Vehicle Platooning with Multiple Vehicle Look-ahead Information
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© 2017 In this work, we consider the effects of multiple vehicle look ahead in a vehicle platoon that employs a constant spacing policy (CSP) based controller in the presence of parasitic lags. We first consider a CSP controller for longitudinal dynamics that uses position, velocity and acceleration from ‘r’ predecessor vehicles. We demonstrate string instability with a CSP when information from ‘r’ preceding vehicles is used. We do this by considering the spacing errors to be states of a spatially discrete system and use perturbation analysis to show that the platoon is string unstable. We also consider a robustly string stable CSP controller that employs information from the leader and immediate predecessor, and determine an upper bound on the maximum allowable parasitic lag.
author list (cited authors)
Konduri, S., Pagilla, P. R., & Darbha, S.