Splitting a Platoon Using Model Predictive Control

Sammanfattning: When multiple autonomous vehicles drive closelytogether behind each other, it is called a platoon. Platooningprovides several benefits, such as decreased congestion andreduced fuel consumption. In order for more vehicles to takeadvantage of these benefits, the platoon should be able to openup a space for other vehicles to merge into. Thus, our goal withthe project was to develop a system that can split a platoon.To achieve this, we are using model predictive control (MPC) tocontrol the system because it can handle constraints and controlsystems with multiple variables. To test the implemented system,we created a simulation environment in Python. We createdseveral plots to analyze and show the results of the simulations.To make the simulation more realistic, we introduced air drag tothe system. To counteract this effect, we added linearized air dragto the MPC. We showed that the constructed system could splitbetween any two adjacent vehicles in a platoon up to 50 meters.Another significant result was that the MPC could compensatefor the air drag without adding linearized air drag to the MPC.