Cruise controllers for lane-free ring-roads based on control Lyapunov functions
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Abstract: The paper introduces novel families of cruise controllers for autonomous vehicles on lane-free ring-roads. The design of the cruise controllers is based on the appropriate selection of a Control Lyapunov Function expressed on measures of the energy of the system with the kinetic energy expressed in ways similar to Newtonian or relativistic mechanics. The derived feedback laws (cruise controllers) are decentralized (per vehicle), as each vehicle determines its control input based on: (i) its own state; (ii) either only the distance from adjacent vehicles (inviscid cruise controllers) or the state of adjacent vehicles (viscous cruise controllers); and (iii) its distance from the boundaries of the ring-road. A detailed analysis of the differences and similarities between lane-free straight roads and lane-free ring-roads is also presented.
Recommendations
- Lyapunov-based two-dimensional cruise control of autonomous vehicles on lane-free roads
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Cites work
- A smooth Lyapunov function from a class-${\mathcal{KL}}$ estimate involving two positive semidefinite functions
- Adaptive synchronization of unknown heterogeneous agents: an adaptive virtual model reference approach
- Analysis and control of a non-local PDE traffic flow model
- Constructing artificial traffic fluids by designing cruise controllers
- Control Barrier Function Based Quadratic Programs for Safety Critical Systems
- Cyclic interconnection for formation control of 1-D vehicle strings
- Dynamic predictor-based adaptive cruise control
- Formations of Vehicles in Cyclic Pursuit
- scientific article; zbMATH DE number 3337915 (Why is no real title available?)
- Lyapunov-based two-dimensional cruise control of autonomous vehicles on lane-free roads
- Mechanisms for spatio-temporal pattern formation in highway traffic models
- Nonlinear systems.
- Remarks on input to state stability of perturbed gradient flows, motivated by model-free feedback control learning
- Robust nonlinear control design. State-space and Lyapunov techniques
- Stability analysis of nonlinear inviscid microscopic and macroscopic traffic flow models of bidirectional cruise-controlled vehicles
- Stability of a nonlocal traffic flow model for connected vehicles
- Transients of platoons with asymmetric and different Laplacians
- Vehicle Dynamics and Control
- Vehicle Platoons Through Ring Coupling
- Vehicular platoons in cyclic interconnections
Cited in
(4)- Lyapunov-based two-dimensional cruise control of autonomous vehicles on lane-free roads
- Funnel cruise control
- Adaptive velocity control of an autonomous vehicle using input-error model reference approach
- Safety-certified distributed formation control of networked autonomous surface vehicles by unifying control Lyapunov and control barrier functions
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