Connected automated vehicles (CAV), which incorporate vehicle-to-vehicle (V2V) communication into their motion planning, are expected to provide a wide range of benefits for individual and overall traffic flow. A frequent constraint or required precondition is that compatible CAVs must already be available in traffic at high penetration rates. Achieving such penetration rates incrementally before providing ample benefits for users presents a chicken-and-egg problem that is common in connected driving development. Based on the example of a cooperative driving function for bottleneck traffic flows (e.g. at a roadblock), we illustrate how such an evolutionary, incremental introduction can be achieved under transparent assumptions and objectives. To this end, we analyze the challenge from the perspectives of automation technology, traffic flow, human factors and market, and present a principle that 1) accounts for individual requirements from each domain; 2) provides benefits for any penetration rate of compatible CAVs between 0 % and 100 % as well as upward-compatibility for expected future developments in traffic; 3) can strictly limit the negative effects of cooperation for any participant and 4) can be implemented with close-to-market technology. We discuss the technical implementation as well as the effect on traffic flow over a wide parameter spectrum for human and technical aspects.

翻译：网联自动驾驶车辆（CAV）将车-车（V2V）通信融入其运动规划中，有望为个体及整体交通流带来广泛效益。然而，其常见约束或必要前提是兼容CAV需在交通中达到高渗透率。在为用户提供充分效益前逐步实现此类渗透率，构成了网联驾驶发展中典型的“先有鸡还是先有蛋”问题。本文以瓶颈交通流（例如路障处）的协同驾驶功能为例，阐明如何在透明假设与目标下实现这种渐进式、增量式的引入。为此，我们从自动化技术、交通流、人因与市场角度分析挑战，并提出一种原则：1）兼顾各领域的个体需求；2）为兼容CAV在0%至100%之间的任何渗透率提供效益，并对预期的未来交通发展保持向上兼容性；3）严格限制合作对任何参与者的负面影响；4）可借助接近市场的技术实现。我们探讨了技术实现及在广泛参数谱系（涵盖人与技术因素）下对交通流的影响。