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An automatic car-following system based on optimal control theory is developed for a variety of cost functionals and the resultant system is simulated on an analog computer. Position and velocity response as well as local and asymptotic stability characteristics of a string of vehicles are examined. String behavior when a vehicle leaves or enters the string is also considered. By proper choice of the cost functional, it is shown that a car-following system can be obtained which meets the outlined objectives. Various forms of cost functionals are investigated in order to determine their effect on system performance.
Peppard et al. (Mon,) studied this question.