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Yep, in our thesis we have tried with throughputs from 2000 to about 15000, and with different types of load. We assume that all vehicles are automatic, so no human speed control.

How feasible would it be to simulate non-automatic vehicles with the models you've provided? My hypothesis is that humans, too, could implement the proposed steering behaviors (albeit likely with some degree of imperfection) and thus could feasibly implement some or all of the proposed flocking strategy, but I wouldn't know where to begin with testing things like blind spots and slower reaction times.

At the very least, I reckon the "yield to higher-priority traffic", "maintain distance from other vehicles", "maintain distance from road boundaries", and "drive forward" behaviors to be (relatively) easy for human drivers to implement, seeing as they do these things already (albeit with lanes as visual reference points), and do so even better with modern driving assistance technologies like blind spot indicators. Dynamic adjustment to asymmetric load would be harder, but I suspect even this could be feasible.

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