Addressing Mixed Traffic Through Platooning of Vehicles

Abstract: Connected and automated vehicles (CAVs) provide the most intriguing opportunity for enabling users to better monitor transportation network conditions and make better operating decisions to improve safety and reduce pollution, energy consumption, and travel delays. While several studies have shown the benefits of CAVs in reducing energy and alleviating traffic congestion in specific traffic scenarios, e.g., crossing signal-free intersections, merging at roadways and roundabouts, cruising in congested traffic, passing through speed reduction zones, and lane-merging or passing maneuvers, most of these efforts have focused on 100% CAV penetration rates without considering human-driven vehicles (HDVs). One key question that still remains unanswered is ``how can CAVs and HDVs be coordinated safely?'' In this paper, we report on an optimal control framework to coordinate CAVs and HDVs at any traffic scenario. The idea is to directly control the CAVs to force the trailing HDVs to form platoons. Thus, we indirectly control the HDVs by coordinating the platoon of HDVs led by CAVs.