Analytical framework of string stability of connected and autonomous platoons with electronic throttle angle feedback

Understanding the string stability of connected and autonomous (CA) vehicles is important for evaluating dynamics of regular-CA mixed vehicular flow. Although previous studies proposed CA car-following models and analysed the stability of the model itself, they do not focus on the stability of the regular-CA mixed flow. Additionally, stability analysis methods for traditional car-truck mixed flow cannot be directly applied into CA traffic systems, where the CA vehicle monitors multiple preceding vehicles in the platoon. This study presents a framework that analytically derives the generalized string stability criterion of regular-CA platoons. Moreover, an example is conducted to validate the availability of this analytical framework by using concrete car-following models. Simulation based approaches are also utilized for fully capturing car-following dynamics…