Cooperative spacing control for Autonomous Vehicle platoon with input delays

This paper focuses on cooperative spacing control of Autonomous Vehicle with input delays under no communication of intervehicles and no information of lead vehicle. Utilizing only information of the vehicle itself and its measurements to immediate neighbors involving its preceding vehicle and successful vehicle, the new spacing control strategies are designed under the delay constraints. Based on the proposed control strategies, we consider whether transient spacing errors amplify along a platoon and then derive the string stability conditions with the bound of tolerable delays for the vehicle systems. Simulations illustrate the effectiveness and the advantages of the proposed control methodology.