Abstract

The spacing policy plays a vital role in ensuring the internal stability, string stability and improving the performance of vehicle platoon. In this paper, a novel spacing policy, namely Velocity Difference Related (VDR) spacing policy, is proposed by considering the relative velocity fluctuation between consecutive vehicles. Then, a distributed platoon controller is designed by taking the time derivation of spacing error to achieve the vehicle platoon under the desired VDR spacing policy. In addition, the conditions of ensuring internal stability and string stability are derived for the vehicle platoon. Finally, simulation results illustrate the effectiveness and superiority of the proposed approach.

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