Implementation of headway compensation on autonomous vehicle convoys with command shaping

This paper documents the application of the use of headway on autonomous convoys using front and back spacing information. The control method is based only on distance measurements between vehicles in the platoon. The lead vehicle's longitudinal control is developed to follow a given velocity. The follower vehicles maintain the desired spacing using distance measurements to the preceding and following vehicles. Headway proportionally varies the desired spacing between the vehicles based on the vehicle's speed. This approach leads to more physically realizable controller efforts for the follower vehicles and helps maintain and improve string stability.