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C. Kalteis, S. Thormann, A. Schirrer, S. Jakubek:
"Efficient methods to assess linear and non-linear automotive platoon control: stability and performance";
Vortrag: 11th International Conference on Structural Dynamics, EURODYN 2020, Athen, Griechenland; 23.11.2020 - 26.11.2020; in: "EURODYN 2020", National Technical University of Athens (NTUA), Athens (2020), ISBN: 978-618-85072-2-7; S. 748 - 757.

This work proposes a set of methods and tools to analyse and quantify key performance
aspects of controlled automotive platoons. These methods assess classical stability
and string stability properties in both analytical and empirical settings. An automotive platoon
consists of multiple tightly spaced vehicles which aim to follow a desired velocity or distance
profile safely, autonomously, and efficiently. Cooperative vehicular platooning can greatly improve
traffic efficiency and safety, while increasing traffic throughput and fuel efficiency. One
difficulty for establishing a stable platoon, besides classical stability of individual vehicles, is
known as "string stability". Essentially, in a string stable platoon, disturbances of any individual
vehicle are not amplified along the platoon. In addition to stability, the performance
of a platoon control structure must be quantified, for example by measuring disturbance rejection
bandwidth / control error decay rate. Most of the proposed platoon control architectures
developed in the past guarantee platoon stability/string stability only under restrictive assumptions.
In this work tools and methods are proposed to analyse classical stability, error signal
measures, as well as analytical and empirical string stability. This allows the user to evaluate
platoon safety and performance for given control structures and conduct parameter studies at
various levels of system complexity. To investigate platoon behaviour under realistic conditions,
test scenarios are empirically evaluated in a co-simulation of multiple instances of the
commercial simulation software IPG TruckMaker.

String stability, Automated driving, Co-simulation, Platooning control