Liu, H;
Qiang, Z;
Dai, L;
Chen, B;
Xia, Y;
(2023)
Hierarchical Distributed MPC for Longitudinal and Lateral Vehicle Platoon Control with Collision Avoidance.
In:
Chinese Control Conference, CCC.
(pp. pp. 2676-2682).
IEEE
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Abstract
This paper proposes a hierarchical distributed model predictive control (MPC) method for vehicle platoon control in both longitudinal and lateral directions. In the upper layer, a novel path-planning module and a trajectory-fusion module are utilized to compute a smooth reference trajectory for each follower. In the lower layer, the longitudinal and lateral distributed model predictive controllers are decoupled to control the velocity and steering respectively. To ensure safety and reduce the computation burden, the constraints to avoid collision are reformulated by using the strong duality theory. A simulation is conducted to demonstrate the effectiveness of the proposed control algorithm in maintaining platoon formation and ensuring the safety of the platoon.
| Type: | Proceedings paper |
|---|---|
| Title: | Hierarchical Distributed MPC for Longitudinal and Lateral Vehicle Platoon Control with Collision Avoidance |
| Event: | 2023 42nd Chinese Control Conference (CCC) |
| Dates: | 24 Jul 2023 - 26 Jul 2023 |
| ISBN-13: | 9789887581543 |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.23919/CCC58697.2023.10240367 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| Keywords: | Roads, Computational modeling, Predictive models, Prediction algorithms, Trajectory, Safety, Collision avoidance |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Electronic and Electrical Eng |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10182842 |
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