Stability analysis of lead-vehicle control model in cooperativeadaptive cruise control platoon within heterogeneous traffic flow

In order to analyze the stability impact of cooperative adaptive cruise control(CACC)platoon, an adaptive control model designed for the lead vehicle in a CACC platoon(LCACC model)in heterogeneous traffic flow with both CACC and manual vehicles is proposed. Considering the communication delay of a CACC platoon, a frequency-domain approach is taken to analyze the stability conditions of the novel lead-vehicle CACC model. Field trajectory data from the next-generation simulation(NGSIM)data is used as the initial condition. To account for car-following behaviors in reality, an intelligent driver model(IDM)is calibrated with the same NGSIM dataset from a previous study to model manual vehicles. The stability conditions of the proposed model are validated by the ring-road stability analysis. The ring-road test results indicate the potential of the LCACC model for improving the traffic flow stability impact of CACC platoons. Sensitivity analysis shows that the CACC fleet size has impact on the parameters of the LCACC model.