 Optimality and oscillations near the edge of stability in the dynamics of autonomous vehicle platoonsL.C. Davis Physica A: Statistical Mechanics and its Applications, 2013, vol. 392, issue 17, 3755-3764 Abstract: A model that includes the mechanical response of a vehicle to a demanded change in acceleration is analyzed to determine the string stability of a platoon of autonomous vehicles. The response is characterized by a first-order time constant τ and an explicit delay td. The minimum value of the acceleration feedback control gain is found from calculations of the velocity of vehicles following a lead vehicle that decelerates sharply from high speed to low speed. Larger values of ξ (in the stable range) give larger values of deceleration for vehicles in the platoon. Optimal operation is attained close to the minimum value of ξ for stability. Small oscillations are found after the main peak in deceleration for ξ in the stable region but near the transition to instability. A theory for predicting the frequency and amplitude of the oscillations is presented. Keywords: String stability; Vehicle mechanical response; Adaptive cruise control; Autonomous vehicles (search for similar items in EconPapers) Downloads: (external link) Related works: Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text Persistent link: https://EconPapers.repec.org/RePEc:eee:phsmap:v:392:y:2013:i:17:p:3755-3764 DOI: 10.1016/j.physa.2013.03.054 Access Statistics for this article Physica A: Statistical Mechanics and its Applications is currently edited by K. A. Dawson, J. O. Indekeu, H.E. Stanley and C. Tsallis More articles in Physica A: Statistical Mechanics and its Applications from Elsevier |
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