2020
DOI: 10.48550/arxiv.2004.00417
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Distributed Nonlinear Model Predictive Control and Metric Learning for Heterogeneous Vehicle Platooning with Cut-in/Cut-out Maneuvers

Mohammad Hossein Basiri,
Benyamin Ghojogh,
Nasser L. Azad
et al.

Abstract: Vehicle platooning has been shown to be quite fruitful in the transportation industry to enhance fuel economy, road throughput, and driving comfort. Model Predictive Control (MPC) is widely used in literature for platoon control to achieve certain objectives, such as safely reducing the distance among consecutive vehicles while following the leader vehicle. In this paper, we propose a Distributed Nonlinear MPC (DNMPC), based upon an existing approach, to control a heterogeneous dynamic platoon with unidirectio… Show more

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