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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

Chinese

为了支持稳定性分析,我们提出了一个分布式车架控制器,以确保在无信号交叉点的多车辆系统的安全和顺畅交叉。为了支持稳定性分析,我们考虑了一个分布式车架沿着一个封闭的路径进行操纵,一个单一的无信号交叉点。与传统的两级开关设计不同,这些设计主要集中在交叉控制,同时忽略了其与车辆交叉点的交叉,从而阻碍了严格的交叉点分析,封闭式车道设置使我们能够分析车架的无信号交叉点的非对称行为。在交叉点上进行重复车辆交换时引起的开关闭式车轮系统的局部暴力交叉分析呈现出来。在控制器的某些温和条件下,我们展示了安全交叉

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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