Stabilizing mixed vehicular platoons with connected automated vehicles: An H-infinity approach

Yang Zhou, Soyoung Ahn, Meng Wang and Serge Hoogendoorn

Transportation Research Part B: Methodological, 2020, vol. 132, issue C, 152-170

Abstract: This paper presents a car-following control strategy of connected automated vehicles (CAVs) to stabilize a mixed vehicular platoon consisting of CAVs and human-driven vehicles. This study first establishes a string stability criterion for a mixed vehicular platoon. Specifically, a mixed vehicular platoon is decomposed into “subsystems” that are all possible sequential subsets of the platoon. String stability is then defined as the “head-to-tail” string stability for all subsystems: the magnitude of a disturbance is not amplified from the first vehicle to the last vehicle of each subsystem. Based on this definition, distributed frequency-domain-based CAV control is proposed to increase the number of head-to-tail string stable subsystems and consequently dampen stop-and-go disturbances drastically. Specifically, an H-infinity control problem is formulated, where the maximum disturbance “damping ratios” in each subsystem is minimized within the predominant acceleration frequency boundaries of human-driven vehicles. Simulation experiments, embedded with real human-driven vehicle trajectories, were conducted, and results show that the proposed control can effectively dampen stop-and-go disturbances.

Keywords: Mixed vehicle platooning; Platoon stabilization; CAV; Car-following; Local stability; String stability; H infinity control; Fast Fourier Transformation; Nonlinear-nonconvex optimization (search for similar items in EconPapers)
Date: 2020
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Citations: View citations in EconPapers (16)

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DOI: 10.1016/j.trb.2019.06.005

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