Modeling and Robust H∞ Control Synthesis of the CAV-HDV Heterogeneous Traffic System With Different Car-Following Modes

This paper proposes a modified car-following model for the heterogeneous traffic flow with connected autonomous vehicles (CAVs) and human-driven vehicles (HDVs), which considers different car-following modes and heterogeneous reaction time delays of vehicles. The proposed model uses the vehicle’s own state and the front vehicle’s acceleration to adjust the vehicle’s motion. Based on the modified model and the control theory, the string stability condition of the heterogeneous traffic flow is given. Then, a robust control scheme is designed for the heterogeneous traffic system with different car-following modes and multiple delays, and its stabilizing effect is analyzed by linear matrix inequalities (LMIs). Next, considering the external disturbance in the actual driving environment, this paper performs robust
$H_{\infty }$
control synthesis for the heterogeneous traffic flow with the proposed controller. Finally, the theoretical results are verified by simulation experiments. Numerical results show that introducing the adjustment term with a certain parameter range and increasing the CAV penetration rate can strengthen the stability of the heterogeneous traffic flow, while increasing reaction time delays reduces the stability of the heterogeneous traffic. In addition, compared with the existing control method, the proposed control scheme can make vehicles in the platoon run more smoothly under disturbance, thus improving the performance of the traffic system. Furthermore, the impact of the proposed car-following model and
$H_{\infty }$
controller on the macroscopic performance of the heterogeneous traffic system is also discussed.