Double-Layer Following Controller for Autonomous Vehicles

In the context of vehicle platooning, scenarios involving high-speed overtaking, sharp turns, and speed variation for obstacle avoidance often compromise vehicle stability, thus severely limiting improvements in both safety and comfort. To address these challenges, this study designs and develops an algorithm based on the Dynamic Window Approach (DWA) and fuzzy adaptive Proportional-Integral-Derivative (PID) control. While ensuring safety, this algorithm enhances the comfort of autonomous vehicles. Simulation experiments demonstrate that, while maintaining a safe following distance, the algorithm exhibits outstanding robustness and safety in various experimental scenarios, significantly enhancing vehicle comfort.