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arXiv · 1706.01195

Provably Safe Cruise Control of Vehicular Platoons

Sadra Sadraddini·Sivaranjani S·Vijay Gupta·Calin Belta
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Abstract

We synthesize performance-aware safe cruise control policies for longitudinal motion of platoons of autonomous vehicles. Using set-invariance theories, we guarantee infinite-time collision avoidance in the presence of bounded additive disturbances, while ensuring that the length and the cruise speed of the platoon are bounded within specified ranges. We propose (i) a centralized control policy, and (ii) a distributed control policy, where each vehicle's control decision depends solely on its relative kinematics with respect to the platoon leader. Numerical examples are included.

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Sadra Sadraddini, Sivaranjani S, Vijay Gupta, Calin Belta. 2017-06-05. Provably Safe Cruise Control of Vehicular Platoons. https://doi.org/10.1109/lcsys.2017.2713772

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