Safe Adaptive Cruise Control with Road Grade Preview and V2V Communication

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.

[1]  Karl Henrik Johansson,et al.  Guaranteeing safety for heavy duty vehicle platooning : Safe set computations and experimental evaluations , 2014 .

[2]  Yan Wei,et al.  Multi-argument Control Mode Switching Strategy for Adaptive Cruise Control System☆ , 2016 .

[3]  Jianqiang Wang,et al.  Coordinated Adaptive Cruise Control System With Lane-Change Assistance , 2015, IEEE Transactions on Intelligent Transportation Systems.

[4]  Harald Waschl,et al.  Comfort Oriented Robust Adaptive Cruise Control in Multi-Lane Traffic Conditions , 2016 .

[5]  Payman Shakouri,et al.  Adaptive Cruise Control System: Comparing Gain-Scheduling PI and LQ Controllers , 2011 .

[6]  Francesco Borrelli,et al.  A Learning-Based Framework for Velocity Control in Autonomous Driving , 2016, IEEE Transactions on Automation Science and Engineering.

[7]  Karl Henrik Johansson,et al.  Cooperative Look-Ahead Control for Fuel-Efficient and Safe Heavy-Duty Vehicle Platooning , 2015, IEEE Transactions on Control Systems Technology.

[8]  Francesco Borrelli,et al.  Control of Connected and Automated Vehicles: State of the Art and Future Challenges , 2018, Annu. Rev. Control..

[9]  Alberto Bemporad,et al.  Predictive Control for Linear and Hybrid Systems , 2017 .

[10]  Karl Henrik Johansson,et al.  A model predictive controller for non-cooperative eco-platooning , 2017, 2017 American Control Conference (ACC).

[11]  Roberto Horowitz,et al.  Vehicle Localization and Control on Roads with Prior Grade Map , 2018, 2018 IEEE Conference on Decision and Control (CDC).

[12]  Javad Marzbanrad,et al.  Self-tuning control algorithm design for vehicle adaptive cruise control system through real-time estimation of vehicle parameters and road grade , 2016 .

[13]  Andreas A. Malikopoulos,et al.  A Survey on the Coordination of Connected and Automated Vehicles at Intersections and Merging at Highway On-Ramps , 2017, IEEE Transactions on Intelligent Transportation Systems.

[14]  Bart De Schutter,et al.  Adaptive Cruise Control for a SMART Car: A Comparison Benchmark for MPC-PWA Control Methods , 2008, IEEE Transactions on Control Systems Technology.

[15]  Johan Löfberg,et al.  YALMIP : a toolbox for modeling and optimization in MATLAB , 2004 .

[16]  Hong Liu,et al.  Model predictive control for adaptive cruise control with multi-objectives: comfort, fuel-economy, safety and car-following , 2010 .

[17]  Shen Li,et al.  Performance Enhanced Predictive Control for Adaptive Cruise Control System Considering Road Elevation Information , 2017, IEEE Transactions on Intelligent Vehicles.