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This paper considers mixed traffic consisting of connected automated vehiclesequipped with vehicle-to-everything (V2X) connectivity and human-drivenvehicles. A control strategy is proposed for communicating pairs of connectedautomated vehicles, where the two vehicles regulate their longitudinal motionby responding to each other, and, at the same time, stabilize the human-driventraffic between them. Stability analysis is conducted to find stabilizingcontrollers, and simulations are used to show the efficacy of the proposedapproach. The impact of the penetration of connectivity and automation on thestring stability of traffic is quantified. It is shown that, even with moderatepenetration, connected automated vehicle pairs executing the proposedcontrollers achieve significant benefits compared to when these vehicles aredisconnected and controlled independently.

Connected Cruise and Traffic Control for Pairs of Connected Automated Vehicles