Coordinated Lateral and Longitudinal Vehicle-Following Control of Connected and Automated Vehicles Considering Nonlinear Dynamics

Yulei Wang, Ning Bian, Lin Zhang, Hong Chen

Abstract: In this letter, the problem of coordinated lateral and longitudinal vehicle-following control for connected and automated vehicles (CAVs) is investigated by considering nonlinear dynamics. Based on a nonlinear model of longitudinal and lateral vehicle dynamics and vehicle-to-vehicle (V2V) communication, we propose a triple-step nonlinear control law for a CAV to follow the trajectory of preceding vehicle. The stability regarding the time gap spacing and velocity errors is discussed via Lyapunov theory. Simulation results illustrate the effectiveness of the proposed control for curved lanes.