协作式巡航控制下混合车队队列稳定性

考虑协作式巡航控制(Cooperative Adaptive Cruise Control,CACC)车辆与自适应巡航控制(Adaptive Cruise Control,ACC)车辆之间的退化机制,构建由CACC车辆、ACC车辆以及人工驾驶车辆组成的混合车队.应用传递函数理论,推导混合车队在不同规模情况下的队列稳定性...

String Stability of Mixed Platoon Under Cooperative Adaptive Cruise Control

This paper considered the degradation mechanism of cooperative adaptive cruise control (CACC) andadaptive cruise control (ACC) and defined the mixed vehicle platoon with CACC, ACC, and traditional vehicles. Thetransfer function theory was used to derive string stability criterion of the mixed platoon under different scales. Thestability situation of the mixed platoon was calculated for different scenarios. The numerical simulations were thenperformed to validate the theoretical results. The stability analysis results show that the string stability criterion ofmixed platoon can be used to calculate stability regions relevant to platoon scales and vehicular speeds. The mixedplatoon would be string stable for all possible speeds when the CACC proportion reaches to 25.00% ~41.17% .Simulation results show that the CACC vehicles can reduce fluctuation margin of speed disturbance when the speeddisturbance spreads from the leading vehicle to the upstream CACC vehicles. This can increase the stability of themixed platoon, which matches with the theory analysis results. The study also revealed the composition of CACCvehicles and traditional vehicles in traffic flow for the relatively stable mixed platoon.