Consensus-Based Platoon Forming for Connected Autonomous Vehicles

Abstract

Connected Autonomous Vehicles(CAV) utilizing the shared information like vehicle positions, headings and velocities facilitate the possibility of coordinated driving. Platoon is one of the most promising application where a line of vehicles join in the same lane with close and steady spacing in the longitudinal direction. This paper applies a consensus control scheme to platoon formulation task carried out by vehicles from separate lanes, along with a vehicle dynamics model incorporating kinematics states with vehicle control parameters. Collisions among the vehicles are avoided through designed repulsive forces and final states are reachable through stability analysis. Simulation is carried out on a constructed 3-vehicle straight roadway scenario with different desired velocities, proving the effectiveness of the proposed method.