摘要：AbstractIn the light of increased interest in platooning and its application in non-homogeneous configurations, some fundamental observations on the inherent effects of grouping vehicles into a string are pointed out and investigated. The engine dynamics, which are the core of the actuation when one vehicle follows another, are examined. Their characteristics already shape the overall performance, which the methods of control engineering ultimately seek to improve. Nonetheless, this paper exposes some fundamental bounds for potential improvements. In particular, the effects of saturation within the engine model are considered and a proposition is derived to embrace them. Finally, the effects are considered in synopsis. For this purpose, the findings are applied to a current state-of-the-art controller and discussed.
关键词：KeywordsVehicle PlatoonsHeterogeneous PlatoonsAutonomous controlAutonomous MobilityConnectedAutomated VehiclesControlOptimization of Transportation Systems
