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A review of connected and automated vehicle platoon control under mixed traffic AITranslate

1.School of Transportation Science and Engineering, Beihang University, Beijing 100191, China
2.College of Civil Engineering, Fuzhou University, Fuzhou 350000, China
3.The Zhongguancun Laboratory, Beijing 100081, China
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Publisher: Youke Publish Co., Ltd.
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Abstract AITranslate

With the rapid advancement of Vehicle-to-Everything (V2X) communication and automated driving technologies, connected and automated vehicle (CAV) platoons have emerged as a promising solution for enhancing road capacity, energy efficiency, and traffic safety. Unlike the ideal fully CAV environment, real-world traffic will remain in a mixed traffic phase for an extended period, where CAVs and human-driven vehicles (HDVs) coexist. Factors such as cut-in by surrounding vehicles, HDV leader disturbances, and communication delay significantly increase the complexity of platoon control. This paper provides a systematic review of CAV platoon control methods under mixed traffic from three interrelated perspectives: control architecture, HDV interaction mechanisms, and control methods. From the architectural perspective, centralized management, distributed cooperation, and hybrid hierarchical architectures are comparatively examined in terms of decision efficiency, communication dependency, and scalability. Regarding HDV interaction mechanisms, HDV behavior modeling and prediction approaches based on model-driven, data-driven, and game-theoretic frameworks are synthesized, highlighting the trade-offs between modeling fidelity and uncertainty quantification capability. In terms of control methods, the technical characteristics and applicability limits of model-driven control, data-driven control, and hybrid model-data-driven control are systematically analyzed. Building upon this comparative assessment, the advantages, limitations, and application scenarios of these approaches are summarized to provide guidance for control strategy design and selection. Finally, future research directions for CAV platoon control under mixed traffic flow are outlined, aiming to provide theoretical support for establishing safe, stable, and efficient CAV platoons in complex mixed traffic environments.

KeyWords AITranslate

connected and automated vehicle mixed traffic platoon control vehicle-road-cloud coordination

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Basic Information:

DOI:10.23919/CHAIN.2026.000014

Chinese Library Classification Number:

Citation Information:

With the rapid advancement of Vehicle-to-Everything (V2X) communication and automated driving technologies, connected and automated vehicle (CAV) platoons have emerged as a promising solution for enhancing road capacity, energy efficiency, and traffic safety. Unlike the ideal fully CAV environment, real-world traffic will remain in a mixed traffic phase for an extended period, where CAVs and human-driven vehicles (HDVs) coexist. Factors such as cut-in by surrounding vehicles, HDV leader disturbances, and communication delay significantly increase the complexity of platoon control. This paper provides a systematic review of CAV platoon control methods under mixed traffic from three interrelated perspectives: control architecture, HDV interaction mechanisms, and control methods. From the architectural perspective, centralized management, distributed cooperation, and hybrid hierarchical architectures are comparatively examined in terms of decision efficiency, communication dependency, and scalability. Regarding HDV interaction mechanisms, HDV behavior modeling and prediction approaches based on model-driven, data-driven, and game-theoretic frameworks are synthesized, highlighting the trade-offs between modeling fidelity and uncertainty quantification capability. In terms of control methods, the technical characteristics and applicability limits of model-driven control, data-driven control, and hybrid model-data-driven control are systematically analyzed. Building upon this comparative assessment, the advantages, limitations, and application scenarios of these approaches are summarized to provide guidance for control strategy design and selection. Finally, future research directions for CAV platoon control under mixed traffic flow are outlined, aiming to provide theoretical support for establishing safe, stable, and efficient CAV platoons in complex mixed traffic environments.

quote

GB/T 7714-2015 [1] Jianhong Liang, Xuting Duan, Shuyi Wang, et al. A review of connected and automated vehicle platoon control under mixed traffic[J]. Chain, 2026, 3(3): 313-351. DOI:10.23919/CHAIN.2026.000014.
MLA [1] Jianhong Liang, et al., "A review of connected and automated vehicle platoon control under mixed traffic." Chain, vol. 3, no. 3, 2026, pp. 313-351, https://doi.org/10.23919/CHAIN.2026.000014.
APA [1] Jianhong Liang, Xuting Duan, Shuyi Wang, Yuanwen Lai, Jianshan Zhou, & Daxin Tian. (2026). A review of connected and automated vehicle platoon control under mixed traffic. Chain, 3(3), 313-351. https://doi.org/10.23919/CHAIN.2026.000014
IEEE [1] Jianhong Liang, Xuting Duan, Shuyi Wang, Yuanwen Lai, Jianshan Zhou, and Daxin Tian, "A review of connected and automated vehicle platoon control under mixed traffic," Chain, vol. 3, no. 3, pp. 313-351, 2026, doi: 10.23919/CHAIN.2026.000014. keywords: {connected and automated vehicle;mixed traffic;platoon control;vehicle-road-cloud coordination}