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Adaptive Potential Lines Controller for Mixed Human-CAV Lane-Free Traffic

A vehicle-control strategy for lane-free traffic in which connected autonomous vehicles adaptively reshape their guiding potential lines to form protective corridors around human-driven vehicles, improving throughput when connected and non-connected vehicles share the road. Learners study how mixed penetration of human drivers degrades lane-free-traffic capacity in microscopic simulation, and how the adaptive potential-lines controller recovers peak flow relative to a fixed potential-lines controller.