Adaptive strategies to platoon merging with vehicle engine uncertainty

Vishrut Jain, Di Liu, Simone Baldi*

*Corresponding author for this work

Research output: Contribution to journalConference articleScientificpeer-review

3 Citations (Scopus)
9 Downloads (Pure)


While several synchronization-based protocols have been provided for formation-keeping of cooperative vehicles, the problem of synchronized merging is more challenging. Challenges associated to the merging scenario include the need for establishing bidirectional interaction (in place of unidirectional look-ahead interaction), and the need for considering different engine dynamics (in place of homogeneous engine dynamics). This work shows how such challenges can be tackled via a newly proposed strategy based on adaptive control with bidirectional error: the adaptive control framework autonomously adapts to different engine dynamics, while the bidirectional error seamlessly allows the vehicle that wants to merge to interact with both the front and the rear vehicles, in a similar way as humans do.

Original languageEnglish
Pages (from-to)15065-15070
Volume53 (2020)
Issue number2
Publication statusPublished - 2021
Event21st IFAC World Congress 2020 - Berlin, Germany
Duration: 12 Jul 202017 Jul 2020


  • adaptive control
  • Autonomous vehicles
  • cooperative adaptive cruise control
  • platoon merging maneuvers


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