Adaptive longitudinal and lateral car-following control for multi-platoon with parameter uncertainties and external disturbance

Cooperative vehicle formation improves traffic conditions, while cooperative vehicle platoon formation can further enhance traffic efficiency, reduce exhaust emissions, and ensure driving safety. Hence, this paper proposes an adaptive longitudinal and lateral car-following control algorithm for cooperative vehicle formation and vehicle platoon formation with parameter uncertainties and external disturbance. Integrating the sign function, the adaptive laws are developed to eliminate the effects of parameter uncertainties and external disturbance on vehicle driving to ensure the robustness of vehicle platoon. Considering the longitudinal and lateral movements, the distributed car-following control laws are designed for the leading vehicle and following vehicle within a platoon, respectively. The stability of cooperative vehicle formation and vehicle platoon formation, as well as the boundedness of closed-loop signals, are rigorously proved by the Lyapunov stability theory. Simulation results demonstrate that the proposed adaptive car-following control algorithm can effectively compensate for parameter uncertainties and external disturbance, while achieving the consensus and stability of intra-platoon and inter-platoon. Compared to the consensus-based control algorithm, the proposed adaptive control algorithm presents faster convergence and superior stability, with the longitudinal position error of CAV 5 reduced from 1.185 m to 0.051 m, and the lateral position error reduced from 0.007 m to 0.001 m.