PLATOONING CONTROL VIA ACCURATE SYNCHRONIZATION

摘要

Various embodiments provide for platooning control via accurate synchronization that will not result in string instability. Some embodiments provide a distributed control scheme for platoon motion control that provides a decentralized implementation of the leader information controller. These control techniques are able to manage the performance of the string of vehicles by maintaining a desired spacing distance between any two successive vehicles in the presence of communications induced delays. In order to regulate the spacing between a vehicle and its predecessor in the string, every vehicle (with the exception of the leader vehicle) uses the relative distance from itself to its predecessor (e.g., as measured using a laser ranging sensor) and a control signal of the predecessor (e.g., received via a wireless link). Various embodiments are capable of dealing with non-homogeneous strings of vehicles and non identical controllers for each vehicle in the string.