This paper presents a distributed cascade Proportional Integral Derivate (DCPID) control
algorithm for the connected and automated vehicle (CAV) platoon considering the
heterogeneity of CAVs. Furthermore, a real-time cooperative lane-changing model for CAVs,
which can seamlessly combine the DCPID algorithm and sine function is developed. The
DCPID algorithm determines the appropriate longitudinal acceleration and speed of the lane-
changing vehicle considering the speed fluctuations of the front vehicle on the target lane …

This paper presents a distributed cascade Proportional Integral Derivate (DCPID) control
algorithm for the connected and automated vehicle (CAV) platoon considering 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 function is developed. The DCPID algorithm determines the
appropriate longitudinal acceleration and speed of the lane-changing vehicle considering …