Cooperative control of mixed vehicle platoon based on variable spacing policy
DU Wen-ju
DONG Jian-xun
ZHANG Jian-gang
MA Chang-xi
Abstract：The spacing policy used in collaborative control of vehicle platoon is one of the key factors to maintain inner-vehicle stability and string stability of vehicle platoon system.Most of the existing research on mixed vehicle platoon control adopts the constant spacing policy,which is difficult to apply to the complex road driving environment.Therefore,the cooperative control method of mixed vehicle platoon based on variable spacing policy and the stability problem of mixed vehicle platoon are studied.Firstly,for the mixed vehicle platoon composed of human-driven vehicles(HDV)and connected autonomous vehicles(CAV),a quadratic variable spacing policy is designed,and the mixed vehicle platoon system model based on the variable spacing policy is constructed.Secondly,a cooperative controller of mixed vehicle platoon based on multi-agent consistency is proposed,and the head-to-tail transfer function of mixed vehicle platoon for a bidirectional multi-vehicle leader-follower topology,which includes multiple connected autonomous vehicles,is derived.Finally,numerical simulation experiments are designed to verify the effectiveness of the proposed controller,and the effects of driver response time delay,vehicle communication time delay,number of connected autonomous vehicles,information topologies,different types of vehicle order and control gains on the stability of the mixed vehicle platoon are discussed.
Keywords：traffic engineeringmixed vehicle platoonvariable spacing policycooperative controlstability
Publication Date：2026-01-30
Online Publishing Date：2026-02-05(First online date of this platform, not the publication date of the document)
Pages：13( 192-204 )