This report examines platoon behavior during non-nominal operations, most especially due to emergency braking. Three main topics are discussed: multiple-collision wave propagation effects for homogeneous platoons with and without lead vehicle information, intra-platoon collision behavior of non-homogeneous platoons during emergency operations, and a new control approach for platoon operations during vehicle exit/entry.

The purpose of this report is to investigate the effect of selected parameter variations on the response of a platoon. The response of a platoon under different control algorithms is also examined. A four-car platoon with prescribed lead car dynamics was used for simulations and vehicles in the platoon were assumed to be identical. Convergence studies of the numerical integration were undertaken and convergence was verified. The purpose of these simulations was to build a knowledge base with regard to nonlinear platoon responses, to be used as an initial guide in developing simpler analytical models and to aid in identifying those parameters that most significantly affect platooning operations.

The purpose of this report is to document the development of a platoon collision model which can be used to study platoon collision dynamics under emergency situations. Based on previous studies, the vehicle model within the platoon is implemented with two bumpers which are developed to meet the realistic performance of a real bumper. Four control algorithms have been utilized to carry out the simulations.

The purpose of this three-year project is to develop an operational model of vehicle platoon dynamics under emergency conditions and to evaluate the platoon's dynamical behavior under non-nominal, or emergency, conditions. New platoon protocols and/or controller modifications will be formulated after analyzing the platoon response data in order to minimize damage to the platoon and the vehicles' occupants. This progress report discusses the results of the modeling phase of this work. A detailed literature review is included as Appendix B.