Coupled Lateral and Longitudinal Control for Vehicle Platoons on Curved Roads

Bocheng Ma, Yang Zhu, Hongye Su

2025

Abstract

This paper presents a longitudinal and lateral coupling control model for platoons on roads with varying curvature. The model integrates a 3-DOF vehicle dynamic model with lateral distance errors using the Frenet coordinate system and employs a distributed predictive controller. This approach ensures that vehicles within the platoon maintain ideal inter-vehicle distances, follow the leader’s speed, and remain within their lanes, effectively addressing the “cutting-corner” issue. Joint simulations using Carsim and Matlab demonstrate that the model effectively maintains ideal inter-vehicle distances and tracks the leader’s speed, even with changes in the leader’s velocity.

Paper Citation

in Harvard Style

Ma B., Zhu Y. and Su H. (2025). Coupled Lateral and Longitudinal Control for Vehicle Platoons on Curved Roads. In Proceedings of the 11th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS; ISBN 978-989-758-745-0, SciTePress, pages 286-293. DOI: 10.5220/0013131500003941

in Bibtex Style

@conference{vehits25,
author={Bocheng Ma and Yang Zhu and Hongye Su},
title={Coupled Lateral and Longitudinal Control for Vehicle Platoons on Curved Roads},
booktitle={Proceedings of the 11th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS},
year={2025},
pages={286-293},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013131500003941},
isbn={978-989-758-745-0},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 11th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS
TI - Coupled Lateral and Longitudinal Control for Vehicle Platoons on Curved Roads
SN - 978-989-758-745-0
AU - Ma B.
AU - Zhu Y.
AU - Su H.
PY - 2025
SP - 286
EP - 293
DO - 10.5220/0013131500003941
PB - SciTePress