Distributed MPC for Automated Vehicle Platoon: A Path-Coupled Extended Look-Ahead Approach

This paper presents a distributed model predictive control (DMPC) algorithm to achieve the combined longitudinal and lateral control of automated vehicle platoon on curved roads. To address the cutting-corner problem on roads with significant curvature changes, a path-coupled extended look-ahead (PELA) approach is proposed. This approach comprehensively integrates both the vehicle state and path information to generate PELA points as new tracking targets. Based on it, a DMPC algorithm involving longitudinal and lateral control is designed. The error cost of the assumed output trajectory in DMPC is modified to adapt to vehicle platoon control on curved roads. The position error cost functions are constructed in similar forms as the repulsion function in artificial potential fields and a piecewise linear function. Such a treatment enhances the safety performance of system and the platoon tracking capability while maintaining the feasibility of DMPC unaltered. A criterion for asymptotic stability of the system is derived. The effectiveness of the proposed algorithm is verified via experimental results.