Adaptive Cruise Control Based on Multistage Predictive Control Approach

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-review

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

Fingerprint

Adaptive cruise control
approach control
Brakes
vehicles
pedals
Longitudinal control
brakes
Quadratic programming
Motion control
logic
safety
Torque
quadratic programming
least squares method
horizon
torque

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
Subiantoro, Aries ; Muzakir, Fauzan ; Yusivar, Feri. / Adaptive Cruise Control Based on Multistage Predictive Control Approach. 4th International Conference on Nano Electronics Research and Education: Toward Advanced Imaging Science Creation, ICNERE 2018. Institute of Electrical and Electronics Engineers Inc., 2019. (4th International Conference on Nano Electronics Research and Education: Toward Advanced Imaging Science Creation, ICNERE 2018).
@inproceedings{3534e4a7323d4e69b3ecff790bd8cfb8,
title = "Adaptive Cruise Control Based on Multistage Predictive Control Approach",
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.",
keywords = "adaptive cruise control, model predictive, multistage identification, vehicle modeling",
author = "Aries Subiantoro and Fauzan Muzakir and Feri Yusivar",
year = "2019",
month = "2",
day = "14",
doi = "10.1109/ICNERE.2018.8642597",
language = "English",
series = "4th International Conference on Nano Electronics Research and Education: Toward Advanced Imaging Science Creation, ICNERE 2018",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
booktitle = "4th International Conference on Nano Electronics Research and Education",
address = "United States",

}

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., 4th International Conference on Nano Electronics Research and Education, ICNERE 2018, Hamamatsu, Japan, 27/11/18. https://doi.org/10.1109/ICNERE.2018.8642597

Adaptive Cruise Control Based on Multistage Predictive Control Approach. / Subiantoro, Aries; Muzakir, Fauzan; Yusivar, Feri.

4th International Conference on Nano Electronics Research and Education: Toward Advanced Imaging Science Creation, ICNERE 2018. Institute of Electrical and Electronics Engineers Inc., 2019. 8642597 (4th International Conference on Nano Electronics Research and Education: Toward Advanced Imaging Science Creation, ICNERE 2018).

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-review

TY - GEN

T1 - Adaptive Cruise Control Based on Multistage Predictive Control Approach

AU - Subiantoro, Aries

AU - Muzakir, Fauzan

AU - Yusivar, Feri

PY - 2019/2/14

Y1 - 2019/2/14

N2 - 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.

AB - 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.

KW - adaptive cruise control

KW - model predictive

KW - multistage identification

KW - vehicle modeling

UR - http://www.scopus.com/inward/record.url?scp=85063469911&partnerID=8YFLogxK

U2 - 10.1109/ICNERE.2018.8642597

DO - 10.1109/ICNERE.2018.8642597

M3 - Conference contribution

T3 - 4th International Conference on Nano Electronics Research and Education: Toward Advanced Imaging Science Creation, ICNERE 2018

BT - 4th International Conference on Nano Electronics Research and Education

PB - Institute of Electrical and Electronics Engineers Inc.

ER -

Subiantoro A, Muzakir F, Yusivar F. 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. Institute of Electrical and Electronics Engineers Inc. 2019. 8642597. (4th International Conference on Nano Electronics Research and Education: Toward Advanced Imaging Science Creation, ICNERE 2018). https://doi.org/10.1109/ICNERE.2018.8642597