English
Stability Margin Improvement of Vehicular Platoon Considering
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资源说明：The platooning of autonomous vehicles has the
potential to significantly improve traffic capacity, enhance
highway safety, and reduce fuel consumption. This paper studies
the scalability limitations of large-scale vehicular platoons moving
in rigid formation, and proposes two basic ways to improve
stability margins, i.e., enlarging information topology and
employing asymmetric control. A vehicular platoon is considered
as a combination of four components: 1) node dynamics;
2) decentralized controller; 3) information flow topology; and
4) formation geometry. Tools, such as the algebraic graph theory
and matrix factorization technique, are employed to model
and analyze scalability limitations. The major findings include:
1) under linear identical decentralized controllers, the stability
thresholds of control gains are explicitly established for platoons
under undirected topologies. It is proved that the stability
margins decay to zero as the platoon size increases unless there
is a large number of following vehicles pinned to the leader and
2) the stability margins of vehicular platoons under bidirectional
topologies using asymmetric controllers are always bounded away
from zero and independent of the platoon size. Simulations with
a platoon of passenger cars are used to demonstrate the findings.
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