Dynamic stability analysis of mixed-composition platoons with spatially weighted cooperative control

Abstract

In mixed traffic environments, the spatial distribution of Connected and Automated Vehicles (CAVs) plays a decisive yet previously unquantified role in platoon stability and safety. This study establishes a generalized stability modeling framework for heterogeneous platoons composed of Human-Driven Vehicles (HDVs), Autonomous Vehicles (AVs), and CAVs. By introducing a spatial weighting coefficient (γ), the proposed model captures the influence of longitudinal CAV positioning and allows for flexible representation of any vehicle composition pattern. Linear stability analysis and time-domain simulations are conducted to investigate the interaction between spatial distribution, communication delay, and dynamic response. The results demonstrate that front- and center-loaded CAV configurations effectively suppress velocity perturbations and maintain string stability even under moderate delay, while rear-loaded configurations exhibit early instability. Furthermore, an optimal γ range of 0.3–0.5 is identified to minimize oscillation amplitude, providing a practical guideline for cooperative control strategies in mixed platoons. The findings offer theoretical insights and quantitative evidence for optimizing CAV deployment to enhance stability and robustness in future intelligent transportation systems.