Analysis and Control of Heterogeneous Connected and Autonomous Vehicles using a Spring-Mass-Damper System

Abstract

This study analyzes the behavior of heterogeneous connected and autonomous vehicles (CAVs) and proposes the best vehicle sequence for optimal platoon throughput and platoon formation. A spring-mass-damper (SMD) system is adopted for control of CAVs, and the control parameters are formulated in relation to the physical capabilities of vehicles. To gain insight, we consider three types of vehicle: passenger cars, mini-vans, and heavy-duty vehicles. For each type, we investigate the maximum platoon throughput and the clustering time, defined as the time to reach the target equilibrium state. We further investigate different sequences of vehicle types in a platoon to identify the optimal vehicle order that maximizes the throughput and minimizes clustering time. Findings suggest that the highest performance vehicle (in relation to acceleration capability) should be placed as the leader of a platoon and that the number of passenger cars behind heavy vehicles (e.g., semi-trailers) should be minimized in the platoon. In addition, we examine how the proportions of lower performance vehicles affect throughput and clustering times. The result suggests that the higher the proportions, the lower the throughput and the longer the clustering time. The lowest performance vehicle had the greatest effect.

Spring–Mass–Damper-Based Platooning Logic for Automated Vehicles

“…The SMD model describes how objects maintain the desired spacing and speed. It also describes how objects reduce their oscillations based on the spring constant, damping coefficient, and object's mass (29). Figure 1 illustrates the SMD system for n objects or vehicles.…”