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The paper introduces novel families of cruise controllers for autonomousvehicles on lane-free ring-roads. The design of the cruise controllers is basedon the appropriate selection of a Control Lyapunov Function expressed onmeasures of the energy of the system with the kinetic energy expressed in wayssimilar to Newtonian or relativistic mechanics. The derived feedback laws(cruise controllers) are decentralized (per vehicle), as each vehicledetermines its control input based on: (i) its own state; (ii) either only thedistance from adjacent vehicles (inviscid cruise controllers) or the state ofadjacent vehicles (viscous cruise controllers); and (iii) its distance from theboundaries of the ring-road. A detailed analysis of the differences andsimilarities between lane-free straight roads and lane-free ring-roads is alsopresented.

Cruise Controllers for Lane-Free Ring-Roads based on Control Lyapunov Functions