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arXiv · 2405.07262

String stability and guaranteed safety via funnel cruise control for vehicle platoons

Thomas Berger·Bart Besselink
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Abstract

We study decentralized control strategies for platoons of autonomous vehicles with heterogeneous and nonlinear dynamics. Based on ideas from funnel control, we present a novel decentralized control algorithm which is able to guarantee a safety distance between any two vehicles, a good traffic flow and it achieves string stability of the controlled platoon. We illustrate the performance of the controller by simulations of two extreme scenarios.

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Thomas Berger, Bart Besselink. 2024-05-12. String stability and guaranteed safety via funnel cruise control for vehicle platoons. https://arxiv.org/abs/2405.07262

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