String stability and guaranteed safety via funnel cruise control for vehicle platoons

We study decentralized control strategies for platoons of autonomous vehicles with heterogeneous and nonlinear dynamics. Based on ideas from funnel control, we present a novel decentralized control algorithm which is able to guarantee a safety distance between any two vehicles, a good traffic flow and it achieves string stability of the controlled platoon. We illustrate the performance of the controller by simulations of two extreme scenarios.