Formation Control for Connected and Autonomous Vehicles Based on Distributed Consensus Embedded With Risk Potential Field

Cooperative control for multiple vehicles is a promising technology with the capability to improve traffic efficiency and fuel savings. Given its potential both commercial military applications, unmanned vehicle formation has attracted considerable attention recently. In this paper, use of connected autonomous was explored novel distributed approach proposed. To begin, evolution mechanism multi-lane investigated transition model based on finite state machine constructed. A bi-level scheme then proposed; framework’s upper lower levels were used perform trajectory planning MPC-based control, respectively. constructed by combining consensus algorithm field method. Moreover, additional acceleration constraints imposed algorithm. Finally, three scenarios designed validate proposed using Webots. The results illustrate that deployed can handle abnormal situations realize within 12s.