Estimating the Average Road Travel Time Based on Soft Set Under Connected and Autonomous Vehicles

With the development of technology, connected and autonomous vehicles (CAVs) have great potential in the future transportation systems. It provides a new way for expressway operation and management, and has become one of the important technique measures of the development of Intelligent Transportation System (ITS). Travel time plays a greatly important role in the research and development of the Intelligent Transportation Systems. In our study, SUMO (Simulation of Urban Mobility), as the simulation platform, is used to build traffic simulation scenarios under various traffic volumes and various penetration rates, then, the mapping relationship between various penetration rates and traffic state under various traffic volumes is established, and finally, the travel time function under various traffic volumes and penetration rates is established based on the soft set. The result clearly shows that the MAPE of our method is 0.066286 and the RMSE of our method is 13.88986, and the scenario with high penetration rates has smaller MAPE and RMSE than other penetration scenarios.