Vehicle Formation Control Based on Model-Free Adaptive Iterative Learning

In this paper, a vehicle formation control method based on model-free adaptive iterative learning is proposed for vehicles with the same turn at a road intersection. At road intersections, inconsistencies in speed and spacing between vehicles with the same turn can lead to traffic congestion. Therefore, this study investigates the path planning and speed planning for vehicles with the same turn. In the case of vehicular networking, the formation control of intelligent networked vehicles with the same turn makes the vehicles travel in formation in a fast and orderly manner, thus improving the efficiency and enhancing the safety of road intersections.