Skip to main content
SpringerLink
Log in
Book cover

Time Delay Systems pp 249–262Cite as

A Delay-Based Spacing Policy for Vehicle Platooning: Analysis and Control

  • Chapter
  • First Online:

  • 1599 Accesses

Part of the book series: Advances in Delays and Dynamics ((ADVSDD,volume 7))

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.

This is a preview of subscription content, log in via an institution.

Chapter
USD   29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD   84.99
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD   109.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD   109.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Learn about institutional subscriptions

Notes

  1. 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.

References

  1. Varaiya, P.: Smart cars on smart roads: problems of control. IEEE Trans. Autom. Control 38(2), 195–207 (1993)

    Article  MathSciNet  Google Scholar 

  2. Alam, A., Besselink, B., Turri, V., Mårtensson, J., Johansson, K.H.: Heavy-duty vehicle platooning towards sustainable freight transportation: a cooperative method to enhance safety and efficiency. IEEE Control Syst. Mag. 35(6), 34–56 (2015)

    Article  Google Scholar 

  3. Levine, W., Athans, M.: On the optimal error regulation of a string of moving vehicles. IEEE Trans. Autom. Control, AC 11(3), 355–361 (1966)

    Google Scholar 

  4. Peppard, L.E.: String stability of relative-motion PID vehicle control systems. IEEE Trans. Autom. Control 19(5), 579–581 (1974)

    Article  Google Scholar 

  5. Stanković, S.S., Stanojević, M.J., \(\breve{\rm S}\)iljak, D.D.: Decentralized overlapping control of a platoon of vehicles. IEEE Trans. Control Syst. Technol. 8(5), 816–832 (2000)

    Google Scholar 

  6. Swaroop, D., Hedrick, J.K.: Constant spacing strategies for platooning in automated highway systems. J. Dyn. Syst. Measur. Control 121(3), 462–470 (1999)

    Article  Google Scholar 

  7. Ioannou, P.A., Chien, C.C.: Autonomous intelligent cruise control. IEEE Trans. Veh. Technol. 42(4), 657–672 (1993)

    Article  Google Scholar 

  8. Swaroop, D., Hedrick, J.K., Chien, C.C., Ioannou, P.: A comparison of spacing and headway control laws for automatically controlled vehicles. Veh. Syst. Dyn. 23(1), 597–625 (1994)

    Article  Google Scholar 

  9. Besselink, B., Johansson, K.H.: Control of platoons of heavy-duty vehicles using a delaybased spacing policy. In: Proceedings of the 12th IFAC Workshop on Time Delay Systems, Ann Arbor, USA, pp. 364–369 (2015)

    Google Scholar 

  10. Newell, G.F.: A simplified car-following theory: a lower order model. Transp. Res. Part B: Methodol. 36(3), 195–205 (2002)

    Article  Google Scholar 

  11. Ge, J.I., Orosz, G.: Dynamics of connected vehicle systems with delayed acceleration feedback. Transp. Res. Part C: Emerg. Technol. 46, 46–64 (2014)

    Article  Google Scholar 

  12. Öncü, S., Ploeg, J., van de Wouw, N., Nijmeijer, H.: Cooperative adaptive cruise control: network-aware analysis of string stability. IEEE Trans. Intell. Transp. Syst. 15(4), 1527–1537 (2014)

    Article  Google Scholar 

  13. Ploeg, J., van de Wouw, N., Nijmeijer, H.: Lp string stability of cascaded systems: application to vehicle platooning. IEEE Trans. Control Syst. Technol. 22(2), 786–793 (2014)

    Article  Google Scholar 

  14. Antsaklis, P.J., Michel, A.N.: Linear Systems. Birkhäuser, Boston, USA (2006)

    Google Scholar 

  15. Sontag, E.D.: Smooth stabilization implies coprime factorization. IEEE Trans. Autom. Control 34(4), 435–443 (1989)

    Article  MathSciNet  MATH  Google Scholar 

  16. Khalil, H.K.: Nonlinear Systems, 3rd edn. USA, Prentice Hall, Upper Saddle River (2002)

    Google Scholar 

  17. Fenton, R.E., Cosgriff, R.L., Olson, K., Blackwell, L.M.: One approach to highway automation. Proc. IEEE 56(4), 556–566 (1968)

    Article  Google Scholar 

  18. Michiels, W., Niculescu, S.-I.: Stability and Stabilization of Time-Delay Systems: An Eigenvalue-Based Approach. SIAM, Philadelphia, USA (2007)

    Book  MATH  Google Scholar 

Download references

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.

Author information

Authors and Affiliations

  1. Johann Bernoulli Institute for Mathematics and Computer Science, University of Groningen, Groningen, The Netherlands

    B. Besselink

  2. Department of Automatic Control and ACCESS Linnaeus Centre, KTH Royal Institute of Technology, Stockholm, Sweden

    K. H. Johansson

Authors
  1. B. Besselink
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. K. H. Johansson
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to B. Besselink .

Editor information

Editors and Affiliations

  1. Department of Applied Mechanics, Budapest University of Technology and Economics, Budapest, Hungary

    Tamás Insperger

  2. Department of Mechanical Engineering, University of Michigan, Ann Arbor, Michigan, USA

    Tulga Ersal

  3. Department of Mechanical Engineering, University of Michigan, Ann Arbor, Michigan, USA

    Gábor Orosz

Rights and permissions

Reprints and permissions

Copyright information

© 2017 Springer International Publishing AG

About this chapter

Cite this chapter

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

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-53426-8_17

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-53425-1

  • Online ISBN: 978-3-319-53426-8

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation