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Design and Analysis of an Automated Heavy Vehicle Platoon

From the model set identification through the control design and robust performance analysis to the implementation and experimental verification, the whole design process for an automated vehicle platoon is presented. The goal is to demonstrate that safe platooning with acceptable performance can be achieved by utilizing the services already available on every commercial heavy trucks with automated gearbox. Using the services, the control design reduces to the selection of four design parameters, the static gain coefficients of the outputfeedback-input-feed-forward controller common for every vehicle. It is experimentally demonstrated, that in normal driving maneuvers, the spacing errors are less than three meters.