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

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  • Davis, L.C.

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.

Suggested Citation

  • Davis, L.C., 2013. "Optimality and oscillations near the edge of stability in the dynamics of autonomous vehicle platoons," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 392(17), pages 3755-3764.
    • Handle: RePEc:eee:phsmap:v:392:y:2013:i:17:p:3755-3764
    DOI: 10.1016/j.physa.2013.03.054
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    Citations

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    Cited by:

    1. Quan Yu & Linlong Lei & Yuqi Bao & Li Wang, 2022. "Research on Safety and Traffic Efficiency of Mixed Traffic Flows in the Converging Section of a Super-Freeway Ramp," Sustainability, MDPI, vol. 14(20), pages 1-15, October.
    2. Davis, L.C., 2013. "The effects of mechanical response on the dynamics and string stability of a platoon of adaptive cruise control vehicles," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 392(17), pages 3798-3805.
    3. Davis, L.C., 2017. "Dynamic origin-to-destination routing of wirelessly connected, autonomous vehicles on a congested network," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 478(C), pages 93-102.

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