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

This study proposes a control architecture for automated vehicle convoys linked by non-elastic mechanical connections, allowing operation with only a lead driver and no special permits. To evaluate the system, simulations were run using a Pure Pursuit controller (lateral) and a PID controller (longitudinal) for a two-vehicle convoy. Researchers analyzed the minimum longitudinal and lateral trajectory errors under ideal communication conditions. The primary goals were to assess the control algorithm's effectiveness in path following and to use the resulting trajectory errors to estimate the required compliance (stiffness) of the mechanical connection.