Connected cruise control among human-driven vehicles: Experiment-based parameter estimation and optimal control design.

Highlights • Proposed a method to estimate car-following parameters of human-driven vehicles. • Designed a connected cruise controller including stochasticity in human behaviors. • Demonstrated on experimental data that the algorithms can be applied on real vehicles. Abstract In this paper, we consider connected cruise control design in mixed traffic flow where most vehicles are human-driven. We first propose a sweeping least square method to estimate in real time feedback gains and driver reaction time of human-driven vehicles around the connected automated vehicle. Then we propose an optimal connected cruise controller based on the mean dynamics of human driving behavior. We test the performance of both the estimation algorithm and the connected cruise control algorithm using experimental data. We demonstrate that by combining the proposed estimation algorithm and the optimal controller, the connected automated vehicle has significantly improved performance compared to a human-driven vehicle. [ABSTRACT FROM AUTHOR]