文章基本信息

标题：Vehicle Platooning with Multiple Vehicle Look-ahead Information
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作者：S. Konduri ; P.R. Pagilla ; S. Darbha 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：5768-5773
DOI：10.1016/j.ifacol.2017.08.415
语种：English
出版社：Elsevier
摘要：AbstractIn 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.
关键词：KeywordsAutonomous Vehicle PlatoonsConstant Spacing PolicyAHSCSP