Dynamic Behavior of Strings of Automated Transit Vehicles

This paper examines the effects of spacing policy and control system design on the dynamic response of strings of automated transit vehicles operating under vehicle-follower control. Constant-separation, constant-time-headway and constant-safety-factor spacing policies are implemented and their operational implications are discussed. The dynamic response of a string of five vehicles during speed changing, merging, emergency stopping, and failed-vehicle pushing is examined.