Enhancement of safety and economy of the vehicle platoon with the consideration of delays and disturbances

The paper focuses on the design of a platoon control system with a diverse vehicle formation. After a brief summary of the vehicle model and the control criteria, the paper demonstrates methods for eliminating the longitudinal oscillations caused by the communication and actuator delays and environmental disturbances. The realization and evaluation are carried out with diverse control strategies. An effective method for the design of the joint platoon velocity with the consideration of traffic environment and road conditions is also demonstrated.