Platoon Keeping and Collision Avoidance Based on Distributed Model Predictive Control Under Arbitrary Communication Chain Malfunction

In this paper, a platoon keeping and collision avoidance method based on distributed model predictive control(DMPC) is proposed to solve the problem of arbitrary communication chain malfunctions under a bidirectional-leader topology. Firstly, for the platoon under normal communication, a DMPC controller is designed by using the trajectory information of the leader and predecessor vehicle, which also satisfies the situation when communication chain between the follower (except follower 1) and the leader malfunction. Secondly, for other communication chain malfunction situation, we proposed the corresponding communication topology transformation scheme and controller transformation scheme, which makes the proposed control scheme can adapt to arbitrary communication chain malfunction situation. Finally, as for the control strategy proposed in this paper, some simulation experiments are carried out.