Distributed Coordinated Brake Control for Longitudinal Collision Avoidance of Multiple Connected Automated Vehicles
Manjiang Hu, Junni Li, Yougang Bian, Jianqiang Wang, Biao Xu, Yanan Zhu
Abstract
The emerging connected automated vehicle (CAV) technique brings a new opportunity for the development of cooperative collision avoidance systems. This paper proposes a distributed coordinated brake control (DCBC) algorithm for longitudinal collision avoidance of multiple CAVs. Firstly, the studied scenario is defined, within which the communication topology and vehicle dynamics are modeled for a vehicle string and the control objective is designed to minimize the total relative kinetic energy. Next, the control problem is formulated into a centralized model predictive control problem, which is then transformed into a quadratic programming (QP) problem. By separating the QP problem into several sub-problems assigned to each CAV, distributed optimization is introduced to solve the QP problem in a distributed manner. Elaborate numerical simulation comparisons are conducted to demonstrate the advantage of the proposed DCBC algorithm.