Connected Vehicle Platooning: Stability Analysis on an Experimental Vehicle Platform

Abstract

Rapid development of driving assistance technology and vehicular communication for intelligent transportation systems has proved that it can improve the safety, efficiency and sustainability of vehicles. This thesis endeavours to develop an experimental platform to demonstrate the use of cooperative adaptive cruise control (CACC) systems. The work analyzes existing longitudinal controllers and their string stability in homogeneous platoons. Furthermore field tests are carried out using the longitudinal controller with multiple autonomous experimental vehicle platforms to verify the effectiveness of the controller. According to the results of simulation and field tests, the proposed CACC platooning approach shows great benefits for longitudinal vehicle platooning.