Consensus-based Distributed Cooperative Control for Mixed Vehicle Group Systems with Packet Losses and Information Uncertainty in the Vicinity of Traffic Signal Light

Abstract

To ensure that the mixed vehicle group can reach minimum total travel time and consistency travel within the traffic light proximity under the constraint of the signal light, this paper presents a new distributed cooperative control strategy incorporating heterogeneous time delays, packet losses and information uncertainty from the perspective of the cyber-physical system. First, to guarantee the current vehicle can maintain the desired spacing from the preceding vehicle and the rearing vehicle, a new car following model is proposed. Second, a unified mixed vehicle group model is developed by incorporating human-driven vehicles (HVs) car-following model and connected and automated vehicles (CAVs) control model, and the heterogeneous time delays, packet losses and information uncertainty are embedded into unified mixed vehicle group model. Third, from the perspective of the cyber-physical system, a distributed cooperative control strategy is proposed by considering constraints on the consensus and the traffic light sequence to ensure the mixed vehicles group consensus pass the in the vicinity of traffic signal light (VTSL) on the green light phase. Finally, the stability condition of the mixed vehicle group system is derived, and the effectiveness of the developed control strategy is demonstrated by simulation experiments.