This paper presents a distributed model predictive control (DMPC) algorithm for a heterogeneous platoon using arbitrary communication topologies, as long as each vehicle is able to communicate with a preceding vehicle in the platoon. The proposed DMPC algorithm is able to accommodate any spacing policy that is affine in a vehicle's velocity, which includes constant distance or constant time headway spacing policies. By analyzing the total cost for the entire platoon, a sufficient condition is derived to guarantee platoon asymptotic stability. Simulation experiments with a platoon of 50 vehicles and hardware experiments with a platoon of four 1/10th scale vehicles validate the algorithm and compare performance under different spacing policies and communication topologies.

翻译：本文提出了一种适用于异构车队的分布式模型预测控制（DMPC）算法。该算法采用任意通信拓扑，仅需每辆车能与车队中前车建立通信。所提DMPC算法可兼容任何与车辆速度呈仿射关系的间距策略，包括恒定距离或恒定车头时距等间距策略。通过分析整个车队的总成本函数，推导出保证车队渐近稳定性的充分条件。基于50辆车的仿真实验与四辆1/10比例车辆组成的硬件试验验证了该算法，并对比了不同间距策略和通信拓扑下的性能表现。