The advancement of automatic driving technology and networking technology will lead to prolonged coexistence of connected automated vehicles (CAVs) and human-driven vehicles (HDVs) forming mixed traffic groups. Given that heterogeneous driving styles and behavioral uncertainties of human drivers significantly affect intra-group car-following behaviors, this paper proposes a cooperative control method considering driver characteristics to ensure group consistency and stability. First, HDV Driver behaviors are categorized into three types: aggressive, normal, and cautious. An HDV cooperative driving model is developed through designed driving style gain coefficients and behavioral uncertainty functions that explicitly depict driver characteristics. Second, to mitigate rear CAVs acceleration oscillations induced by HDV driver behavioral uncertainties, robust control gain coefficient is designed via fuzzy logic theory, consequently formulating a CAV cooperative model with disturbance rejection capability. Third, a unified cooperative driving model for the mixed vehicle group is constructed based on consensus constraints and the information interaction relationships within the group. Finally, the effectiveness of the proposed control method is demonstrated by numerical simulation experiments.
Cooperative Control Method for Mixed Vehicle Groups Considering Driver Characteristics
2025-05-09
643931 byte
Conference paper
Electronic Resource
English
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