Decentralized Model Predictive Control of Connected and Automated Vehicles with Coupled Safety Constraints
arXiv:2607.11403
The paper proposes decentralized model predictive control methods for coordinating connected and automated vehicles on lane-free highways, using a new technique to turn complex safety constraints into convex ones for scalable, safe traffic management.
Abstract
Connected and Automated Vehicles (CAVs) operating on lane-free highways offer substantial gains in traffic efficiency. However, their inherent nonlinear dynamics and the presence of coupled, nonconvex safety constraints present critical challenges to control design. Centralized Model Predictive Control (MPC) ensures safety, but suffers from scalability and communication limitations. To address these challenges, this paper investigates decentralized MPC (DMPC) for CAV coordination, focusing on iterative, non-cooperative algorithms, including Jacobi-type and Gauss-Seidel-type. A novel decoupling method is developed to transform nonconvex safety constraints into convex, locally enforceable constraints, inspired by buffered Voronoi cells. The simulation results show that the proposed DMPC algorithms achieve safe and efficient vehicle trajectories while substantially improving scalability, highlighting their potential for future lane-free CAV traffic systems. Ultimately, the results indicate that the most suitable decentralized control strategy depends on the desired trade-off between safety, performance, and computational efficiency.
11 pages, 4 figures, Conference paper, Accepted for presentation at hEART 2026