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This paper proposes a longitudinal platoon controller for connected vehicles (CVs) by considering the information of multiple preceding vehicles and the car-following interactions between CVs. The stability of the proposed controller is analyzed using the Routh criterion. For the verification, we develop an integrated platoon control framework for CVs in a V2V/V2I communication environment. The proposed framework consists of two main components: simulation platform and experimental platform. In particular, the simulation platform is developed based on the TransModeler software, and the experimental platform is designed using the self-developed V2X devices. Finally, a scenario of platoon forming is taken as an example and is conducted in simulation platform and experimental platform, respectively. Results demonstrate the effectiveness of the proposed controller with respect to the trajectory and velocity profiles.
Li et al. (2020) studied this question.