Cooperative control strategy based on vehicle-road coordination in mixed traffic environment

This paper focuses on cooperative control strategies for single lane platoons in mixed traffic scenarios to enhance road safety and traffic efficiency. First, a cooperative control framework with vehicle-road-cloud integration based on vehicle-toeverything (V2X) communication is built. Second, the upper layer collaborative controller is designed at roadside unit (RSU) to output the cooperative control speed and headway suggestion for each connected and automated vehicle (CAV) within the communication range. In addition, the design conditions of the feedback controllers in CAVs are analyzed in terms of traffic flow stability. The specific design of the dynamic parametric controller is given in conjunction with the control instructions of the RSU. Finally, numerical simulations in mixed traffic scenarios with different CAV penetrations are performed to validate the obtained results.