This study considers the problem of vehicle platooning using multiple vehicle look ahead information while utilising a controller based on the constant spacing policy (CSP). First, string instability is shown with a CSP based controller that utilises position, velocity and acceleration information from ‘ r ’ predecessor vehicles in the presence of parasitic lags in actuation. A novel approach using perturbation analysis is employed to show this result, where the spacing errors are states of a spatially discrete system. Then, an upper bound on the allowable parasitic lag is derived when the CSP controller utilises information from the immediate predecessor vehicle and the leading vehicle; for this controller and a given parasitic lag, a design procedure for selection of the controller gain is also given. Numerical simulations of these two results are provided and discussed.

中文翻译：

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具有恒定间距策略和多个车辆前瞻信息的车辆排

这项研究考虑了在使用基于恒定间距策略（CSP）的控制器的同时使用多个车辆前瞻信息的车辆成排问题。首先，使用基于CSP的控制器来显示弦的不稳定性，该控制器利用来自“ [R 前驱车辆在致动中存在寄生滞后。一种采用摄动分析的新颖方法被用来显示该结果，其中间隔误差是空间离散系统的状态。然后，当CSP控制器利用来自前任车辆和前车的信息时，得出可允许的寄生滞后的上限。针对该控制器和给定的寄生滞后，还给出了选择控制器增益的设计程序。提供并讨论了这两个结果的数值模拟。