String-stable automated steering in cooperative driving applications

Omar Hassanain, Mohsen Alirezaei (Corresponding author), Jeroen Ploeg, Nathan van de Wouw

Research output: Contribution to journalArticleAcademicpeer-review

12 Citations (Scopus)
94 Downloads (Pure)


The automation of vehicle steering is necessary in order to guarantee safe vehicle following in short-distance vehicle following applications. A necessary (safety) requirement for such automation strategy is lateral string stability. In this paper, a design for cooperative lateral controllers is proposed that yields a laterally string-stable platoon. The dynamics of the vehicles in the platoon are described using the dynamic bicycle model. The proposed controller is designed using the H control framework which achieves firstly, lateral string stability and, secondly, path-following, where the path is induced by the preceding vehicle in the platoon. Such control design approach is taken since it allows for the inclusion of the string-stability requirement as an a-priori design specification. The properties of the designed controller are evaluated by means of frequency domain analysis and numerical simulations and compared with a benchmark controller.

Original languageEnglish
Pages (from-to)826-842
Number of pages17
JournalVehicle System Dynamics
Issue number5
Publication statusPublished - 3 May 2020


  • Connected vehicle
  • lateral control
  • vehicle following
  • vehicle platooning


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