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CD-SAC: Constant Distance With Speed Adjustment in Curves for Non-Column Vehicle Platoon Control
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DOI：10.1109/tits.2026.3681548.png)
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Abstract
En 中文
Unmanned ground vehicle platoons are not constrained to travel in columns on well-marked roads. Allowing lateral inter-vehicle spacing creates unique challenges compared with highway driving in restricted column formations. These challenges include the absence of road markings and planned trajectories along with differences in velocity and position keeping while turning. In this paper, we introduce a real-time velocity adjustment based on turning radius for non-column formations that addresses the discrepancy in matching velocities in a turn. Two non-column formations are evaluated over two network topologies with varying connectivity using a two-dimensional scenario which simultaneously invokes an acceleration and a heading change using a dynamic three-degree-of-freedom vehicle model. A velocity adjustment is made in curves where predecessors are laterally offset with the ego vehicle. If the predecessor’s turning radius is smaller (larger), the ego vehicle’s velocity increases (decreases). This novel adjustment is a deviation from the status quo where competing control actions exist between maintaining a constant inter-vehicle spacing and matching velocities in curves. Experimental results using this novel velocity adjustment show a maximum 74% decrease in longitudinal distance error, a maximum 94% decrease in lateral distance error across platoon followers and a significant reduction in standard deviation across platoon members along experimental path trajectories.
Keywords:
Optimization and control
connected and autonomous vehicles
unmanned ground vehicles
multi-agent systems
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