Speed Control of Vehicles in Platoon Based on Ride Comfort

This study describes the speed control of vehicles using a Helly model and a multiple leader vehicles Helly model when a vehicle platoon merges from the branch lane to the main lane traffic flow. The Helly model, which is one of the vehicle-following models, controls the acceleration according to the velocity diffirence and the difference between the vehicle distance and its ideal value. In order to keep the vehicle distance as the ideal value, the Helly model includes the ideal vehicle distance as a constant value. By varying the ideal vehicle distance and measuring the ride comfort level according to the distance, we design a model that allows for comfortable riding. In order to measure the effect, numerical simulations and experiments were conducted when one vehicle separates from the platoon of four vehicles and travels in a different direction. As a result, we concluded that, when driving with multiple Helly models, it is best to set the ideal distance between the vehicle to 4 [cm] and the actual vehicle scale of 4[m].