Abstract：To improve the ride comfort of cooperative adaptive cruise control (CACC) system under the mixed traffic flow that comprises connected automated vehicle (CAV) and manual vehicle (MV)，a dual-layer control strategy considering ride comfort (RC-DCS) is proposed. From a macro perspective，the upper controller adopts a two-state space model to adjust the following distance and speed，and improve the overall stability and comfort of the fleet by the use of the cost function. From a microscopic perspective，the lower controller optimizes the logic of switching the throttle and brake pedal of a single vehicle, and stabilizes its actual acceleration output，thereby reducing the pitch caused by frequent acceleration and deceleration. The experimental results show that，the RC-DCS can reduce the following distance error and acceleration by 72.44% and 24.87% respectively in following MV condition. In the condition of MV cut-in CACC fleet，the acceleration fluctuation is reduced by increasing the following headway of 0.4 s. In the three typical conditions of vehicle following，emergency braking and cut-in，the standard deviation of the single-vehicle acceleration is reduced by 9.6%，10.4% and 2.9%，respectively.
梁军, 于扬, 王文飒, 陈龙. 混行环境下CACC系统驾乘舒适性优化控制[J]. 西南交通大学学报, 2021, 56(6): 1290-1297.
LIANG Jun, YU Yang, WANG Wensa, CHEN Long. Optimal Control for Ride Comfort of Cooperative Adaptive Cruise Control System Under Mixed Traffic Flow. Journal of SouthWest JiaoTong University, 2021, 56(6): 1290-1297.
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