Multi-Model Analysis of Predictive Adaptive Cruise Control

Mateus Mussi Brugnolli¹; Bruno Augusto Angélico¹; Armando Antônio Maria Laganá¹

¹ Escola Politécnica da Universidade de São Paulo

Baixar PDF doi:10.20906/CPS/CBA2018-0128

Resumo

Adaptive Cruise Control (ACC) systems for vehicles came as an improvement to cruise systems and there are several approaches for its development. In this paper, it is used a structure of two control loops for simulate the ACC system. The vehicle model was estimated using the system identification theory. An outer loop control manages radar data to adapt into a suitable cruise speed, and an inner loop control aims for the vehicle to reach cruise speed given a desired performance. For the inner loop, it is used two different approaches of model predictive control: a finite horizon prediction control, known as MPC, and an infinite horizon prediction control, known as IHMPC.

Palavras-chave: ACC systems; System Identification; Model predictive control; Infinite horizon model predictive control; Quadratic Programming