Optimal Control of Mixed Platoons with Autonomous and Human-Driven Vehicles

The emergence of connected and autonomous vehicle technologies provides great opportunities for the development of future transportation systems. This paper proposes a cooperative control method for a mixed platoon, consisting of connected and autonomous vehicles (CAVs) and human-driven vehicles (HDVs). An optimal control model is established to control the movement of CAVs, aiming at reducing fuel consumption and improve passengers' ride comfort. Besides, the car-following behavior of HDVs is modeled by the intelligent driver model (IDM). Finally, we conduct simulation tests to demonstrate the performance of the proposed model in the mixed platoon. Numerical simulations show that this cooperation control method between CAVs and HDVs can smooth out the trajectory and improve the driving comfort.