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Cruise controllers for lane-free ring-roads based on control Lyapunov functions

Theodosis Dionysios, Karafyllis Iason, Papageorgiou Markos

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URIhttp://purl.tuc.gr/dl/dias/EE052123-8C43-4A56-B7F8-9DC3AC9B8C25-
Identifierhttps://doi.org/10.1016/j.jfranklin.2023.02.003-
Identifierhttps://www.sciencedirect.com/science/article/pii/S0016003223000820-
Languageen-
Extent29 pagesen
TitleCruise controllers for lane-free ring-roads based on control Lyapunov functionsen
CreatorTheodosis Dionysiosen
CreatorΘεοδοσης-Παλιμερης Διονυσιοςel
CreatorKarafyllis Iasonen
CreatorΚαραφυλλης Ιασωνel
CreatorPapageorgiou Markosen
CreatorΠαπαγεωργιου Μαρκοςel
PublisherElsevieren
DescriptionThe research leading to these results has received funding from the European Research Council under the European Union’s Horizon 2020 Research and Innovation programme/ ERC Grant Agreement n. [833915], project TrafficFluid.en
Content SummaryThe paper introduces novel families of cruise controllers for autonomous vehicles on lane-free ring-roads. The design of the cruise controllers is based on a Control Lyapunov Function methodology with the Lyapunov function expressed on measures of the energy of the system with the kinetic energy expressed in ways similar to Newtonian or relativistic mechanics. The derived feedback laws (cruise controllers) are decentralized (per vehicle), as each vehicle determines its control input based on: (i) its own state; (ii) either only the distance from adjacent vehicles (inviscid cruise controllers) or the state of adjacent vehicles (viscous cruise controllers); and (iii) its distance from the boundaries of the ring-road. A detailed analysis of the differences and similarities between lane-free straight-roads and lane-free ring-roads is also presented.en
Type of ItemPeer-Reviewed Journal Publicationen
Type of ItemΔημοσίευση σε Περιοδικό με Κριτέςel
Licensehttp://creativecommons.org/licenses/by-nc-nd/4.0/en
Date of Item2024-06-28-
Date of Publication2023-
SubjectCruise controllersen
SubjectLane-free trafficen
SubjectLyapunov functionsen
Bibliographic CitationD. Theodosis, I. Karafyllis, and M. Papageorgiou, “Cruise controllers for lane-free ring-roads based on control Lyapunov functions,” J. Franklin Inst., 2023, doi: 10.1016/j.jfranklin.2023.02.003.en

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