Safe platooning and merging control using constructive barrier feedback

DOI10.1016/J.EJCON.2024.101060MaRDI QIDQ6652222zbMATH OpenFDO

Authors Xiao Chen, Zhiqi Tang, Karl Henrik Johansson, Jonas Mårtensson

Publication date 12 December 2024

Published in European Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/J.EJCON.2024.101060

zbMATH Keywords

collision avoidanceconnected and automated vehiclesconstructive barrier feedbackmulti-vehicle cooperative controlplatoon formation control

Mathematics Subject Classification ID

Multi-agent systems (93A16) Feedback control (93B52) Asymptotic stability in control theory (93D20)

Recommendations

• Hierarchical lane-changing control for vehicle platoons in prescribed performance
• Control of vehicle platoons for highway safety and efficient utility: consensus with communications and vehicle dynamics
• Nonlinear adaptive cruise control of vehicular platoons
• Real-time Robust Trajectory Control for Vehicle Platoons: A Linear Matrix Inequality-based Approach

Cites work

• Flocking for Multi-Agent Dynamic Systems: Algorithms and Theory
• Lyapunov-based two-dimensional cruise control of autonomous vehicles on lane-free roads

Cited in

(5)

• Real-time Robust Trajectory Control for Vehicle Platoons: A Linear Matrix Inequality-based Approach
• IBLF‐based lanes merging control for vehicle platoon with prescribed performances
• Safe-by-construction autonomous vehicle overtaking using control barrier functions and model predictive control
• Hierarchical lane-changing control for vehicle platoons in prescribed performance
• Constraint-driven multilane merging control for underactuated connected and automated vehicle system with mismatched uncertainty

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