A Modified Delay-Based Spacing Policy for Heterogeneous Vehicle Platoons

This paper proposes a modification to a delay-based spacing policy for heterogeneous platooning applications. To this end, the approach to spatially track a reference speed profile time-shifted by a certain delay is augmented by a spatial offset that ensures safe operation over a full platoon mission, including standstill. A matching linear controller is derived to compensate for heterogeneous vehicle dynamics. By means of homogenization, the different dynamic ranges of platoon members are considered. Finally, further performance features are realized through constrained control, such as the restriction to a permissible acceleration range, limited catch-up speed and safe braking distances.