Analysis and experimental verification of faulty network modes in an autonomous vehicle string

Advanced autonomous vehicle strings rely on inter-vehicle communication in order to decrease the necessary safety gap so that fuel consumption can be decreased and road capacity can be increased. In case of failures of some communication channels, the corresponding back-up control strategy must be switched on. Maximal spacing errors of such back-up modes are analyzed and compared. Robustness to platoon heterogeneity and communication delays are considered. The main conclusion we can draw is that, in the full communication mode, satisfactory spacing performance can be achieved by using simple output-feedback controllers designed without detailed knowledge on engine/brake characteristics, only utilizing the existing services available today in every commercial heavy trucks with automatic gearbox. Experimental verification of the designed controllers are presented.