Constrained Optimization and Distributed Model Predictive Control-Based Merging Strategies for Adjacent Connected Autonomous Vehicle Platoons

Abstract

Vehicle platooning has been a major research topic in recent years because of its ability to reduce fuel consumption, enhance road traffic safety and utilize the road more efficiently. A practical and applicable platoon merging maneuver is the key to forming new platoons while ensuring safety and economy. This study proposes merging strategies that consider both safe space and acceleration limitations for two adjacent platoons comprising connected autonomous vehicles (CAVs). The distributed model predictive control (DMPC) algorithm is adopted to design a DMPC <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup> controller, which includes 1) a space-making DMPC controller that controls the vehicles in one platoon, i.e. the target platoon, to make space for the vehicles in a second platoon, i.e. the merge platoon, and 2) a DMPC platoon controller that controls the merging vehicles to fill in the space in the target platoon. The former considers the explicit acceleration constraint of the vehicle, making the generated trajectory more feasible, and the latter controls the merge platoon to perform an overall mergence, which reduces the complexity of the merge problem. The low computation load of DMPC makes online computing and real-time control possible in practical scenarios. A simulation study is conducted with different scenarios and parameters, and the results demonstrate that the proposed strategy is more feasible and efficient, and less time-consuming than the existing state-of-the-art methods and have the advantages of taking safety distance and control input constraints into account.