Lateral String Stability for Vehicle Platoons

[2606.29677] Lateral String Stability for Vehicle Platoons Skip to main content Search Submit Donate Log in Computer Science > Robotics arXiv:2606.29677 (cs) [Submitted on 29 Jun 2026] Title: Lateral String Stability for Vehicle Platoons Authors: Sixu Li , Swaroop Darbha , Yang Zhou View PDF HTML (experimental) Abstract: Connected and automated vehicle (CAV) platooning promises gains in energy efficiency and traffic throughput and, most critically, in safety. These safety benefits hinge on string stability, which determines how disturbances propagate along a platoon. While longitudinal string stability is well studied, lateral string stability, which governs the propagation of path-tracking errors that can lead to unsafe deviations from the intended path, remains underexplored. Its importance is increasing as autonomous vehicles rely more heavily on onboard sensing and map-free navigation, where sensor occlusion and dense formations amplify safety risks. This paper presents a new framework for lateral string stability that directly addresses safety-critical path-relative tracking errors and enables consistent comparison across vehicles following the same road geometry. Central to this framework is an arc-length (Eulerian) viewpoint, a departure from traditional analyses, that clarifies how tracking errors at a given point on the path propagate from one vehicle to the next. A formal definition of lateral string stability is introduced along with two control strategies: an onboard-sensing-only controller and a novel learn-from-predecessor approach utilizing vehicle-to-vehicle (V2V) communication. We show that onboard sensing alone cannot guarantee attenuation of path-tracking errors, imposing a fundamental safety limitation, whereas V2V communication enables true error attenuation. Subjects: Robotics (cs.RO) ; Systems and Control (eess.SY) Cite as: arXiv:2606.29677 [cs.RO] (or arXiv:2606.29677v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2606.29677 Focus to learn more arXiv-issued DOI via DataCite Journal reference: 2026 American Control Conference (ACC), New Orleans, LA, USA, 2026, pp. 3444-3449 Submission history From: Sixu Li [ view email ] [v1] Mon, 29 Jun 2026 00:52:32 UTC (982 KB) Full-text links: Access Paper: View PDF HTML (experimental) TeX Source view license Additional Features Audio Summary Current browse context: cs.RO < prev | next > new | recent | 2026-06 Change to browse by: cs cs.SY eess eess.SY References & Citations SciX Google Scholar Semantic Scholar export BibTeX citation Bookmark Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer ( What is the Explorer? ) Connected Papers Toggle Connected Papers ( What is Connected Papers? ) Litmaps Toggle Litmaps ( What is Litmaps? ) scite.ai Toggle scite Smart Citations ( What are Smart Citations? ) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv ( What is alphaXiv? ) Links to Code Toggle CatalyzeX Code Finder for Papers ( What is CatalyzeX? ) DagsHub Toggle DagsHub ( What is DagsHub? ) GotitPub Toggle Gotit.pub ( What is GotitPub? ) Huggingface Toggle Hugging Face ( What is Huggingface? ) ScienceCast Toggle ScienceCast ( What is ScienceCast? ) Demos Demos Replicate Toggle Replicate ( What is Replicate? ) Spaces Toggle Hugging Face Spaces ( What is Spaces? ) Spaces Toggle TXYZ.AI ( What is TXYZ.AI? ) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower ( What are Influence Flowers? ) Core recommender toggle CORE Recommender ( What is CORE? ) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs . Which authors of this paper are endorsers? | Disable MathJax ( What is MathJax? ) We gratefully acknowledge support from our major funders , member institutions , and all contributors. About · Help · Contact · Subscribe · Copyright · Privacy · Accessibility · Operational Status (opens in new tab)

Related documents

• Lateral String Stability for Vehicle Platoons#677660
• Distributed observer–controller co–design for string stability in vehicle platoons#68177
• Study analitik dan eksperimen terhadap parameter gerak rear wheel drive pada stabilitas belok kendaraan#1018661
• Constrained Optimization-Based Yaw-Rate Reference Map Generation for Active Rear Steering Control of Four-Wheel Steering Vehicles#1037510
• Hemodynamic Instability Following Carotid Artery Stenting#803708