# Funnel cruise control

## TL;DR

The paper introduces a model-free, adaptive cruise control method called funnel cruise control that guarantees safety distance and reaches a desired velocity, demonstrated through simulations in various traffic scenarios.

## Contribution

It presents a novel universal adaptive cruise control mechanism combining velocity and distance funnel controllers, with rigorous proof of feasibility and practical simulation validation.

## Key findings

- Guarantees safety distance at all times
- Achieves desired velocity when safe
- Effective in diverse traffic scenarios

## Abstract

We consider the problem of vehicle following, where a safety distance to the leader vehicle is guaranteed at all times and a favourite velocity is reached as far as possible. We introduce the funnel cruise controller as a novel universal adaptive cruise control mechanism which is model-free and achieves the aforementioned control objectives. The controller consists of a velocity funnel controller, which directly regulates the velocity when the leader vehicle is far away, and a distance funnel controller, which regulates the distance to the leader vehicle when it is close so that the safety distance is never violated. We provide a rigorous proof for the feasibility of the overall controller design. The funnel cruise controller is illustrated by a simulation of three different scenarios which may occur in daily traffic.