A Distributed Model Predictive Control Approach to Active Steering Control of String Stable Cooperative Vehicle Platoon

Abstract

A distributed receding horizon approach is adopted for active steering control of a cooperative vehicle platoon in the lateral direction. String stability is enforced by translating the classical definition of string stability from frequency domain into time domain constraint. Each vehicle locally computes its own control action and broadcasts its intention to its follower. Any deviation from the intention of each vehicle from the predicted states is penalized and constrained in the optimization problem which is solved locally by the vehicles. The string stability condition is robust against uncertainty in the intent trajectory. The effectiveness of proposed approach is verified by simulation in a double lane change scenario.