules"],"prefix":"10.3390","volume":"15","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5156-3709","authenticated-orcid":false,"given":"Haining","family":"Luo","sequence":"first","affiliation":[{"name":"School of Traffic and Transportation, Lanzhou Jiaotong University, Lanzhou 730070, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6056-4209","authenticated-orcid":false,"given":"Yongsheng","family":"Qian","sequence":"additional","affiliation":[{"name":"School of Traffic and Transportation, Lanzhou Jiaotong University, Lanzhou 730070, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Junwei","family":"Zeng","sequence":"additional","affiliation":[{"name":"School of Traffic and Transportation, Lanzhou Jiaotong University, Lanzhou 730070, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xuting","family":"Wei","sequence":"additional","affiliation":[{"name":"School of Traffic and Transportation, Lanzhou Jiaotong University, Lanzhou 730070, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Futao","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Traffic and Transportation, Lanzhou Jiaotong University, Lanzhou 730070, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhaopeng","family":"Wu","sequence":"additional","affiliation":[{"name":"School of Civil Engineering, Lanzhou Jiaotong University, Lanzhou 730070, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Haijun","family":"Li","sequence":"additional","affiliation":[{"name":"School of Traffic and Transportation, Lanzhou Jiaotong University, Lanzhou 730070, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2023,12,5]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"209","DOI":"10.1287\/opre.9.2.209","article-title":"Nonlinear Effects in the Dynamics of Car Following","volume":"9","author":"Newell","year":"1961","journal-title":"Oper. 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