Consensus-based bi-directional CACC for vehicular platooning

Jeroen C. Zegers, Elham Semsar-Kazerooni, Jeroen Ploeg, Nathan Van De Wouw, Henk Nijmeijer

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

15 Citations (Scopus)


In this paper, a novel distributed consensus control approach for vehicular platooning systems is proposed. In formalizing the underlying consensus problem, a realistic vehicle dynamics model is considered and a velocity-dependent spacing-policy between two consecutive vehicles is realized. For a generic communication topology, conditions for asymptotic platoon stability are proposed. As a particular case, these results allow to consider bi-directional vehicle interaction, which improves the coherence between the vehicles in the platoon. The theoretical results are experimentally validated using a three-vehicle platoon consisting of (longitudinally) automated vehicles equipped with wireless inter-vehicle communication and radar-based sensing.

Original languageEnglish
Title of host publicationProceedings of the American Control Conference (ACC 2016)
EditorsK. Johnson, G. Chiu, D. Abramovitch
Place of PublicationPiscataway, NJ, USA
ISBN (Electronic)978-1-4673-8682-1
ISBN (Print)978-1-4673-8683-8
Publication statusPublished - 2016
EventAmerican Control Conference (ACC), 2016 - Boston, MA, United States
Duration: 6 Jul 20168 Jul 2016


ConferenceAmerican Control Conference (ACC), 2016
Abbreviated titleACC 2016
CountryUnited States
CityBoston, MA


  • Consensus
  • Distributed control
  • Intelligent transportation systems
  • Vehicular platooning

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