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A Comparision of Spacing and Headway Control Laws for Automatically Controlled Vehicles1
Abstract
SUMMARY This paper investigates two different longitudinal control policies for automatically controlled vehicles. One is based on maintaining a constant spacing between the vehicles while the other is based upon maintaining a constant headway (or time) between successive vehicles. To avoid collisions in the platoon, controllers have to be designed to ensure string stability, i.e the spacing errors should not get amplified as they propagate upstream from vehicle to vehicle. A measure of string stability is introduced and a systematic method of designing constant spacing controllers which guarantee string stability is presented. The constant headway policy does not require inter-vehicle communication to assure string stablity. Also, since inter-vehicle communication is not required it can be used in systems with mixed automated-nonautomated vehicles, e.g for AICC (Autonomous Intelligent Cruise Control). It is shown in this paper that for all the autonomous headway control laws, the desired control torques are inversely proportional to the headway time.
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Citations
Cited by
String-Stable CACC Design and Experimental Validation: A Frequency-Domain Approach
Naus, G. J. L., Vugts, R. P. A., Ploeg, J., van de Molengraft, M. J. G., & Steinbuch, M. (2010) · IEEE Transactions on Vehicular Technology · doi:10.1109/tvt.2010.2076320 · Cited by 916
Research advances in intelligent collision avoidance and adaptive cruise control
Vahidi, A., & Eskandarian, A. (2003) · IEEE Transactions on Intelligent Transportation Systems · doi:10.1109/tits.2003.821292 · Cited by 836
A Survey on Cooperative Longitudinal Motion Control of Multiple Connected and Automated Vehicles
Wang, Z., Bian, Y., Shladover, S. E., Wu, G., Li, S. E., & Barth, M. J. (2020) · IEEE Intelligent Transportation Systems Magazine · doi:10.1109/mits.2019.2953562 · Cited by 316
Metadata
- Authors
- SWAROOP, D., HEDRICK, J. K., CHIEN, C. C., & IOANNOU, P.
- Venue
- Vehicle System Dynamics
- Publisher
- Informa UK Limited
- Published
- 1994-01
- Volume
- 23
- Issue
- 1
- Pages
- 597-625
- ISSN
- 0042-3114 (ISSN-L)
- 1744-5159
- OpenAlex
- W2108199400
- Cited by
- 554
- References
- 0
- FWCI
- 17.99
- Type
- journal article
- Language
- en
- Open access
- closed
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- CoChat. (2026). Citation check: A Comparision of Spacing and Headway Control Laws for Automatically Controlled Vehicles1. https://app.cochat.ai/papers/10.1080/00423119408969077
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- SWAROOP, D., HEDRICK, J. K., CHIEN, C. C., & IOANNOU, P. (1994). A Comparision of Spacing and Headway Control Laws for Automatically Controlled Vehicles1. Vehicle System Dynamics. https://doi.org/10.1080/00423119408969077
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