Longitudinal control of the lead car of a platoon

Presents longitudinal control laws for vehicles moving in an intelligent vehicle highway system (IVHS). In particular, the scenario where cars move along the highway in tightly spaced platoons is considered. The authors present control schemes that perform the major longitudinal tasks that will be required from the lead vehicle of a platoon moving on an automated highway. More specifically, schemes that maintain safe spacing, track an optimal velocity and perform various maneuvers (forming, breaking up platoons and changing lanes) are described. Simulation results are given