Research on the Disturbance Suppression Property of Multi-Predecessor Following Vehicular Platoon

Abstract

Abstract To utilize the V2V technology in vehicular platoon, in this paper we focus on the V2V based multi-predecessor following (MPF) vehicular platoon to investigate the disturbance suppressing property to external disturbance and the movement of the leader vehicle. The anti-disturbance property for both the homogeneous and heterogeneous MPF platoons are investigated based on the method of sensitivity analysis of error propagation to disturbance. The effects of the platoon parameters including the control gains and the weight of communicated acceleration from the preceding vehicles have been analyzed. The results indicate that increasing the spacing error control gain ke and speed error control gain kev for following the immediately predecessor can generally benefit for reducing the sensitivity of error propagation to external disturbances. However, the effect of control gain ke, kev on the sensitivity of error propagation to the movement of the leader vehicle is not obvious. The greater the weight for the communicated acceleration from the vehicles ahead near the current vehicle is, the smaller the sensitivity of error propagation to external disturbance shall be. However, there is no consistent impact of the weight on the sensitivity to the movement of the leader vehicle. Increasing of the acceleration control gain kea generally reduces the anti-disturbance capability for the homogeneous vehicular platoon, but nonlinear variation trend is found for the heterogeneous platoons.