Cruise and headway control for vehicle platooning using a distributed model predictive control algorithm

Abstract

A cruise and headway control strategy using distributed model predictive control, developed for a vehicle platooning application is proposed in this paper. The cruise control (i.e. driving the vehicle with a constant velocity demanded by the driver) is designed for the platoon's leading vehicle, whereas for the rest of the platoon, a headway control strategy is developed. Thus, the control objective for the follower vehicles is to maintain a specified distance with respect to the vehicle immediately in front. Each vehicle is controlled through a distributed model predictive control strategy with input constraints. Moreover, terminal constraints which ensure the string stability of the platoon are enforced on the follower vehicles. The simulation results show the feasibility of the control strategy.