This study considers the problem of vehicle platooning using multiple vehicle look ahead information while utilising a controller based on the constant spacing policy (CSP). First, string instability is shown with a CSP based controller that utilises position, velocity and acceleration information from ‘r ’ predecessor vehicles in the presence of parasitic lags in actuation. A novel approach using perturbation analysis is employed to show this result, where the spacing errors are states of a spatially discrete system. Then, an upper bound on the allowable parasitic lag is derived when the CSP controller utilises information from the immediate predecessor vehicle and the leading vehicle; for this controller and a given parasitic lag, a design procedure for selection of the controller gain is also given. Numerical simulations of these two results are provided and discussed.
Vehicle platooning with constant spacing strategies and multiple vehicle look ahead information
IET Intelligent Transport Systems ; 14 , 6 ; 589-600
2020-06-01
12 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
acceleration control , parasitic lag , CSP controller , controller gain , perturbation analysis , constant spacing policy , acceleration information , spacing errors , leading vehicle , position control , road traffic control , predecessor vehicles , vehicle platooning , CSP based controller , string instability , constant spacing strategies , multiple vehicle look ahead information , velocity control , road vehicles , intelligent transportation systems
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