Gap Opening Controller Design to Accommodate Merges in Cooperative Autonomous Platoons

Research output: Contribution to conferencePaperAcademic


In this paper, a cooperative platoon-based gap opening controller is developed. The intended application is gap creation in cooperative platoons to accommodate merges with spatial restrictions. Therefore, the main objective is to execute the maneuver in a predefined time. The controller design is based on a regular cooperative adaptive cruise control algorithm with an additional feedforward term for a desired gap. Experimental validation of the controller is performed with small mobile robots. The proposed control strategy is capable of opening the gap in a predefined time. In future work, this strategy can be used in the design of a merging algorithm specifically for CACC platoons.
Original languageEnglish
Publication statusPublished - 2020
Event21st IFAC World Congress 2020 - Berlin, Germany
Duration: 12 Jul 202017 Jul 2020


Conference21st IFAC World Congress 2020
Internet address


  • Autonomous vehicles
  • Automotive control
  • Closed-loop gain
  • PD controllers
  • Trajectory planning

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