  This paper develops distributed optimization based, platoon centered CAV car
following schemes, motivated by the recent interest in CAV platooning
technologies. Various distributed optimization or control schemes have been
developed for CAV platooning. However, most existing distributed schemes for
platoon centered CAV control require either centralized data processing or
centralized computation in at least one step of their schemes, referred to as
partially distributed schemes. In this paper, we develop fully distributed
optimization based, platoon centered CAV platooning control under the linear
vehicle dynamics via the model predictive control approach with a general
prediction horizon. These fully distributed schemes do not require centralized
data processing or centralized computation through the entire schemes. To
develop these schemes, we propose a new formulation of the objective function
and a decomposition method that decomposes a densely coupled central objective
function into the sum of several locally coupled functions whose coupling
satisfies the network topology constraint. We then exploit the formulation of
locally coupled optimization and operator splitting methods to develop fully
distributed schemes. Control design and stability analysis is carried out to
achieve desired traffic transient performance and asymptotic stability.
Numerical tests demonstrate the effectiveness of the proposed fully distributed
schemes and CAV platooning control.
