Collaborative control and safety analysis of connected and automated vehicles based on hybrid car-following strategy

doi:10.3969/j.issn.1674-8484.2026.03.009

Abstract

Abstract:

A novel cooperative control method for CAVs was proposed based on a hybrid car-following strategy to improve the traffic safety of the connected and automated vehicle (CAV) platoons using the constant spacing (CS) strategy in terms of the rear-end collisions. Specifically, the leader adopted the constant time gap (CTG) strategy while the followers used the CS strategy, the car-following control models were formulated based on the linear feedback and feedforward controllers, and the sufficient conditions of the string stability were derived. Numerical experiments were conducted and the results show that the proposed hybrid strategy reduces rear-end collision risks by more than 93% for a single platoon and 97% for two platoons under a time-to-collision threshold (TTCT) of 3.0 s compared with the pure CS strategy. All rear-end collision risks can be eliminated for both a CAV platoon and two CAV platoons when the TTCT is set at 2.0 s. The implementation of the hybrid car-following strategy for platooning of CAVs improves travel efficiency by 39% compared to the pure CTG strategy. Therefore, the proposed strategy provides a theoretical support for the car-following controls and safety improvements of the CAV platoons.

Key words: traffic engineering, traffic safety, rear-end collision risk, connected and automated vehicle (CAV) platoon, hybrid policy-based control, constant spacing (CS), constant time gap (CTG)

CLC Number:

U491

ZHENG Yuan, YU Wenhao, LI Shen, LIU Yang, CHEN Tianyi, LI Meng, RAN Bin. Collaborative control and safety analysis of connected and automated vehicles based on hybrid car-following strategy[J]. Journal of Automotive Safety and Energy, 2026, 17(3): 369-379.

Figures/Tables 4

References 29

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仿真时长，T	120 s
仿真步长，Δt	0.1 s
车辆总数目，n	5
车辆长度，L	5 m
固定空间距（头车与跟随车辆），d	35 m, 5 m
执行延误，τ	0.2 s
固定时间间距，Δt_c	1.4 s
头车控制器参数，k_s、k_v	0.3, 0.8
跟随车辆控制器参数，q₁、q₃、q₄、λ	0.4, 0.9, 0.6, 0.1

仿真时长，T	120 s
仿真步长，Δt	0.1 s
车辆总数目，n	5
车辆长度，L	5 m
固定空间距（头车与跟随车辆），d	35 m, 5 m
执行延误，τ	0.2 s
固定时间间距，Δt_c	1.4 s
头车控制器参数，k_s、k_v	0.3, 0.8
跟随车辆控制器参数，q₁、q₃、q₄、λ	0.4, 0.9, 0.6, 0.1

	a / (m·s^-2)	一个车队				多个车队
策略		TET / s		TIT		TET / s		TIT
		TTCT/s = 2	3	2	3	2	3	2	3
固定空间距	-3.5	0.80	2.40	0.05	0.30	2.30	5.60	0.12	0.77
	-3.7	1.00	2.50	0.08	0.37	2.80	5.80	0.20	0.91
	-3.9	1.20	2.60	0.11	0.42	3.20	6.10	0.28	1.04
	-4.1	1.40	2.80	0.14	0.48	3.60	6.40	0.36	1.16
	-4.3	1.50	2.80	0.18	0.53	3.80	6.40	0.43	1.27
	-4.5	1.60	2.90	0.21	0.57	4.00	6.50	0.51	1.38
固定时间距	-4.3	0.00	0.20	0.00	0.00	0.00	0.20	0.00	0.00
固定时间距	-4.5	0.00	0.20	0.00	0.00	0.00	0.20	0.00	0.00
混合策略	-4.3	0.00	0.20	0.00	0.00	0.00	0.20	0.00	0.00
混合策略	-4.5	0.00	0.20	0.00	0.00	0.00	0.20	0.00	0.00

	a / (m·s^-2)	一个车队				多个车队
策略		TET / s		TIT		TET / s		TIT
		TTCT/s = 2	3	2	3	2	3	2	3
固定空间距	-3.5	0.80	2.40	0.05	0.30	2.30	5.60	0.12	0.77
	-3.7	1.00	2.50	0.08	0.37	2.80	5.80	0.20	0.91
	-3.9	1.20	2.60	0.11	0.42	3.20	6.10	0.28	1.04
	-4.1	1.40	2.80	0.14	0.48	3.60	6.40	0.36	1.16
	-4.3	1.50	2.80	0.18	0.53	3.80	6.40	0.43	1.27
	-4.5	1.60	2.90	0.21	0.57	4.00	6.50	0.51	1.38
固定时间距	-4.3	0.00	0.20	0.00	0.00	0.00	0.20	0.00	0.00
固定时间距	-4.5	0.00	0.20	0.00	0.00	0.00	0.20	0.00	0.00
混合策略	-4.3	0.00	0.20	0.00	0.00	0.00	0.20	0.00	0.00
混合策略	-4.5	0.00	0.20	0.00	0.00	0.00	0.20	0.00	0.00