A Spatiotemporal Spacing Policy and String Stability for Heterogenous Vehicle Platooning

초록

This paper presents a spatiotemporal spacing policy with decentralized predecessor-following control for heterogeneous vehicle platooning. The spatiotemporal spacing policy is for range control between vehicles with the function of reducing the speed (legitimately) required at hazardous locations. Motivated by many studies on vehicle platoons and the absence of such spacing policies, this paper establishes the basic theory of the spatiotemporal spacing policy and string stability thereof. In addition to theoretical research, computational experiments are conducted to test the proposed spatiotemporal spacing policy and demonstrate its usefulness. An application example verifies that the spatiotemporal spacing policy accomplishes range control between vehicles and speed control required at hazard locations IEEE

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