Lateral String Stability in Autonomous & Connected Vehicle Platoons

TL;DR

This paper proposes a lateral control framework for autonomous vehicle platoons to achieve lateral string stability during emergency lane changes, using communicated data from the lead and preceding vehicles, validated through numerical simulations.

Contribution

It introduces a novel lateral control scheme leveraging communicated trajectory data to ensure string stability during emergency maneuvers in ACV platoons.

Findings

Lateral string stability can be achieved with communicated data from only the lead and preceding vehicles.

The proposed control framework effectively tracks the discretized preview trajectories.

Numerical results validate the effectiveness of the control scheme in emergency lane change scenarios.

Abstract

This paper addresses the lateral control of Autonomous and Connected Vehicles (ACVs) in a platoon executing an Emergency Lane Change (ELC) maneuver. These maneuvers are typically triggered by emergency signals from the front or rear of the platoon in response to the need to avoid obstacles or allow other vehicles to pass. The study assumes that ACVs maintain reliable connectivity, enabling each following vehicle to access GPS position traces of both the lead and immediately preceding vehicles in the platoon. We demonstrate that lateral string stability in the ACV platoon can be achieved using communicated information solely from the lead and preceding vehicles. Additionally, we present a lateral control framework for ACVs, which helps track a discretized preview of the trajectory constructed from the communicated data. This framework involves constructing two distinct trajectories based on the preview data from the lead and preceding vehicles, calculating the associated errors and lateral control actions for each, and then integrating these to generate a steering command. Numerical results validate the effectiveness of the proposed lateral control scheme.