Convoy Dynamics with Bidirectional Flow of Control Information

Abstract The concept of platoon stability is investigated for a convoy of vehicles, each having a local controller which can use information about the motion of those both behind and ahead of it. Conditions on the control parameters are obtained, such that platoon stability can be ensured while simultaneously enabling the intervehicular spacing to be kept independent of velocity. Simulation results, illustrating the response of the convoy to a change in velocity of the lead vehicle, are also presented.