Distributed Integrated Sliding Mode-Based Nonlinear Vehicle Platoon Control with Quadratic Spacing Policy

Table 1

The performance comparison of different spacing policies.

Vehicle index	Tracking performance		Fuel economy		Ride comfort
	CTH	QSP	CTH	QSP	CTH	QSP
1	11.1820	15.3432	12.2174	10.6983	0.8967	0.7205
2	8.1891	10.1266	8.5112	7.1400	0.3128	0.2319
3	6.5083	7.4740	6.6575	5.4629	0.1689	0.1295
4	5.3897	5.8381	5.4872	4.4124	0.1102	0.0923