Development of Optimal Control System for Safe Distance of Platooning Using Model Predictive Control

摘要

Platooning technology is becoming a future task which suggests as a way of reducing carbon dioxide emissions and realizing safe driving at a high velocity. This paper presents a unique optimal control method of velocity and distance for platooning using model predictive control. The vehicle-platoon's distance model which is based on the road condition and weather condition is used in this rigorous approach of deriving the control input. A combination of Continuation and Generalized Minimum Residual Methods is used to optimize the sequence of vehicle control commands which is required in the prediction horizon aiming at minimizing the relative velocity and keeping safe distance of the vehicle-platoon while the vehicle-platoon is on a high velocity driving.