de Haan, Redmer (Eindhoven University of Technology), Wijnbergen, Paul (TUE), van der Sande, Tom (Eindhoven University of Technology), Lefeber, Erjen (Eindhoven Univ Of Technology)

Platooning with Actuation Delays: An Alternative Spacing Policy

Scheduled for presentation during the Regular Session "Control for cooperative driving and adaptive cruise control" (MoB2), Monday, June 16, 2025, 16:10−16:30, Jos

AAC 2025 11th IFAC International Symposium on Advances in Automotive Control, June 15-18, 2025, Eindhoven, Netherlands

This information is tentative and subject to change. Compiled on May 31, 2025

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.