Cooperative optimal control for connected and automated vehicles platoon.

The coordination and the energy consumption are very important for the platooning of connected and automated vehicles (CAVs). A novel cooperative optimal control for CAVs platoon on basic freeway sections is proposed in this paper. A cost function is designed to address the cooperation of followers, the motion synchronization with the leading vehicle and appropriate energy consumptions. A third-order consensus strategy is suggested to design the control input. A more effective and flexible spacing strategy is introduced. The asymptotically stability and string stability conditions of the system are established. By constructing and solving the LMI optimization problem, the optimal control gains are derived and the global cost function is minimized to a specific upper bound. Numerical simulations are performed on several specific traffic scenarios. The results demonstrate the effectiveness of the presented modeling method. • A novel cooperative optimal control method for CAVs platoon is developed. • A cost function is designed to achieve the cooperative performance and appropriate energy consumption. • A third-order consensus strategy is proposed to design the control input. • The stability conditions and optimal control gains are derived. [ABSTRACT FROM AUTHOR]