Mixed platoon control of automated and human-driven vehicles at a signalized intersection: Dynamical analysis and optimal control

The emergence of Connected and Automated Vehicles (CAVs) promises better traffic mobility for future transportation systems. Existing research mostly focused on fully-autonomous scenarios, while the potential CAV control at a mixed intersection where human-driven vehicles (HDVs) also exist has been less explored. This paper proposes notion “1+n” platoon, consisting one leading n following HDVs, formulates platoon-based optimal framework signalized intersection. Based linearized dynamics model fundamental properties including stability controllability are under rigorous theoretical analysis. Then, constrained is established, aiming improving global efficiency fuel consumption via direct CAV. A hierarchical event-triggered algorithm designed practical implementation method between adjacent platoons when approaching Extensive numerical simulations multiple volumes market penetration rates validate greater benefits platoon based method, compared with traditional trajectory optimization methods single