An Optimal Longitudinal Control Strategy of Platoons Using Improved Particle Swarm Optimization

Table 1

Performance results of platooning controllers.

Indicators	CTG	CSG	CTG-IPSO	CSG-IPSO
	0.400	2.150	1.132	0.767
	0.240	0.263	0.247	0.059
	1.037	1.320	1.006	0.295
	0.948	0.152	0.917	0.031
	1.007	1.179	1.001	1.053
	0.954	1.265	0.994	1.101
	0.769	4.638	0.313	1.331
	0.155	0.504	0.191	0.105
	3.733	2.549	3.057	0.783
	1.417	0.233	1.310	0.070
	3.553	4.625	3.324	4.205
	1.447	4.110	1.479	4.392