This paper is concerned with the problem of designing a decentralized controller for connected vehicle platoon driving on the curved road. The controller is proposed by considering the states of the subject vehicle and its immediately preceding vehicle as well as the characteristics of the curved road based on the third-order dynamic model. In particular, the longitudinal and lateral controllers for vehicle platoon are developed, respectively. Then, the stability of proposed longitudinal and lateral controllers is analyzed using the Hurwitz stability criterion. Furthermore, extensive simulations are conducted to verify the effectiveness of the proposed controllers with respect to speed and acceleration/deceleration profiles.

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