Study on Cooperative Control and Stability of Complex Mixed Vehicle Platoon

Aiming at the complex mixed vehicle platoon composed of human-driven vehicle, connected human-driven vehicle and connected autonomous vehicle, this paper constructs a complex mixed vehicle platoon system model, and proposes a cooperative controller of complex mixed vehicle platoon based on heterogeneous multi-agent pinning consistency. The driver response delay and vehicle communication delay are introduced into the model, and the cooperative controller of complex mixed vehicle platoon with delay is designed to reveal the internal mechanism of improving the cooperative operation ability of mixed vehicle platoon with delay. Based on Lyapunov analysis method, the stability of complex mixed vehicle platoon system is analyzed, and the stability conditions are obtained. Finally, the numerical simulation experiments are designed to analyze the effects of time-gap of CHV, time-gap of CAV, driver response time delay and vehicle communication time delay on the stability of mixed vehicle platoon. The results show that: (1) the controller designed in this paper can effectively control the complex mixed vehicle platoon and ensure that the vehicle runs in the platoon mode. (2) The time-gap of CHV and time-gap of CAV of 1.1 s and 0.6 s, respectively, are the most conducive to the stability of the complex mixed vehicle platoon. (3) Both the driver’s reaction delay and vehicle communication delay have negative effects on the stability of the mixed vehicle platoon, and the controller designed in this paper can well suppress the influence of driver’s reaction delay and vehicle communication delay. © 2025 Journal of Computer Engineering and Applications Beijing Co., Ltd.; Science Press. All rights reserved.