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This paper presents a distributed cascade Proportional Integral Derivate(DCPID) control algorithm for the connected and automated vehicle (CAV) platoonconsidering the heterogeneity of CAVs in terms of the inertial lag.Furthermore, a real-time dynamic cooperative lane-changing model for CAVs,which can seamlessly combine the DCPID algorithm and the improved sine functionis developed. The DCPID algorithm determines the appropriate longitudinalacceleration and speed of the lane-changing vehicle considering the speedfluctuations of the front vehicle on the target lane (TFV). In the meantime,the sine function plans a reference trajectory which is further updated in realtime using the model predictive control (MPC) to avoid potential collisionsuntil lane-changing is completed. Both the local and the asymptotic stabilityconditions of the DCPID algorithm are mathematically derived, and thesensitivity of the DCPID control parameters under different states is analyzed.Simulation experiments are conducted to assess the performance of the proposedmodel and the results indicate that the DCPID algorithm can provide robustcontrol for tracking and adjusting the desired spacing and velocity for all 400scenarios, even in the relatively extreme initial state. Besides, the proposeddynamic cooperative lane-changing model can guarantee an effective and safelane-changing with different speeds and even in emergency situations (such asthe sudden deceleration of the TFV).

Dynamic Cooperative Vehicle Platoon Control Considering Longitudinal and Lane-changing Dynamics