Effects of communication delay on string stability in vehicleplatoons
Xiangheng Liu
Goldsmith, A.
Mahal, S.S.
Hedrick, J.K.
Dept. of Electr. Eng., Stanford Univ., CA;
This paper appears in: Intelligent Transportation Systems, 2001. Proceedings. 2001 IEEE
Publication Date: 2001
On page(s): 625-630
Meeting Date: 08/25/2001 - 08/29/2001
Location: Oakland, CA, USA
ISBN: 0-7803-7194-1
References Cited: 9
INSPEC Accession Number: 7121035
Digital Object Identifier: 10.1109/ITSC.2001.948732
Current Version Published: 2002-08-07
Abstract
The throughput of vehicles on highways can be greatly increased by
forming vehicle platoons. The control law that maintains stable
operation of a platoon is dependent on the lead and preceding vehicle's
position, velocity and acceleration profiles. These profiles guarantee
string stability of a platoon and are transmitted via wireless
communication networks. Communication networks generally introduce
delays and drop packets. However, these communication faults are not
typically taken into account in controller designs. In this paper, we
examine the robustness of current longitudinal controller designs to
communication delays. The results show that string stability is
seriously compromised by communication delays introduced by the network
when the controllers are triggered by the receipt of either the lead
vehicle information or the preceding vehicle information. We find that
when all the vehicles are synchronized to update their controllers at
the same time, string stability can be maintained if the delay in
preceding vehicle information is small. An upper bound on the preceding
vehicle information delay is derived through a simple partial fraction
expansion approach. We also point out a potential problem due to the
clock jitters associated with the synchronization among vehicles
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