Sequential-Parallel Hybrid Distributed MPC for Vehicle Platoon with Integrated Cartesian-Frcnct Kinematic Model

In this paper, a novel sequential-parallel hybrid dis-tributed model predictive control (DMPC) algorithm with an in-tegrated Cartesian-Frenet kinematic model (ICFKM) is proposed for combined longitudinal and lateral control of vehicle platoon on curved roads. The ICFKM is devised to solve the cutting-corner problem encountered by platoon navigating curved roads. It considers the kinematic constraints while representing the curved path in linear form, which can simplify the controller design and effectively address cutting-corner issues. Additionally, to handle the situation of long solution period in sequential DMPC, as well as the dependency on direct communication with leader or the constant-speed assumption in parallel DMPC, a sequential-parallel hybrid DMPC architecture is designed combining the characteristics of sequential DMPC and parallel DMPC. The ICFKM and hybrid DMPC are employed to design a combined longitudinal and lateral control algorithm for vehicle platoon. Finally, experimental results indicate the effectiveness of proposed control algorithm.