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Truck Platooning: NMPC for Safety & Efficiency by eddantes2214 is a document available to read on EtoBox.
This paper presents a distributed Nonlinear Model Predictive Control (NMPC) approach for enhancing the efficiency and safety of truck platooning, particularly during lane-changing maneuvers. It addresses challenges such as obstacle avoidance by integrating a penalty soft constraint to ensure safety and maintain platoon coherence while optimizing control inputs in real-time. Experimental results demonstrate the effectiveness and computational efficiency of the proposed NMPC algorithm compared to existing met
- Author
- eddantes2214
- Language
- EN