Event
Proposes a distributed platoon safe-passage control method for unsignalized intersections
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Bin-Bin Hu, Shuwei Pei, Saeed Ahmed, and Bayu Jayawardhana propose a distributed platoon controller for the safe and smooth passage of multi-vehicle platoons through unsignalized intersections, and provide a stability analysis. The study models platoon motion on a closed-loop path containing a single unsignalized intersection; unlike conventional two-layer decoupled designs for open paths, it analyzes intersection control and platoon convergence in a coupled manner. The researchers prove that, when the controller gains satisfy mild conditions, safe passage through the intersection is guaranteed during the transient phase, and in steady state all vehicles pass smoothly at a common constant speed while avoiding collisions. The method has been validated in the CARLA high-fidelity simulator using several commercial vehicle models.
Report timeline
- 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.
arXiv cs.RO ·