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Distributed Platoon Control for Safe and Smooth Crossing at an Unsignalized Intersection (Part I): Stability Analysis

A study proposes a distributed platoon controller that analyzes the asymptotic behavior of multi-vehicle traffic at an unsignalized intersection through closed-loop path modeling. It shows that under mild conditions on the controller gains, safe crossing is guaranteed during the transient phase, and in steady state all vehicles cross smoothly at a common constant speed while avoiding collisions. Unlike traditional bi-level decoupled designs on open paths, the method couples intersection control with platoon convergence analysis. Its effectiveness was validated in a high-fidelity CARLA simulator using multiple commercial vehicle models.

Part of the event: Proposes a distributed platoon safe-passage control method for unsignalized intersections

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