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The effects of mechanical response on the dynamics and string stability of a platoon of adaptive cruise control vehicles

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  • Davis, L.C.

Abstract

The dynamics of a platoon of adaptive cruise control vehicles is analyzed for a general mechanical response of the vehicle. Effects of acceleration-feedback control that were not previously studied are found. For small acceleration-feedback gain, which produces marginally string-stable behavior, the reduction of a disturbance (with increasing car number n) is found to be faster than for the maximum allowable gain. The asymptotic magnitude of a disturbance is shown to fall off as erf(ct.√n) when n→∞. For gain approaching the lower limit of stability, oscillations in acceleration associated with a secondary maximum in the transfer function (as a function of frequency) can occur. A frequency-dependent gain that reduces the secondary maximum, but does not affect the transfer function near zero frequency, is proposed. Performance is thereby improved by elimination of the undesirable oscillations while the rapid disturbance reduction is retained.

Suggested Citation

  • 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.
    • Handle: RePEc:eee:phsmap:v:392:y:2013:i:17:p:3798-3805
    DOI: 10.1016/j.physa.2013.04.023
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    References listed on IDEAS

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    1. 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.
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    Cited by:

    1. Davis, L.C., 2021. "Method of compensation for the mechanical response of connected adaptive cruise control vehicles," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 562(C).
    2. Lykov, A.A. & Malyshev, V.A. & Melikian, M.V., 2017. "Phase diagram for one-way traffic flow with local control," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 486(C), pages 849-866.
    3. Davis, L.C., 2018. "Dynamics of a long platoon of cooperative adaptive cruise control vehicles," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 503(C), pages 818-834.
    4. Davis, L.C., 2020. "Optimal merging into a high-speed lane dedicated to connected autonomous vehicles," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 555(C).
    5. Liu, Huaqing & Jiang, Rui, 2021. "Improving comfort level in traffic flow of CACC vehicles at lane drop on two-lane highways," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 575(C).

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