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To study the guidance method of driverless travel mode choice from the perspective of traffic supply-demand, we assume that all vehicles are driverless and establish a multimodal travel market model to depict the supply-demand relationship of multimodal driverless transportation network. To regulate the disequilibrium multimodal travel market, an optimal price regulation law is proposed, which aims to minimize the supply-demand deviation and the amplitude of price regulation. Then, the existence, uniqueness, and stability of the optimal price regulation law are confirmed. In the calculation process of a numerical example, the travel prices of driverless car and driverless subway are realized by congestion fee and subway fare, respectively. The results indicate that the optimal price regulation law can reduce the supply-demand deviation of the multimodal travel market and guide travelers to choose a reasonable travel mode to travel in the driverless transportation network.
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