Print Email Facebook Twitter Cooperative distributed predictive control for collision-free vehicle platoons Title Cooperative distributed predictive control for collision-free vehicle platoons Author Zheng, Huarong (Zhejiang University) Wu, Jun (Zhejiang University) Wu, Weimin (Zhejiang University) Negenborn, R.R. (TU Delft Transport Engineering and Logistics) Date 2019 Abstract The rapidly developing computing and communication technologies improve the autonomy of individual vehicles on the one hand and facilitate the coordination among vehicles on the other. In the context of dynamic speed management, this study considers a platoon of intelligent vehicles that are required to maintain desired inter-vehicle spaces and to respond to speed changes in a collision-free, stable and cooperative way. The platoon is modelled as a cascaded network with linear longitudinal vehicle dynamics, independent physical constraints, and coupling safety constraints. In the case of global information sharing, the authors first propose a centralised collision-free solution on the basis of model predictive control that guarantees asymptotic platoon tracking of speed changes and satisfaction of system constraints during the transient process. A cooperative distributed approach is then further proposed on the basis of the alternating direction method of multipliers resulting in a scheme involving communication only with the roadside infrastructure, e.g. the speed manager. Vehicles in a platoon conduct parallel computation while still achieving global optimal performance and coordination with respect to the collision avoidance constraints. Convergence properties of the distributed solutions are established for the concerned vehicle platoon problem. Simulation results show satisfactory platoon performance and demonstrate the effectiveness of the proposed algorithms. Subject optimisationcollision avoidancepredictive controldecentralised controlvehicle dynamicsroad traffic controlroad vehiclesroad safetyvehiclesdistributed control To reference this document use: http://resolver.tudelft.nl/uuid:a99b9f84-bea6-404d-95ca-3e7369b99a8c DOI https://doi.org/10.1049/iet-its.2018.5366 ISSN 1751-956X Source IET Intelligent Transport Systems, 13 (5), 816-824 Bibliographical note Accepted Author Manuscript Part of collection Institutional Repository Document type journal article Rights © 2019 Huarong Zheng, Jun Wu, Weimin Wu, R.R. Negenborn Files PDF cooperative_distributed_v ... ontrol.pdf 766.87 KB Close viewer /islandora/object/uuid:a99b9f84-bea6-404d-95ca-3e7369b99a8c/datastream/OBJ/view