Optimal Cruise Control For Connected Autonomous Vehicles In The Mixed Taffic Platoon

Connected autonomous vehicles(CAVs)are an important part of the intelligent transportation systems.Longitudinal driving is the major mode of motions for CAVs on the road.Therefore,planning a cruise algorithm for the CAVs to satisfy the requirements of the platoon and ensuring the string stability and the interna l stability under the proposed cruise algorithm are the main tasks of the platoon control.In this paper,the connected cruise control problem and string stability analysis for the mixed traffic which consists of human-driven vehicles(HDVs)and CAVs randomly are investigated.The main research contents are as follows:First of all,the indoor intelligent transportation experimental platform is briefly introduced.It provides experimental conditions for the research algorithm in this paper.Furthermore,through analyzing the cruise behavior of the CAVs and HDVs in the mixed traffic platoon,the cruise dynamics model for the HDVs and CAVs are established respectively.It provides the foundation for the establishment of the mixed traffic platoon model.Secondly,in order to solve the cruise control problem for CAVs in the mixed traffic platoon,a novel mixed platoon model is constructed by using a hybrid judgment modelling approach with the predecessor leader following(PLF)topology structure.The model is suitable for various types of vehicles mixed in the platoon randomly.Moreover,in order to solve the uncertainty human driving parameters problems in the mixed platoon,a data-driven Actor-Critic algorithm is developed for the CAVs.Simulation results and experimental results verify the effectiveness and feasibility of the designed data-driven cruise algorithm.Lastly,in order to solve the problem of the string stability and internal stability,the conditions for string stability and internal stability are given under the data-driven Actor-Critic algorithm.The impact of the motional data of the HDVs on the rear cruise control gain of the CAVs is analyzed in the mixed traffic platoon under the PLF topology structure.The rationality of the algorithm is verified.The string stability is investigated in different vehicle parameters in the mixed platoon by numerical simulations.