  In part II, we present a fully distributed nonlinear variable time headway
space strategy to ensure the subsequent safe cruising and junction crossing,
where the cooperative perception of multiple neighbors stimuli and the
cooperative tracking of the follower connected automated vehicles(CAVs) to the
leader CAV are developed, which will result in a heterogeneous traffic flow
dynamic. Once the proper length of the platoon determined by the ADSCAS
characterized in part I is formed, we propose a cooperative observer design to
estimate the leader CAV's acceleration adjustment which is affected by the
unknown traffic lights. We shall show that the distributed and resilient
nonlinear platoons control and junction crossing problem will be solved by a
robust cooperative trajectory tracking optimization algorithm to ensure the
fast formation and split of the platoons and safe junction cruising within the
finite time horizons, taking into account the social driving behaviors(SDBs) of
the surrounding vehicles(SVs), the dynamics of the follower CAVs, and an
upcoming traffic signal schedule while minimizing the overall platoons fuel
consumption. Performance analysis and case studies are presented to illustrate
the effectiveness of the proposed approaches for multiple platoon dynamic
management, which also show that the cooperation between CAVs and human-driven
vehicles(HDVs) can further smooth out the driving trajectory, reduce the fuel
consumption, and enhance the safety of the mixed traffic flow

Systems and Control;Systems and Control