A distributed model predictive control approach to cooperative adaptive cruise control of the heterogeneous platoon

2021 ◽  
pp. 095440702110705
Author(s):  
Guangming Nie ◽  
Bo Xie ◽  
Zixu Hao ◽  
Hangwei Hu ◽  
Yantao Tian
Keyword(s):  
Optimal Control ◽  
Model Predictive Control ◽  
Control Problem ◽  
Predictive Control ◽  
Control Algorithm ◽  
Sampling Period ◽  
Distributed Model ◽  
Cruise Control ◽  
Control Approach ◽  
Distributed Model Predictive Control

This paper presents a distributed model predictive control algorithm to solve the cruise control problem of a heterogeneous platoon. Each following vehicle in the platoon can use the communication equipment to receive the information of the leading vehicle and its preceding adjacent one. The vehicles in the platoon are dynamically decoupled and have different dynamic parameters. Each vehicle solves a local optimal control problem independently. The cost function of each vehicle’s local optimal control algorithm is designed with traceability as the control objective, and its asymptotic stability is guaranteed by using the terminal constraint method. In addition, the timestamps of all vehicles in the platoon are synchronous, which means that in each sampling period, a specific vehicle in the platoon cannot obtain the solution results of other vehicles’ local optimal control problems at the current sampling moment. Under this restriction, the constraints that each vehicle needs to meet to realize the platoon’s string stability are also designed. Finally, the simulation results show the effectiveness of the algorithm.

scholarly journals Reference Tracking using a Non-Cooperative Distributed Model Predictive Control Algorithm

2016 ◽  
Vol 49 (7) ◽  
pp. 1079-1084 ◽  
Author(s):  
Anca Maxim ◽  
Clara M. Ionescu ◽  
Constantin F. Caruntu ◽  
Corneliu Lazar ◽  
Robin De Keyser
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Control Algorithm ◽  
Distributed Model ◽  
Reference Tracking ◽  
Distributed Model Predictive Control ◽  
Model Predictive Control Algorithm

scholarly journals Distributed Model Predictive Control over Multiple Groups of Vehicles in Highway Intelligent Space for Large Scale System

2014 ◽  
Vol 2014 ◽  
pp. 1-12
Author(s):  
Tang Xiaofeng ◽  
Gao Feng ◽  
Xu Guoyan ◽  
Ding Nenggen ◽  
Cai Yao ◽  
...  
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Large Scale ◽  
Distributed Model ◽  
Large Scale System ◽  
Control Approach ◽  
Distributed Model Predictive Control ◽  
Intelligent Space ◽  
Multiple Groups ◽  
Information Framework

The paper presents the three time warning distances for solving the large scale system of multiple groups of vehicles safety driving characteristics towards highway tunnel environment based on distributed model prediction control approach. Generally speaking, the system includes two parts. First, multiple vehicles are divided into multiple groups. Meanwhile, the distributed model predictive control approach is proposed to calculate the information framework of each group. Each group of optimization performance considers the local optimization and the neighboring subgroup of optimization characteristics, which could ensure the global optimization performance. Second, the three time warning distances are studied based on the basic principles used for highway intelligent space (HIS) and the information framework concept is proposed according to the multiple groups of vehicles. The math model is built to avoid the chain avoidance of vehicles. The results demonstrate that the proposed highway intelligent space method could effectively ensure driving safety of multiple groups of vehicles under the environment of fog, rain, or snow.

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