Safe Adaptive Cruise Control with Road Grade Preview and $\mathbf{V}2\mathbf{V}$ Communication

Abstract

We present the design of a safe Adaptive Cruise Control (ACC) which uses road grade and lead vehicle motion preview. The ACC controller is designed by using a Model Predictive Control (MPC) framework to optimize comfort, safety, energy-efficiency and speed tracking accuracy. Safety is achieved by computing a robust invariant terminal set. The paper presents a novel approach to compute such set which is less conservative than existing methods. The proposed controller ensures safe inter-vehicle spacing at all times despite changes in the road grade and uncertainty in the predicted motion of the lead vehicle. Simulation results compare the proposed controller with a controller that does not incorporate prior grade knowledge on two scenarios including car-following and autonomous intersection crossing. The results demonstrate the effectiveness of the proposed control algorithm.

Model predictive control for autonomous ground vehicles: a review

“…In addition, a Newton or generalized minimum residual method (GMRES) solver is adopted to guarantee a real-time implementation. A longitudinal IMPT method in an MPC framework is proposed in [102], in which a robust invariant terminal set is computed in real time to ensure the safety and can handle the road grade and the motion prediction uncertainties of the front vehicle. An MPC-based framework incorporating a multi-target tracking method and a motion planning method is proposed in [103], which can handle unreliable detections and uncertain changes of surrounding vehicles.…”

Learning Model Predictive Control for Connected Autonomous Vehicles

“…Like many existing works [24], the above MPC platooning control scheme assumes that the communication channel works perfectly, and that each vehicle has access to the (current) trajectory prediction of the preceding vehicle. We seek to relax this assumption.…”

Research on Vehicle Adaptive Cruise Control Method Based on Fuzzy Model Predictive Control

“…Naus et al [7] selected followability, driving comfort and fuel economy as the system optimization goals in the multi-objective ACC system designed based on MPC, so that the vehicle can improve the fuel economy on the premise of safe following and driving comfort. Firoozi et al [8] designed an ACC system based on MPC considering the motion of the front vehicle and road gradient. Tran et al [9] proposed an ACC system design method combining an analytical method and a stochastic MPC method.…”