String Stability and a Delay-Based Spacing Policy for Vehicle Platoons Subject to Disturbances

By Bart Besselink, Karl Henrik Johansson. IEEE Transactions on Automatic Control, 2017

342 citations recorded by the source corpus.

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 intervehicular 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.

Subfields: Automotive Engineering, Control and Systems Engineering, Safety, Risk, Reliability and Quality

View Paper: https://www.semanticscholar.org/paper/36afcecc4d60ed3980a5f2625eaa6e1d27d5ee50

How researchers see this paper

The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.

In Automotive Engineering

1. Eugene Vinitsky
2. Alexandre M. Bayen

In Control and Systems Engineering

1. Eugene Vinitsky
2. Alexandre M. Bayen
3. Richard Liaw

In Safety, Risk, Reliability and Quality

1. Eugene Vinitsky
2. Alexandre M. Bayen

Citations in the corpus

• Benchmarks for reinforcement learning in mixed-autonomy traffic (2018, background): “Early works focused on designing controllers to direct a fleet of vehicles to form a dense, stable platoon [16, 17].”