Abstract
Reducing inter-vehicular distances and the formation of groups of closely spaced vehicles have the potential to increase traffic flow, reduce congestion, and reduce fuel consumption. In this chapter, such vehicle platoons subject to a delay-based spacing policy are considered and the design of distributed controllers is pursued. Specifically, it is shown that the use of the delay-based spacing policy ensures that all vehicles in the platoon track the same velocity profile in the spatial domain, which offers advantages as road properties such as hills, bends, or road speed limits are specified in this domain. The proposed controller exploits delayed information about the preceding vehicle to achieve string-stable platoon behavior. In addition, a relaxation of the delay-based spacing policy is presented that exploits more information about the preceding vehicle. This extended delay-based spacing policy is shown to lead to improved platoon behavior. The results are illustrated by means of simulations.
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Notes
- 1.
The slight abuse of notation \(v_i(t)\) and \(v_i(s)\) is used to indicate the velocity of vehicle i as a function of time and space, respectively.
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Acknowledgements
This research is financially supported by the European Union Seventh Framework Programme under the project COMPANION, the Swedish Research Council, and the Knut and Alice Wallenberg Foundation.
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Besselink, B., Johansson, K.H. (2017). A Delay-Based Spacing Policy for Vehicle Platooning: Analysis and Control. In: Insperger, T., Ersal, T., Orosz, G. (eds) Time Delay Systems. Advances in Delays and Dynamics, vol 7. Springer, Cham. https://doi.org/10.1007/978-3-319-53426-8_17
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DOI: https://doi.org/10.1007/978-3-319-53426-8_17
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