Extensions of ACC Technology Toward Ad Hoc Platooning with Guaranteed String Stability and Improved Tracking Performance

摘要

The proliferation of autonomous driving and Adaptive Cruise Controlled (ACC) vehicles in particular increases the probability of the ad hoc formation of unorganized platoons. This rises new demands on control design beyond safe tracking: string stability must be ensured, which is a challenging problem in a heterogeneous platoon with unknown members. String stability, the ability of the vehicles to attenuate disturbances as they are propagating along the string, improves traffic stability and tracking performance. It is shown how the requirement of string stability can be formulated in terms of conditions that can be satisfied locally. The proposed approach opens ways to design a great variation of vehicle following control architectures including multiple predecessor and leader following architectures with guaranteed string stability even in heterogeneous, ad hoc platoons.