Cooperative Adaptive Cruise Control of A Mixture of Human-driven and Autonomous Vehicles

This paper proposes a solution to the problem of cooperative adaptive cruise control (CACC) of a platoon of human-driven and autonomous driven vehicles. The vehicular platoon is formulated by n autonomous vehicles and m human-driven vehicles. The proposed solution is able to maintain stability, and stay within the accepted range of velocity and headway. With exchanging kinematics information via vehicle-to-vehicle (V2V) communication, an optimal controller is developed to ensure the stability of the system and to minimize the errors of distance and velocity for the platoon of vehicles. The effectiveness of the proposed algorithms is tested via numeric simulations in MATLAB.