Vehicle formation longitudinal control method under any communication chain fault

The invention relates to a vehicle formation longitudinal control method under any communication chain fault, and the method comprises the following steps: S1, analyzing a possible communication chain fault condition under a Bidirectional-leader communication topological structure, and dividing the possible communication chain fault condition into three types according to a fault position and a processing method; and S2, constructing a corresponding active communication topology and controller transformation scheme for each fault type by using the Bidirectional-leader topological structure characteristics and combining a distributed model prediction control algorithm. According to the method, under the topological structure defined by the Bidirectional-leader, the method can be automatically adapted to any communication chain fault, collision between vehicles is avoided, normal operation of the formation is achieved, and a safe, feasible and practical corresponding method is provided for the communication fau