SLAM-based model prediction control vehicle formation technology

The invention discloses a model prediction control vehicle formation technology based on SLAM, and relates to the technical field of vehicle formation, the unmanned driving technology, the SLAM technology and the MPC algorithm are ingeniously fused in vehicle formation control, pilot vehicles participating in formation realize synchronous positioning and map creation by adopting the SLAM technology, and following vehicles realize synchronous positioning and map creation based on the synchronous position track of the pilot vehicles. The MPC algorithm is adopted for trajectory tracking, unmanned vehicle formation in the whole process is achieved, therefore, the defects of an existing formation technology based on high-precision positioning and multi-sensor road detection are overcome, and the intelligence degree, stability, applicability and safety of the formation are remarkably improved. 本发明公开了一种基于SLAM的模型预测控制车辆编队技术，涉及车辆编队技术领域，其巧妙地将无人驾驶技术、SLAM技术和MPC算法融合于车辆编队控制中，参与编队的领航车采用SLAM技术实现同步定位与地图创建，跟随车基于领航车的同步位置轨迹，采用MPC