Adaptive Cruise Control by Considering Control Decision as Multistage MPC Constraints

Muhamad Ilfani Miftakhudin, Aries Subiantoro, Feri Yusivar

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

Abstract

In designing of original adaptive cruise control (ACC) systems the outer loop is commonly used to control the safe distance between host and lead vehicles, and the inner loop maintains the speed of host vehicle. The aim of this paper is to propose different approach, in which only a single loop is introduced as controller. A decision algorithm for determining a driving mode is designed as part of multistage model predictive control constraints. The nonlinear behavior of vehicle dynamic is represented by a multistage local linear model, which will be identified by using least squares method. The objective of multistage predictive control is to minimized the square of errors between the predicted values of vehicle speed and the safety distance, and their references. The proposed controller demonstrates to more efficient in terms of power computing, it is because the method can keep the optimization control problem as a quadratic programming problem. Some ACC simulation results are given, demonstrating a better performance in terms of distance and speed responses compared to the original ACC system.

Original languageEnglish
Title of host publicationCENCON 2019 - 2019 IEEE Conference on Energy Conversion
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages171-176
Number of pages6
ISBN (Electronic)9781728134338
DOIs
Publication statusPublished - Oct 2019
Event4th IEEE Conference on Energy Conversion, CENCON 2019 - Yogyakarta, Indonesia
Duration: 16 Oct 201917 Oct 2019

Publication series

NameCENCON 2019 - 2019 IEEE Conference on Energy Conversion
Volume2019-January

Conference

Conference4th IEEE Conference on Energy Conversion, CENCON 2019
CountryIndonesia
CityYogyakarta
Period16/10/1917/10/19

Keywords

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

Fingerprint Dive into the research topics of 'Adaptive Cruise Control by Considering Control Decision as Multistage MPC Constraints'. Together they form a unique fingerprint.

  • Cite this

    Miftakhudin, M. I., Subiantoro, A., & Yusivar, F. (2019). Adaptive Cruise Control by Considering Control Decision as Multistage MPC Constraints. In CENCON 2019 - 2019 IEEE Conference on Energy Conversion (pp. 171-176). [8974766] (CENCON 2019 - 2019 IEEE Conference on Energy Conversion; Vol. 2019-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CENCON47160.2019.8974766