Exact stability of a platoon of vehicles by considering time delay and lag

다국어 초록 (Multilingual Abstract)

The problem of controlling a string of vehicles moving in one dimension is considered so that they all follow a lead vehicle with constanttime headway spacing between successive vehicles. Due to realistic design and execution, the negative effect of the tracking lagparameter and time delay is taken into account. By applying an acceleration feedforward, the distance error of each vehicle will be independentof the behavior of other vehicles. As a result, the vehicle is better able to track a desired trajectory, which improves the stringstability. Cluster treatment of characteristic roots (CTCR) paradigm is utilized to reveal the stabilizing parametric regions in the domainof the time delay to render the stability of closed loop system. The string stability analysis is performed to evaluate the disturbance attenuation.

Finally, an example of multiple vehicle platoon control is presented, which demonstrates the effectiveness of the proposedmethod.

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