Guaranteed peaks of spacing errors in an experimental vehicle string

摘要

Controllers for autonomous vehicle strings usually consist of local feedback controllers responsible for performing acceleration demands and a common control law aimed at the string stability of the entire platoon. Based on analysis of robust peak-to-peak performance and experimental verification, it is shown in the paper that satisfactory spacing performance can be achieved without accurate knowledge on the engine/brake/gear systems, only by using a common control law that relies on inter-vehicle communication and the commercial on-board services of today's heavy vehicles.