Research on lateral control of vehicle platoon based on adaptive preview MPC

In the domain of vehicle platoon control, existing lateral control methods generally lack dynamic adaptability, limiting cooperative performance in intelligent transportation systems. To address this issue, this paper proposes an adaptive preview Model Predictive Control (MPC) method for vehicle platoons, enhancing autonomy and stability under mixed road conditions. Firstly, a two-degree-of-freedom (2-DOF) vehicle dynamics model and a preview error model are established to construct an integrated lateral preview model. Then, by introducing a curvature-speed coupling mechanism to dynamically adjust the preview distance, an adaptive preview MPC controller is designed. Finally, its effectiveness is verified through co-simulation using CarSim/Simulink. Simulation results demonstrate that under mixed conditions of straight roads and curved roads with varying curvature, compared to the preview MPC controller, the adaptive preview MPC controller enhances both trajectory tracking smoothness and platoon stability.