The Control Strategy of Mixed Platoon Based on Vehicle Grouping with Abnormal Communication in Two-Lane Highway

The mixed platoon including human driving vehicles (HVs) and connected automated vehicles (CAVs) are becoming more common. In order to alleviate the traffic congestion of highway, we present a control strategy of mixed platoon based on vehicle grouping with abnormal communication for two-lane. First, we grouped the vehicles on the road into many small platoons according to the spatial location of the CAVs, and then proposed the CAVs control algorithm under the mixed platoon. Based on this, combined with the vehicle dynamics characteristics, we analyzed the string stability of the mixed platoon. In addition, by considering the abnormal communication of CAVs during driving, we propose a control strategy for vehicle split and vehicle formation in the two-lane situation. Through VISSIM verification, it can be seen that the method proposed in this paper has a significant effect on the improvement of mixed traffic efficiency.