Constant-spacing connected platoons with robustness to communication delays

A method of controlling a follower vehicle in a vehicle platoon, the method comprising:

• determining, by a follower vehicle controller in the follower vehicle, a centralized control command based on centralized control information;
• determining, by the follower vehicle controller, a local control command based on local sensing information using a delayed self reinforcement (DSR) technique;
• applying, by the follower vehicle controller, weights to the centralized control command and the local control command;
• combining, by the follower vehicle controller, the weighted centralized control command and the weighted local control command to create a combined control command;
• and
• using, by the follower vehicle controller, the combined control command to control a speed of the corresponding follower vehicle.

A non-transitory computer-readable medium having computer-executable instructions stored thereon that, in response to execution by one or more processors of a follower vehicle controller in a follower vehicle in a vehicle platoon, cause the follower vehicle controller to perform actions for controlling the follower vehicle, the actions comprising:

• determining, by the follower vehicle controller, a centralized control command based on centralized control information;
• determining, by the follower vehicle controller, a local control command based on local sensing information using a delayed self reinforcement (DSR) technique;
• applying, by the follower vehicle controller, weights to the centralized control command and the local control command;
• combining, by the follower vehicle controller, the weighted centralized control command and the weighted local control command to create a combined control command;
• and
• using, by the follower vehicle controller, the combined control command to control a speed of the follower vehicle.