Composition of Automated Vehicle Groups with Control Barrier and Lyapunov Functions Using Slope Information

In recent years, the rapid increase in the demand for automobiles has caused serious traffic congestion, with the two major contributing factors being highway tunnels and sag sections. In sag sections, the velocity of the front vehicle is reduced because of its inability to recognize the uphill slope, and this reduction in velocity is amplified and propagated to the following vehicles, resulting in traffic congestion. In this study, control barrier functions (CBFs) and control Lyapunov functions (CLFs) are utilized in adaptive cruise control systems to account for multiple constraints in nonlinear systems. When using CBFs and CLFs as constraint in sag sections, we proposes a method to resolve vehicle group instability with congestion resolution in consideration by using the slope information for control conditions to make CBFs and CLFs usable in a multitude of situations. Copyright (c) 2023 The Authors.