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Vehicle platooning has the potential to significantly improve trafficthroughput and reduce fuel consumption and emissions and thus has attractedextensive attention recently. In this study, we propose a hybrid vehicleplatoon system for the connected and automated vehicles (CAVs). First, a hybridspacing policy combining the constant time gap (CTG) and constant spacing (CS)is formulated for the proposed platoon system, where the leader adopts the CTGand the followers use the CS policy. Based on the h2-norm string stabilitycriteria, the notions of exogenous-head-to-tail string stability and hybridstring stability are newly introduced, and the sufficient conditions of thehybrid string stability in the frequency domain are derived using the Laplacetransform. Numerical experiments are conducted to validate the hybrid stringstability. Moreover, two typical scenarios and several measurements ofeffectiveness (MOE) are adopted to verify the effectiveness of the proposedhybrid platoon system in various aspects. The results show that the hybridplatoon system performs better than the CS-based platoon system. It alsoindicates that the hybrid platoon system has obvious advantages over theCTG-based platoon system under the periodical fluctuation scenario and it isalso comparable to the CTG-based platoon system under the large decelerationand acceleration scenario. The findings have demonstrated the merits of thecombined implementation of CTG and CS policy in enhancing the performance andapplicability of the platoon system for CAVs.

A Hybrid Vehicle Platoon for Connected and Automated Vehicles: Formulation, Stability Analysis, and Applications