A rigorous optimal control formulation for a mixed-autonomy platoon with the Bando-FtL model is shown to have a minimizer and is solved by adjoint gradient descent, with simulations showing large reductions in acceleration and fuel use for one to five autonomous vehicles.
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Optimal Control of ODE Car-Following Models: Applications to Mixed-Autonomy Platoon Control via Coupled Autonomous Vehicles
A rigorous optimal control formulation for a mixed-autonomy platoon with the Bando-FtL model is shown to have a minimizer and is solved by adjoint gradient descent, with simulations showing large reductions in acceleration and fuel use for one to five autonomous vehicles.