Provably safe cruise control of vehicular platoons
Files
Accepted manuscript
Date
2017-10
Authors
Sadraddini, Sadra
Sivaranjani, S.
Gupta, Vijay
Belta, Calin
Version
OA Version
Citation
Sadra Sadraddini, S. Sivaranjani, Vijay Gupta, Calin Belta. 2017. "Provably Safe Cruise Control of Vehicular Platoons." IEEE Control Systems Letters, v. 1, issue 2, pp. 262 - 267.
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: 1) a centralized control policy and 2) 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.