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arXiv · 1702.01031

String stability and a delay-based spacing policy for vehicle platoons subject to disturbances

Bart Besselink·Karl H. Johansson
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Abstract

A novel delay-based spacing policy for the control of vehicle platoons is introduced together with a notion of disturbance string stability. The delay-based spacing policy specifies the desired inter-vehicular distance between vehicles and guarantees that all vehicles track the same spatially varying reference velocity profile, as is for example required for heavy-duty vehicles driving over hilly terrain. Disturbance string stability is a notion of string stability of vehicle platoons subject to external disturbances on all vehicles that guarantees that perturbations do not grow unbounded as they propagate through the platoon. Specifically, a control design approach in the spatial domain is presented that achieves tracking of the desired spacing policy and guarantees disturbance string stability with respect to a spatially varying reference velocity. The results are illustrated by means of simulations.

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Bart Besselink, Karl H. Johansson. 2017-02-03. String stability and a delay-based spacing policy for vehicle platoons subject to disturbances. https://arxiv.org/abs/1702.01031

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