2021/03/22 by Iasson Karafyllis, Karafyllis, Iasson, Dionysis Theodosis +3 · 2 citations
Computer Science · Engineering · Mathematics · #Autonomous Vehicle Technology and Safety #FOS: Electrical engineering #FOS: Mathematics #Optimization and Control (math.OC) #Systems and Control (eess.SY) #Traffic control and management #Vehicular Ad Hoc Networks (VANETs) #cs.SY #eess.SY #electronic engineering #information engineering #math.OC
paper · pdf · doi:10.48550/arxiv.2103.12205
29 pages, 8 figures
arxiv created 2021/03/22 · openalex publication_date 2021/03/22 · arxiv updated 2021/03/24 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
In this paper, we design decentralized control strategies for the two-dimensional movement of autonomous vehicles on lane-free roads. The bicycle kinematic model is used to model the dynamics of the vehicles, and each vehicle determines its control input based only on its own speed and on the distance from other (adjacent) vehicles and the boundary of the road. Potential functions and Barbalat's lemma are employed to prove the following properties, which are ensured by the proposed controller: (i) the vehicles do not collide with each other or with the boundary of the road; (ii) the speeds of all vehicles are always positive, i.e., no vehicle moves backwards at any time; (iii) the speed of all vehicles remain below a given speed limit; (iv) all vehicle speeds converge to a given longitudinal speed set-point; and (v) the accelerations, lateral speeds, and orientations of all vehicles tend to zero. The efficiency of the proposed 2-D cruise controllers is illustrated by means of numerical examples.