Lyapunov-based two-dimensional cruise control of autonomous vehicles on lane-free roadsLyapunov-based two-dimensional cruise control of autonomous vehicles on lane-free roads Πλήρης Δημοσίευση σε Συνέδριο Conference Full Paper 2022-06-302021enIn this paper, we design decentralized control strategies for the two-dimensional movement of autonomous vehicles on lane-free roads. The bicycle kinematic model is used to model the dynamics of the vehicles, and each vehicle determines its control input based only on its own speed and on the distance from other (adjacent) vehicles and the boundary of the road. Potential functions and Barbălat’s lemma are employed to prove the following properties, which are ensured by the proposed controller: (i) the vehicles do not collide with each other or with the boundary of the road; (ii) the speeds of all vehicles are always positive, i.e., no vehicle moves backwards at any time; (iii) the speed of all vehicles remain below a given speed limit; (iv) all vehicle speeds converge to a given longitudinal speed set-point; and (v) the accelerations, lateral speeds, and orientations of all vehicles tend to zero. The efficiency of the proposed 2-D cruise controllers is illustrated by means of numerical examples.The 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.http://creativecommons.org/licenses/by-nc-nd/4.0/2683-26892021 60th IEEE Conference on Decision and ControlProceedings of the 2021 60th IEEE Conference on Decision and ControlKarafyllis_et_al._IEEE Conf. Decis. Control_2021.pdfChania [Greece]Library of TUC2022-06-27application/pdf444.3 kBfree Karafyllis, Iasson Theodosis Dionysios Θεοδοσης-Παλημερης Διονυσιος Papageorgiou Markos Παπαγεωργιου Μαρκος Institute of Electrical and Electronics Engineers Two-dimensional cruise control Lane-free traffic Autonomous vehicles