A state space formulation of the distributed control of a 1-D vehicle platoon is considered. The objective is to understand the effects of the underlying information exchange pattern between the vehicles on the control performance of the platoon. The symmetric control case is considered where each vehicle gives equal weight to all the information available to it in determining its control law. ...

The Lyapunov stability theorem is used to derive a control law that can be used to control the spacing between vehicles in a platoon. A third order system is adopted to model the vehicle and power-train dynamics. In addition, the concept of "Expected Spacing Error" is introduced and used to form a Lyapunov function. Then a control law that always decreases the Lyapunov function is selected. A p...

A vehicle driving with an Adaptive Cruise Control System (ACC) is usually controlled decentrally, based on the information of radar systems and in some publications based on C2X-Communication (CACC) to guarantee stable platoons. In this paper we present a Model Predictive Control (MPC) design of a centralized, server-based ACC-System, whereby the vehicular platoon is modeled and controlled as a...

The presence of autonomous vehicles on the roads presents an opportunity to compensate the unstable behaviour of conventional vehicles. Ideally vehicles should (i) be able to recover their equilibrium speed, and (ii) react so as not to propagate but absorb perturbations. However, stability analysis in the literature is found to mainly deal with infinite and homogeneous platoons of vehicles, ass...

The paper investigates the possibility of using macroscopic information to improve control performance a vehicular platoon composed autonomous vehicles. A mesoscopic traffic modeling framework is proposed, and closed loop String Stability achieved by exploiting Input-to-State (ISS) for analysis platoon. Examples laws are illustrated simulations show effectiveness our approach in ensuring improv...

Cooperative adaptive cruise control (CACC) allows for short-distance automatic vehicle following using intervehicle wireless communication in addition to onboard sensors, thereby potentially improving road throughput. In order to fulfill performance, safety, and comfort requirements, a CACC-equipped vehicle platoon should be string stable, attenuating the effect of disturbances along the vehicl...

Understanding platoon dispersion is critical for the coordination of traffic signal control in an urban traffic network. Assuming that platoon speed follows a truncated normal distribution, ranging from minimum speed to maximum speed, this paper develops a piecewise density function that describes platoon dispersion characteristics as the platoon moves from an upstream to a downstream intersect...

This paper describes the decentralized longitudinal control of a ten-vehicle platoon. An adapted time-headway distance approach is adopted, i.e., that each vehicle has to respect a “time-to-contact” with its preceding vehicle. The adaptation is made relatively to the vehicle dynamics and the road conditions. A twolevel longitudinal controller is developed using the Linear Quadratic Regulor (LQR...

In adaptive platooning strategies proposed in literature to handle uncertain and nonidentical vehicle dynamics (uncertain heterogeneous platoons) two aspects requiring proper design are neglected: bidirectional interaction among vehicles which might lead loss of string stability, engine saturation constraints cohesiveness. This work proposes a novel strategy handling these crucial aspects. Spec...

The throughput of vehicles on highways can be greatly increased by forming vehicle platoons with small inter-vehicle spacings. The control law that maintains stable operation of a platoon is dependent on the lead and preceding vehicle’s position, velocity and acceleration profiles. These profiles guarantee string stability of a platoon and are transmitted via wireless communication networks. Th...