We study decentralized control strategies for platoons of autonomous vehicles with heterogeneous and nonlinear dynamics. Based on ideas from funnel control, we present a novel decentralized control algorithm which is able to guarantee a safety distance between any two vehicles, a good traffic flow and it achieves string stability of the controlled platoon. We illustrate the performance of the controller by simulations of two extreme scenarios.
@article{arxiv.2405.07262,
title = {String stability and guaranteed safety via funnel cruise control for vehicle platoons},
author = {Thomas Berger and Bart Besselink},
journal= {arXiv preprint arXiv:2405.07262},
year = {2025}
}