Reducing time headway in platoons under the MPF topology in the presence of communication delays

被引：5
作者：
Abolfazli, Elham [1 ]
Besselink, Bart [2 ]
Charalambous, Themistoklis [1 ]
机构：
[1] Aalto Univ, Sch Elect Engn, Dept Elect Engn & Automat, Espoo, Finland
[2] Univ Groningen, Bernoulli Inst Math Comp Sci & Artificial Intelli, Groningen, Netherlands
来源：
IFAC PAPERSONLINE | 2020年 / 53卷 / 02期
基金：
芬兰科学院;
关键词：
Platooning; multiple-predecessor following; communication delays; internal stability; string stability; time headway; STRING STABILITY;
D O I：
10.1016/j.ifacol.2020.12.2319
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
For platoons under the multiple-predecessor following (MPF) topology, communication delays can compromise both the internal stability and string stability. The most straightforward solution to guarantee stability is by increasing the time headway. On the other hand, time headway plays a significant role in road capacity and increasing its value is in contrast with the idea of platooning. In this study, internal stability and string stability of platoons suffering from communication delays are investigated and a lower bound for the time headway is proposed. Using this bound, platoons do not need to massively increase the time headway in order to compensate for the effects of communications delays. Finally, we evaluate the proposed lower bound on the time headway and the simulation results demonstrate its effectiveness. Copyright (C) 2020 The Authors.
引用
收藏
页码：15267 / 15274
页数：8
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