Research on the eco-driving strategy of coordination between signal intersection and dynamic mixed vehicle platoon

With the continuous development of autonomous driving technology, traffic management and control is gradually shifting towards fully automated control from the traditional mode. Before the full application of the technology, autonomous driving in a mixed environment will play a vital role. In this paper, we establish a dynamic mixed platoon control strategy utilizing the model predictive control method. This strategy fully considers the platoon's dynamic changes when approaching a signalized intersection. Furthermore, we investigate the interaction behaviors between Connected-Automated Vehicles (CAVs) and Human-Driven Vehicles (HDVs) in the platoon. Ultimately, we achieve cooperative control of the platoon and the signal phase. Numerical simulations were conducted to compare the ecological performance of the platoon under different penetration rate scenarios. The results demonstrate that applying the dynamic mixed platoon control strategy can decrease fuel consumption by 19.2% to 25.5% and travel time by 31.5% to 41.1%. Additionally, the study found that cooperation has a notable impact on reducing fuel consumption when the penetration rate is low. As the penetration rate exceeds 50%, the advantages of collaboration diminish, even though the platoon's ecological performance has improved.