# Provably Safe Cruise Control of Vehicular Platoons

## TL;DR

This paper develops provably safe cruise control strategies for autonomous vehicle platoons, ensuring collision avoidance and bounded platoon parameters despite disturbances, using set-invariance theory.

## Contribution

It introduces both centralized and distributed control policies for safe platoon motion with formal safety guarantees.

## Key findings

- Guarantees infinite-time collision avoidance.
- Ensures platoon length and speed are within bounds.
- Validates policies with numerical examples.

## 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.