Distributed MPC for Multi-Vehicle Cooperative Control Considering the Surrounding Vehicle Personality
Haoran Li, Tingyang Zhang, Sifa Zheng, Chuan Sun
Abstract
In real traffic environment, a single control mode of traditional autonomous vehicles cannot meet various driving requirements for different drivers, which will decrease the acceptance of autonomous vehicles, and even may further cause traffic risks. This paper studies the cooperative strategies between ego vehicle and surrounding vehicles with the naturalistic experiment data, and then designs an autonomous vehicle control method based on the distributed Model Predictive Control (MPC) in order to consider the interaction relationship of ego vehicles and surrounding vehicles. Finally, the proposed method is verified by software simulation and Hardware in the Loop (HIL) simulation experiments, and the experiment results demonstrate that the control method proposed in this paper not only can control the vehicle to complete the typical driving tasks smoothly, in terms of car-following and lane-changing, but also can reflect the different cooperative strategies among different driving behavior characteristics, which can improve safety and acceptance of autonomous vehicles to promote the practical application of autonomous vehicle technology.