A Connected and Automated Vehicles Control Algorithm Considering New Communication Topology in Mixed Platoon

The mixed platoon including human driving vehicles tHVs) and connected and automated vehicles tCAVs) are becoming more common. In order to alleviate the mixed traffic congestion of highway, we present a CAVs control algorithm considering new communication topology in mixed platoon. In tact, there are many CAVs control algorithms, however, they do not consider the particularity of mixed traffic, and the communication topology is not suitable for mixed traffic. In this paper, fu-st, we group the mixed platoon on the road, and redefine the communication topology of CAVs under mixed platoon, and then present a specific CAVs control algorithm. Besides, we analyze the string stability of mixed platoon based on the control algorithm, and prove the feasibility of the algorithm. Finally, the effectiveness of the method is verified by simulation experiments.