Adaptive Cruise Control Based on Multistage Predictive Control Approach

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The paper deals with the design of adaptive cruise control by integrating longitudinal motion control and a safety logic control. The proposed control algorithm consists of an inner loop to manipulate the brake pedal and throttle opening position, and an outer loop to maintain the safe distance from leading vehicle. A multistage local linear model is identified using least squares method to describe nonlinear dynamic of longitudinal motion model. The objective of multistage model based predictive control is to minimize square of longitudinal vehicle speed error and square of brake pedal and throttle torque through receding horizon. By using the proposed control algorithm, the predictive control problem is still maintained as a quadratic programming problem. The safety logic control is designed base on the reference value of vehicle speed and distance from heading vehicle. Simulation results are given to demonstrate the effectiveness of the proposed control strategies.

Original languageEnglish
Title of host publication4th International Conference on Nano Electronics Research and Education
Subtitle of host publicationToward Advanced Imaging Science Creation, ICNERE 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781538675533
DOIs
Publication statusPublished - 14 Feb 2019
Event4th International Conference on Nano Electronics Research and Education, ICNERE 2018 - Hamamatsu, Japan
Duration: 27 Nov 201829 Nov 2018

Publication series

Name4th International Conference on Nano Electronics Research and Education: Toward Advanced Imaging Science Creation, ICNERE 2018

Conference

Conference4th International Conference on Nano Electronics Research and Education, ICNERE 2018
CountryJapan
CityHamamatsu
Period27/11/1829/11/18

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Keywords

  • adaptive cruise control
  • model predictive
  • multistage identification
  • vehicle modeling

Cite this

Subiantoro, A., Muzakir, F., & Yusivar, F. (2019). Adaptive Cruise Control Based on Multistage Predictive Control Approach. In 4th International Conference on Nano Electronics Research and Education: Toward Advanced Imaging Science Creation, ICNERE 2018 [8642597] (4th International Conference on Nano Electronics Research and Education: Toward Advanced Imaging Science Creation, ICNERE 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICNERE.2018.8642597