Autonomous Cooperative Platooning Powered by LiDAR-Guided Adaptive Cruise Control

This paper introduces an innovative approach for cooperative vehicle platooning, integrating LiDAR-guided navigation, shared waypoints, and adaptive cruise control to optimize trajectory following and return maneuvers. Utilizing a pre-defined high-definition (HD) LiDAR map of the route, each vehicle in the platoon receives shared waypoints and utilizes onboard LiDAR sensors to localize itself relative to these waypoints. An adaptive cruise control system, guided by localized position and desired speed, regulates each vehicle's movement to ensure safe following distances and adherence to the planned trajectory. The results demonstrate the effectiveness of this approach in achieving precise trajectory following, maintaining optimal inter-vehicle spacing, and adapting safe velocity and heading according to the trajectory, thereby enabling coordinated platooning. This paper presents an autonomous platooning system for cooperative driving, showcasing the integration of advanced LiDAR-based technologies and control mechanisms.