Model predictive control of multi-objective adaptive cruise system based on extension theory

Abstract

Under certain working conditions, the car-following performance and longitudinal ride comfort of adaptive cruise control (ACC) vehicles are contradictory. Therefore, the extension coordinated control is introduced into the weighted design of each performance index under the model predictive control (MPC) framework to optimize the overall vehicle driving performance. In this article, the dynamic model of the ACC vehicle and the variable time headway model are established, and then the predictive model and its corresponding cost function under the MPC framework are designed. By using the co-simulation platform of CarSim and Matlab/Simulink, three different simulation conditions are established and compared with the traditional ACC operating results. It was determined that the tracking speed error in the acceleration stage can be reduced by approximately 40% and the acceleration amplitude can be reduced by between 8%–17%. Therefore, there is an optimization effect under this control method. This study provides a foundation for curving ACC under an extension coordinated control theory.

Keywords

Extension coordinated control / adaptive cruise control / model predictive control / advanced driver assistance systems