Graph-based Distributed Lane-change in Tight Multi-lane Platoons

Platooning of connected and automated vehicles (CAVs) has received extensive interest due to its potential to improve road traffic. In this context, multi-lane platoons have appear as a generalized version of the classical train-like platoon structure used since the early platoon implementations in the 80s. Multi-lane platoons add structural flexibility at the price of more intricate internal dynamics, particularly with respect to internal lane changes. This work proposes a distributed scheme for lane changes inside a platoon based on a hierarchical control scheme that makes use of a graph theoretical formulation of platoon formations for reference generation and distributed model predictive control (DMPC) for vehicle command. The effectiveness of the proposed approach is tested by simulating a variety of scenarios.