Optimality and oscillations near the edge of stability in the dynamics of autonomous vehicle platoons

摘要: Abstract A model that includes the mechanical response of a vehicle to demanded change in acceleration is analyzed determine string stability platoon autonomous vehicles. The characterized by first-order time constant τ and an explicit delay t d . minimum value feedback control gain found from calculations velocity vehicles following lead decelerates sharply high speed low speed. Larger values ξ (in stable range) give larger deceleration for platoon. Optimal operation attained close stability. Small oscillations are after main peak region but near transition instability. theory predicting frequency amplitude presented.