Exact stability of a platoon of vehicles by considering time delay and lag

The problem of controlling a string of vehicles moving in one dimension is considered so that they all follow a lead vehicle with constant time headway spacing between successive vehicles. Due to realistic design and execution, the negative effect of the tracking lag parameter and time delay is taken into account. By applying an acceleration feedforward, the distance error of each vehicle will be independent of the behavior of other vehicles. As a result, the vehicle is better able to track a desired trajectory, which improves the string stability. Cluster treatment of characteristic roots (CTCR) paradigm is utilized to reveal the stabilizing parametric regions in the domain of the time delay to render the stability of closed loop system. The string stability analysis is performed to evaluate the disturbance attenuation. Finally, an example of multiple vehicle platoon control is presented, which demonstrates the effectiveness of the proposed method.