Collaborative Control for Multi Vehicle Platoons Using Longitudinal and Lateral Decoupling Method

This paper studies the formation control of autonomous vehicle with vehicle to vehicle (V2V) communication connection. Firstly, this paper introduces the dynamic model of a vehicle and the cooperation mechanism. Then, a leader-follower driving pattern based on coordinated control protocol is designed. Particularly, a longitudinal and lateral controller is designed for the vehicle platoon, such that cooperative control for multi-string vehicle platoons can be achieved. The proposed control protocol not only ensure that the vehicle can follow the leader vehicle but also change the lanes flexibly. Eventually, the analysis of stability and the simulation study are presented to illustrate the effectiveness of the proposed scheme.