Optimal Connected Cruise Control Design with Time-Varying Leader Velocity and Delays

Algorithm 1

Optimal Control Design.

1 Step1: Off-line

2 Initialize

3 fordo

4  Calculate according to

5  

6   Calculate according to

7  

8 end

9 Step2: On-line

10 Initialize .

11 fordo

12  Update and

13  Calculate according to

14 end