Comparison of a linear and a hybrid adaptive cruise controller for a SMART

Abstract

Abstract-An adaptive cruise controller (ACC) is a device used in modern automotive applications that aims to achieve the tracking of a leading vehicle, allowing safety, comfort driving and overall improvement of traffic streams. Through appropriate modeling and design it permits also to address other tasks such as energy saving, environmental protection and reduction of the mechanical stress. For a type of small car, a SMART, we propose the design of an ACC using control methods based on tuned proportional-integral (PI) action and on model predictive control (MPC), developed for linear and piecewise affine (PWA) systems. We implement these controllers and compare the main properties and strong/weak points of each method, collecting the comparison keys in a table. The trade-off between complexity and accuracy of the solutions is also discussed.

Cruise control of a two-wheeled vehicle based on MPC to predict the trajectory of a preceding vehicle

“…On the other hand, the estimation was correct when t ∈ [6,25]. During this interval,the follower followd close behind the leader, and the distance to the reference decreased to 0.0654.…”

“…Corona and Schutter [6] only considerd longitudinal velocity control. The controller was aimed at maintaining a suitable relative distance and velocity between a leader and follower vehicle.…”

“…Several theoretical analysis and practical applications have been reported in the literature [1]- [4] This paper proposes an MPC-based adaptive cruise control (ACC) method in which a follower vehicle follows a leader vehicle. Vehicle and highway automation using ACC is believed to reduce the risk of accidents, improve safety, increase road capacity, reduce fuel consumption and enhance overall driver comfort and performance [5] Several papers have reported on MPC-based ACC [6]- [11].…”

Optimal formation control of two-wheeled vehicles using model predictive control

“…In [7], no case for a two-dimensional course has been demonstrated although the effectiveness of the method has been verified by simulations for a limited directional course. In [10] and [11], a nonlinear model predictive control (NMPC) has been adopted.…”

“…Several model predictive control based approaches for the auto-cruising control have been reported in [7], [8], [9], [10], [11], [12], [13], [14]. In [7], no case for a two-dimensional course has been demonstrated although the effectiveness of the method has been verified by simulations for a limited directional course.…”