Abstract: In order to improve the stability, safety and ride comfort of the platoon, a multi-vehicle cooperative platoon control system is constructed based on inter-vehicle communication. The system adopts the driving behavior decision model based on nonlinear inter-vehicle distance control with sufficient consideration of the effects of real communication time delay on the system. Aiming at the stability of the platoon, the parameter constraint boundary of each controller and the influence of their changes on system stability are analyzed. Finally, Matlab/Simulink model is built and a simulation is conducted to verify the effectiveness and reasonability of multi-vehicle cooperative control under three typical conditions, including the continuous disturbance of leading vehicle, emergency braking and non-zero initial state. The results show that the platoon control system constructed can achieve the stability control of the platoon, ensure driving safety, with the phenomena of frequent acceleration and braking avoided, enhancing driving comfort to a certain extent.

Key words: platoon control, inter-vehicle communication, stability