Abstract
To cope with the randomness derived from the human driving in heterogeneous traffic consists of human-driving vehicles and connected automated vehicles (CAVS), a longitudinal car-following control strategy of CAV is proposed based on the original Intelligent Driver Model (IDM) model and model predictive control (MPC) structure. The string stability of heterogeneous platoon is verified by head-to-tail string stability criteria. Results indicate the strategy proposed can reflect the relationship between the speed and string stability and prove the adaptability to different traffic conditions.
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