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Efficient distributed model predictive cooperative adaptive cruise control synthesizing safety and comfort
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DOI：10.1016/j.jfranklin.2026.108709.png)
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Abstract
En 中文
Cooperative adaptive cruise control (CACC) offers significant benefits in enhancing traffic flow, improving safety, and reducing energy consumption. Despite the development of numerous control schemes for CACC to ensure system stability and safety, passenger ride comfort is rarely considered. To address this issue, this paper presents an efficient distributed model predictive control (EDMPC) approach for nonlinear vehicle convoy systems subject to unknown disturbances arising from complex road conditions. In particular, we introduce a comprehensive constraint scheme that concurrently enforces driving-safety for both normal maneuvering and emergency braking, physical limits, and explicit passenger-comfort requirements. Under this constraint scheme, robust driving-safety guarantees against disturbances, recursive feasibility and closed-loop stability of the EDMPC approach are rigorously established. Moreover, we further extend the EDMPC approach to more general scenarios to handle practical trade-offs between safety and comfort encountered on complex uphill and downhill road segments. Finally, simulation results validate that the proposed control scheme effectively reconciles ride comfort and safety for CACC under complex operating scenarios.
Keywords:
Cooperative adaptive cruise control
Distributed model predictive control
Ride comfort
Driving safety
Vehicle convoy systems
Journal
J
IF:
4.2
Papers:
812
Citations:
0
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Cited Papers