Lag-delay robust string stable control of platoon of automated vehicles

Based on the vehicle longitudinal lag-delay dynamics model, the string stability and the control strategies for the automated platoon of vehicles were analyzed and studied. The vehicle longitudinal lag-delay dynamics model was built under consideration of the time delay and time lag. The sliding model controller and proportion integration differentiation(PID) controller were proposed based on the constant time headway policy. Then, the analysis of string stability for the two controllers were conducted based on the string stable policy and the related string stable conditions were obtained. The comparative quantitative analysis and simulations' analysis demonstrates that the PID controller is more robust against the time delay and time lag.