Control of Mixed Platoons Consist of Automated and Manual Vehicles Platooning has a great potential for improving highway traffic flow. Platooning research focuses on fully automated platoons. However, in the near future traffic will be mixed and will consist of automated and manually driven vehicles. This work introduces a new concept of mixed platoons, i.e., platoons consist of automated and manual vehicles. In a mixed platoon the automated vehicles are controlled as part of the mixed traffic, using global sight on traffic. This way the mixed traffic flow can be optimized using the automated vehicles. The mixed platoons control developed in this paper implements the same control components that are used for automated platoons, but modifies them to suit mixed traffic environment. That is, a new Information Flow Topology (IFT) and new Distributed Controller (DC) are developed for mixed platoons using  mathcalH_infty  control methods. Subsequently, a string stability analysis for a mixed platoon is shown, demonstrates the feasibility and potential of mixed platoons.

Lane Based Platoon Control of Homogeneous Platoons The benefits of both homogeneous and heterogeneous platooning of automated vehicles have been reported by many studies. One commonality among such studies has been that platooning does provide a positive impact on traffic dynamics through increased average speeds, flow and capacity. Also due to platooning, fuel consumption is reduced and hence positively impacts the environment through reduced emissions. This is even more so when the percentage of automated vehicles is significantly higher than nonautomated vehicles. While obvious that todayu0027s and near future highways will have automated and nonautomated vehicles coexisting, research points towards homogeneity in order to fully realize the benefits of platooning. Research also indicates that when platooning allows maneuvers such as merging and splitting of platoons, these maneuvers present reduced benefits in traffic dynamics and consequently its impact on the environment. In light of these observations, this study presents a highway architecture that implements and controls lane and destination based fixedrouted platoons of automated vehicles with minimal lane changes. The study demonstrates that confining platoons to vehicles of same offramp destinations reduces the need for lane changes to a predetermined number, allows for more stable and longer strings of vehicle platoons of up to 24 vehicles per platoon. When compared to conventional traffic, the model presented shows between 135% and 156% increase in average speeds, 70% reduction in travel times and between 39% and 43.5% increase in highway throughput. The opensource traffic simulator, Simulation of Urban Mobility (SUMO) is used to simulate the model presented in this study.