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In this work, a control architecture is proposed for controlling a convoy of automated vehicles that are mechanically connected to each other. Connection allows them to circulate without specific permissions in any environment, even if a driver is present only in the leading vehicle. The connection in the real case is an elastic and compliant connection, a condition mediating the cases of rigid connection and absence of mechanical connection. To evaluate the capabilities of automation control algorithms in maintaining a prescribed path and estimate the required stiffness of the mechanical connection, simulations have been performed considering a geometric control algorithm (Pure Pursuit controller) for lateral control mixed with a PID controller for longitudinal control. Considering several trajectories of two convoyed vehicles, the control method has been analyzed based on the minimum value of errors (longitudinal and lateral) in vehicle trajectories. The ideal case is considered where all communication and environment scanning systems operate with maximum efficiency. While subsequent steps will be made to further decrease the trajectory error by modifying the vehicle control, the results enable an estimation of the required compliance of the mechanical connection expressed in terms of trajectory error.

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Enhancing Urban Convoying Safety by Mechanical Connection Among Automated Vehicles: Simulation Study on Controlled Trajectories

  • 会议论文

  • 出版模式：

    开放获取

  • 发表日期：

    2026年

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  • Michelangelo-Santo Gulino,
  • Lorenzo Berzi,
  • Michael Franci,
  • Luca Pugi,
  • Dario Vangi,
  • Adriano Alessandrini

摘要

In this work, a control architecture is proposed for controlling a convoy of automated vehicles that are mechanically connected to each other. Connection allows them to circulate without specific permissions in any environment, even if a driver is present only in the leading vehicle. The connection in the real case is an elastic and compliant connection, a condition mediating the cases of rigid connection and absence of mechanical connection. To evaluate the capabilities of automation control algorithms in maintaining a prescribed path and estimate the required stiffness of the mechanical connection, simulations have been performed considering a geometric control algorithm (Pure Pursuit controller) for lateral control mixed with a PID controller for longitudinal control. Considering several trajectories of two convoyed vehicles, the control method has been analyzed based on the minimum value of errors (longitudinal and lateral) in vehicle trajectories. The ideal case is considered where all communication and environment scanning systems operate with maximum efficiency. While subsequent steps will be made to further decrease the trajectory error by modifying the vehicle control, the results enable an estimation of the required compliance of the mechanical connection expressed in terms of trajectory error.