String Stability Criterion for Mixed Vehicular Platoons

Muhammad Rony Hidayatullah, Jyh Ching Juang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)


The stability of platooning vehicles that consist of connected vehicles with cooperative adaptive cruise control features is crucial for the safe and efficient operation. The stability issue, however, must address the heterogeneity in the highway. The heterogeneity may compromise platooning vehicles' potentials such as traffic efficiency, safety, smoothness, and fuel efficiency. For instance, the existence of human driving vehicles on the highway enables mixed platoon vehicles to occur. Nevertheless, the strict string stability is the most used to judge the platooning vehicles' stability, can be only used when the platoon consists of all connected autonomous vehicles. After that, several criteria come up to solve mixed platoons such as head-to-tail string stability. However, head-to-tail string stability allows the middle platoon's oscillation to compromise platooning vehicles' potential. This paper proposed a new string stability criterion to deal with mixed traffic without compromising the platooning vehicles' potentials. It transforms the platoon into the sub-platoon based on human driving vehicles' position. The mixed platoon stability is checked based on each sub-platoon interconnection, where the following sub-platoon does not magnify the magnitude of the perturbation. Therefore, it is called sub-platoon strict string stability. The effectiveness of sub-platoon strict string stability is shown through the analysis and numerical example.

Original languageEnglish
Title of host publication2020 International Automatic Control Conference, CACS 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781728171982
Publication statusPublished - 2020 Nov 4
Event2020 International Automatic Control Conference, CACS 2020 - Hsinchu, Taiwan
Duration: 2020 Nov 42020 Nov 7

Publication series

Name2020 International Automatic Control Conference, CACS 2020


Conference2020 International Automatic Control Conference, CACS 2020

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Automotive Engineering
  • Industrial and Manufacturing Engineering
  • Control and Systems Engineering
  • Control and Optimization
  • Modelling and Simulation


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