Performance Analysis of Velocity Perturbation Control in Mixed Platoons with Connected Autonomous and Human-Driven Vehicles

As the Internet of vehicles and autonomous driving are not widely popularized, it is of practical significance to investigate the mixed platoon composed of connected autonomous and human-driven vehicles. This paper focuses on the velocity perturbation control of the mixed platoon. We first use an intelligent driver model (IDM) to build a general scene of an individual connected autonomous vehicle (CAV) guiding multiple human-driven vehicles (HDVs). Using this model, the paper theoretically derives the difficulty calculation of CAV controlling the velocity perturbation at a certain position in the whole platoon. The results show the relationship between the control difficulty and the control time of velocity perturbation occurring at different positions. Finally, the numerical simulation results verify that CAV has the potential to guide the HDVs behind it and eliminate the velocity perturbation. Interestingly, when the velocity perturbation occurs in a HDV far away from the CAV, the velocity perturbation will continue to exist for a long time.