Joint DMPC and PID Controller for Vehicle Platoon Based on PreScan and CarSim

This article proposes a hierarchical control framework based on a co-simulation platform in PreScan and CarSim for longitudinal control of connected automated vehicles platoon. First, an upper-level controller based on distributed model predictive control approach that takes into account terminal constraints is designed to output the desired acceleration. Then, with the inverse longitudinal dynamics model of the vehicle and PID tracking controller, the lower-level controller is proposed to output the throttle opening angle and brake pressure by tracking the output of upper-level controller. Besides, this article analyzes the closed-loop system stability of distributed model predictive controller. Finally, a platoon scene with five vehicles was built in PreScan, the co-simulation experiment was carried out jointly with PreScan and CarSim to validate the practical performance of the proposed control framework.