Integrated automated vehicle string longitudinal control
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Summary
This paper presents the design and simulation of an integrated longitudinal control system for a string of three automated vehicles following a manually driven leader. The research is motivated by the need to improve road capacity, safety, and fuel efficiency in dense traffic through vehicle platooning, specifically addressing the challenges of cooperative control where the lead vehicle does not share data. The proposed system allows vehicles to operate in Adaptive Cruise Control (ACC) mode using only on-board sensors or in a cooperative platoon mode using vehicle-to-vehicle communication. The methodology employs a control strategy based on Lyapunov theory and invariant sets to guarantee that state trajectories remain bounded under disturbances, such as the leader’s acceleration. The vehicle dynamics are modeled as a Linear Parameter-Varying (LPV) system, accounting for variable time headway and actuator uncertainties. The control law is synthesized using Linear and Bilinear Matrix Inequalities (LMI-BMI) to handle constraints on safety (collision avoidance), comfort (bounded acceleration and jerk), and actuator limits. The design ensures that the system remains within a defined "safe following" zone, preventing entry into collision zones while allowing for adjustable time headway to meet macroscopic traffic requirements. Simulation results demonstrate the controller's effectiveness across various scenarios, including ACC maneuvers and stop-and-go traffic. The tests show that the vehicle string maintains stable inter-distances and relative speeds despite the leader’s varying acceleration profiles. The control law successfully keeps the state variables within the prescribed invariant sets, ensuring that spacing errors, relative speeds, and accelerations do not exceed safety and comfort thresholds. The simulations confirm that the system can handle the trade-off between safety constraints and comfort specifications, with the ability to tune parameters for different operational requirements. The significance of this work lies in its provision of a robust control framework for automated vehicle strings that does not rely on communication with the lead vehicle, enhancing flexibility and applicability in mixed traffic environments. By using invariant sets and LMI-BMI methods, the approach guarantees stability and safety under bounded disturbances, offering a practical solution for implementing cooperative driving systems. This contributes to the broader field of intelligent transportation systems by providing a mathematically rigorous method for ensuring safe and comfortable automated longitudinal control in platoons.
Provenance
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| Stage | Outcome | Tool | Model | Prompt | Attempts | Completed |
|---|---|---|---|---|---|---|
| discover | success | Crossref | — | — | 1 | 2026-06-25 |
| archive | success | unpaywall | — | — | 2 | 2026-06-26 |
| extract | success | cached | — | — | 2 | 2026-06-26 |
| clean | success | clean | — | — | 1 | 2026-06-26 |
| chunk | success | chunk | — | — | 1 | 2026-06-26 |
| embed | success | embed | Qwen/Qwen3-Embedding-8B | — | 1 | 2026-06-26 |
| enrich | success | openalex | — | — | 1 | 2026-06-26 |
| promote | success | — | — | — | 1 | 2026-06-25 |
| summarize | success | llm | qwen3.6-27b-prismaquant | summ-v5 | 1 | 2026-06-26 |
| tag | success | vector_similarity | — | — | 6 | 2026-06-26 |
| verify | success | — | — | — | 1 | 2026-06-26 |
Summary generated by qwen3.6-27b-prismaquant on 2026-06-26; verification: verified.
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