Stability Analysis of the Heterogeneous Vehicle Platoon with Multiple Delays

For the heterogeneous vehicle platoon with multiple delays, the internal stability and string stability are investigated in this paper. First, the control gains are designed for the responding vehicles and then the closed-loop heterogeneous platoon dynamics are constructed. Then, the exact delay margins (EDMs) are deduced by combing the Kronecker summation and Bistritz Tabulation (BT) algorithm and at the same time the sufficient, necessary internal stability conditions and sufficient string stability conditions are given. Finally, simulation results show that our proposed stability analysis methods are correct and effective for the heterogeneous vehicle platoon with multiple delays.