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Distributed Platoon Control for Safe and Smooth Crossing at an Unsignalized Intersection-Part I: Stability Analysis

Bin-Bin Hu, Shuwei Pei, Saeed Ahmed, Bayu Jayawardhana · 2026 · arXiv (Cornell University)

DOI: 10.48550/arxiv.2610.28290 · cited by 0 works (OpenAlex) · open-access PDF

Korean

우리는 신호가없는 교차로에서 다중 차량 시스템의 안전하고 부드러운 교차를 보장하는 분산 플라톤 컨트롤러를 제안합니다. 안정성 분석을 지원하기 위해, 우리는 단일 신호가없는 교차로로를 따라 다중 차량 플라톤 매뉴얼을 고려합니다. 전통적인 두 수준의 열려있는 경로에서 분리 된 디자인과는 달리, 차량의 교차로와의 교차로를 무시하면서 교차 통제에 주로 초점을 맞추고 있으며, 따라서 엄격한 회로 분석을 방해, 폐쇄 된 경로 설정은 우리가 플라톤의 비합리적인 행동을 분석 할 수 있습니다. 교체 된 폐쇄 링 시스템의 로컬 집중적 회로 분석은 교차로에서 차량을 반복적으로 전환함으로써 유도

Machine translation (Meta M2M100); the English original follows.

Abstract

We propose a distributed platoon controller that guarantees safe and smooth crossing of multi-vehicle systems at an unsignalized intersection. To support the stability analysis, we consider a multi-vehicle platoon maneuvering along a closed path with a single unsignalized intersection. Unlike traditional bi-level decoupled designs on open paths, which primarily focus on intersection control while neglecting its coupling with platoon convergence, and thus hindering rigorous convergence analysis, the closed-path setting allows us to analyze the asymptotic behavior of the platoon. The local exponential convergence analysis of the switched closed-loop system, induced by repeated vehicle switching at the intersection, is presented. Under some mild conditions on the controller gains, we show that safe intersection crossing is ensured during the transient phase and smooth crossing is achieved in steady state, where all vehicles travel at a common constant speed while avoiding collisions at the intersection. Finally, the effectiveness of the proposed distributed controller is demonstrated in a high-fidelity CARLA simulator using multiple commercial vehicle models.

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Topics: Platoon, Control theory (sociology), Intersection (aeronautics), Controller (irrigation), Convergence (economics), Exponential stability

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