Cooperative Control for Multiple Mixed Vehicle Platoons Based on Reset Strategy

This paper studies the cooperative control problem for multiple mixed vehicle platoons, which are composed of a large number of connected autonomous vehicles (CAVs) and human-driven vehicles (HDVs). Compared to the routine mixed vehicle platoon, multiple mixed vehicle platoons considered in this paper are not limited to running in a single lane, and it is assumed that there exists no globally known reference velocity. Firstly, the multiple mixed vehicle platoons are divided into multiple interrelated subplatoons according to the location of the CAVs. The structure of each subplatoon is '1+n'. i.e., by a CAV leading n HDVs. Then a generic model is constructed for each sub-platoon based on the optimal velocity model for HDV and the kinematic model for CAV, respectively. Secondly, a reset strategy based cooperative control algorithm is designed for CAVs to lead the multiple mixed vehicle platoons travelling at a consistent velocity and a desired inter-vehicle spacing, where the reference velocities of CAVs are periodically reset based on a consensus protocol. Specifically, dynamic state feedback controller is designed for each CAV behind under incorporation. Finally, numerical studies validate that the proposed reset strategy based cooperative control algorithm can increase the convergence rate and ensure comparable control performance compared to the existing algorithms that require a globally known reference velocity.