Mixed HDVs and CAVs Platooning Formation Problem Using Distributed Model Predictive Control Structure

This paper addresses the platooning problem for mixed Connected and Automated Vehicles (CAVs) and Human Driven Vehicles (HDVs). The vehicles are considered as agents of a Multi-Agent System (MAS) and the platooning problem is reformulated as a formation problem. Various scenarios for platooning are assumed and a Distributed Model Predictive Control (DMPC) structure is proposed to solve the problem. Numerical examples are provided to show the practicality of the proposed approach for different scenarios.