Abstract
The body weight of heavy trucks varies greatly depending on the amount of cargo. In order to achieve platooning driving, the vehicle must run safely without being affected by changes in vehicle weight. In this study, a control method that constructs constraints using a control barrier function is used, and constraints that suppress acceleration to ensure that this method can withstand the effects of vehicle weight changes are investigated. Computer simulations were also carried out to confirm the degree to which this method can withstand vehicle weight changes during formation driving, and the effects of body weight changes were discussed.
