Nonlinear Model Predictive Control approach in design of Adaptive Cruise Control with automated switching to cruise control

摘要

In this paper the Nonlinear Model Predictive Control (NMPC) is used in designing of Adaptive Cruise Control (ACC) and Cruise Control (CC) systems. An algorithm is proposed to carry out automatic switching between ACC and CC, depending on the situation in front of the vehicle. Also, an algorithm based on MPC equation is devised to obtain the prediction of future reference trajectories corresponding to desired speed and distance. NMPC equation used in this paper is developed based on state-dependent representation of linear models corresponding to the modes of the operation: accelerating-throttle is active and braking-brake is active. The developed automated ACC system is tested in simulation against different scenarios proving good performance of the system. Furthermore, the results of proposed control algorithm based on NMPC methods are compared with a different ACC structure.