• Proposes a scenario-driven hybrid distributed model predictive control (DMPC) with variable topology for autonomous vehicle chassis, enhancing stability and trajectory tracking.
• Introduces a control input fusion mechanism in the transition domain to reduce oscillation and jitter during control structure switching.
• Validates the algorithm via Simulink/CarSim joint simulation and hardware-in-the-loop (HIL) tests, demonstrating improved multi-objective coordination.
• Balances global optimality and computational efficiency by combining distributed and decentralized MPC approaches.