The mixed traffic flow, which comprises both cooperative automated vehicles (CAVs) and human-driven vehicles, is becoming more common in modern urban areas. CAVs can expand the capabilities such as that can be achieved with automation and vehicular communication individually. However, the energy-saving benefits may be one of the exceptions when three or more vehicles drive in a row under the mixed traffic scenarios. The undesired driving behaviors of human-driven vehicles can introduce a high level of randomness to traffic flow, which results in energy-inefficient driving profiles for CAVs with aggressive operations or even vehicle crashing. In this paper, we investigate an eco-platooning problem for CAVs under the mixed traffic flow. This is a challenging problem due to both of the platoon-wide energy-saving and driving security requirements. To address this problem, an ecological and string stable platooning scheme, called E-CACC, is provided. First, novel spacing policies are presented to enforce that all platoon members track energy-efficient driving profiles. Then, control laws are designed to ensure the tracking performances of the proposed spacing policies. Furthermore, the theoretical proof is provided to prove the platoon string stability of the proposed strategy. Finally, performance evaluation is conducted. Results have illustrated the energy efficiency of the proposed E-CACC scheme.

中文翻译：

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混合交通流量下协同自动驾驶汽车的生态排放

在现代城市地区，由协作自动驾驶汽车（CAV）和人力驾驶汽车组成的混合交通流变得越来越普遍。CAV可以扩展功能，例如可以分别通过自动化和车辆通信实现的功能。但是，在混合交通情况下，当三辆或更多车辆连续行驶时，节能优势可能是例外之一。人类驾驶车辆的不良驾驶行为会给交通流量带来高度的随机性，从而导致具有激进操作甚至车辆坠毁的CAV的能源效率低下。在本文中，我们研究了混合交通流量下CAV的生态排放问题。由于全排范围的节能和行车安全要求，这是一个具有挑战性的问题。为了解决这个问题，提供了一种称为E-CACC的生态和弦稳定排方案。首先，提出了新颖的间距策略，以强制所有排成员跟踪节能驾驶的情况。然后，设计控制法则以确保所建议间隔策略的跟踪性能。此外，提供了理论证明来证明所提出策略的排弦稳定性。最后，进行性能评估。结果说明了所提出的E-CACC方案的能效。控制法则旨在确保所建议的间距策略的跟踪性能。此外，提供了理论证明来证明所提出策略的排弦稳定性。最后，进行性能评估。结果说明了所提出的E-CACC方案的能效。控制法则旨在确保所建议的间距策略的跟踪性能。此外，提供了理论证明来证明所提出策略的排弦稳定性。最后，进行性能评估。结果说明了所提出的E-CACC方案的能效。