Human Driving Centered Gain Scheduling Control of Mixed Platoons

Research output: Contribution to journalArticlepeer-review

1 Scopus citations


Platooning has the potential to significantly improve traffic flow, safety, and fuel consumption. In the foreseeable future, traffic will still be composed mainly of human-driven vehicles (HDVs). Thus, the importance of exploring mixed platoons consisting of automated vehicles (AVs) and HDVs. Mixed platoons control is challenging since HDVs incorporate major uncertainty and stochastic nature. In this paper, human driving stochastic behavior was analyzed. The findings of this analysis were incorporated in all aspects of controller development - modeling, estimation, and controller synthesis. An algorithm to find an optimal controller that attenuates the effect of HDVs stochasticity while keeping predefined safety constraints was developed. Using this algorithm, two H∞ controllers are suggested: a robust controller and a gain-scheduling (GS) controller. The controllers were simulated using an information flow topology (IFT) that was suited for mixed-platoons. Results show that both controllers attenuates HDVs stochasticity. Compared to the robust controller, the GS controller improves performance mainly at high velocities.

Original languageEnglish
Pages (from-to)3312-3324
Number of pages13
JournalIEEE Transactions on Intelligent Transportation Systems
Issue number3
StatePublished - 1 Mar 2023


  • H ∞
  • Mixed platoons
  • car-following
  • gain scheduling
  • information flow topology
  • platoon control
  • string stability

ASJC Scopus subject areas

  • Mechanical Engineering
  • Automotive Engineering
  • Computer Science Applications


Dive into the research topics of 'Human Driving Centered Gain Scheduling Control of Mixed Platoons'. Together they form a unique fingerprint.

Cite this