Work

Platooning with Actuation Delays: an Alternative Spacing Policy

Year: 2025

Type: article

Abstract: We present a controller design for vehicle platoons that does not require vehicle-to-vehicle communication, but can be deployed using only measurements of on-board sensors. We use an extended spacing policy to derive a controller that also fulfills the control objective with respect to the commonly adopted constant-headway spacing policy. For this controller, we derive conditions for stability in the presence of actuation delays, and present sufficient conditions for string stability. We demonstrate for a heterogeneous platoon with parameters obtained from three types of experimental vehicles how these conditions can be used to determine appropriate headways and controller gains. Simulations confirm the controller is able to achieve string stable behavior at small headways, without requiring V2V communication.

Source: IFAC-PapersOnLine

DOI: 10.1016/j.ifacol.2025.07.089

Authors: R. de Haan, P. Wijnbergen, T. van der Sande, E. Lefeber

Institution: Eindhoven University of Technology

Language: English

Topic: Traffic control and management

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: diamond

Funders: European Commission, HORIZON EUROPE Framework Programme

Awards: G2782213893, SELF assessment, protection & healing tools for a trustworthY and resilient CCAM