Analysis and design on intervehicle distance control of autonomous vehicle platoons.

This paper presents an intervehicle distance control (IDC) to solve the problem of autonomous vehicle platooning, motivated by future automated highway system (AHS) or smart road which is proposed as intelligent transportation system (ITS) technology. First the velocity and position control of the single vehicle is studied based on internal model compensator. And then the platooning problem on multiple vehicles is solved in the light of multiagent concept. Moreover, the platoon condition is derived for the corresponding scheme. Further we analyze the influence of controller parameters on the whole system, and propose the guidance for parameter design. Finally some simulations are used to verify the effectiveness of the proposed IDC scheme with an analysis on controller parameters.