Longitudinal adaptive control of a platoon of vehicles

A technique for the longitudinal control of a platoon of automated vehicles is presented. A nonlinear model is used to represent the vehicle dynamics of each vehicle within the platoon. The controlled vehicle is assumed to be capable of measuring (or estimating) necessary dynamical information from the vehicle immediately in front of it by its on-board sensors. The computer in the vehicle processes the measured data and generates proper throttling and braking actions to follow the vehicle in front at a safe distance. Simulations are presented for the case of a platoon of four cars following a leader.