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 inter-vehicular 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.
@article{arxiv.1702.01031,
title = {String stability and a delay-based spacing policy for vehicle platoons subject to disturbances},
author = {Bart Besselink and Karl H. Johansson},
journal= {arXiv preprint arXiv:1702.01031},
year = {2017}
}