Robust Platoon Control in Mixed Traffic Flow Based on Tube Model Predictive Control

The design of cooperative adaptive cruise control is critical in mixed traffic flow, where connected and automated vehicles (CAVs) human-driven (HDVs) coexist. Compared with pure CAVs, the major challenge how to handle prediction uncertainty HDVs, which can cause significant state deviation CAVs from planned trajectories. In most existing studies, model predictive (MPC) utilized replan CAVs' trajectories mitigate at each time step. However, as process usually conducted by solving an optimization problem information through inter-vehicular communication, MPC methods suffer heavy computational communicational burdens. To address this limitation, a robust platoon framework proposed based on tube paper. dynamically mitigated feedback restricted inside set high probability. When exceeds or additional external disturbance emerges, feedforward triggered plan ``tube'' (a sequence set), bound actual As not required, method much more efficient regarding computation compared method. Comprehensive simulations are provided validate effectiveness framework.