Command Shaping for Automated Convoy Vehicles

This paper investigates the effects of command shaping techniques originally developed for flexible systems on the vehicle spacing and velocity control of automated vehicle convoys. The proposed approach is based on distance measurements between platoon vehicles. The lead vehicle longitudinal control is developed to follow a reference velocity. The follower vehicles maintain the desired spacing using only distance measurement to the preceding vehicle. When a command shaper is used to modify the reference velocity, errors in vehicle spacing are reduced. Additionally, this approach leads to more physically realizable controller efforts for the follower vehicles and helps maintain and improve string stability.