Consensus-Based Control Strategy for Mixed Platoon under Delayed V2X Environment

This paper develops a mixed platoon control strategy incorporating vehicle dynamics and time-varying vehicle-to-everything (V2X) delays to guarantee the consensus of a mixed platoon and reduce the impacts caused by the inconstant driving behavior of human-driven vehicles (HVs). In particular, a system control framework is established for a mixed vehicle platoon, which bears HVs and connected automated vehicles (CAVs). More precisely, this system control framework considers directly controlling CAVs and indirectly guiding the HVs to improve the consensus of the whole platoon with respect to velocity error and headway. Furthermore, based on the third-order closed-loop dynamic model, the consideration of vehicle dynamics and time-varying delays are taken into account. Then, theoretical analysis employs Lyapunov–Krasovskii theory to derive the delay boundary that determines the asymptotic stability and local string stability. Finally, a performance comparison with the existing algorithm is carried out to further demonstrate the advantages of the proposed strategy.