Combined longitudinal and lateral control design for string stable vehicle platooning within a designated lane

@article{Kianfar2014CombinedLA,
  title={Combined longitudinal and lateral control design for string stable vehicle platooning within a designated lane},
  author={Roozbeh Kianfar and Mohammad Shoaib Ali and Paolo Falcone and Jonas Fredriksson},
  journal={17th International IEEE Conference on Intelligent Transportation Systems (ITSC)},
  year={2014},
  pages={1003-1008}
}
We propose a combined longitudinal and lateral control approach for vehicle platooning within a designated lane. We combine linear frequency and time domain methods, to design longitudinal control that ensures string stability while enforcing safety, comfort and actuator limitations. In addition, we design lateral control that accounts for speed variations induced by the longitudinal control as well as safety, comfort and actuator limitations using convex optimization methods. 

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