Smooth Motion Control of the Adaptive Cruise Control System With Linear Quadratic Control With Variable Weights

2010 ◽  
Author(s):  
Sanggyum Kim ◽  
Masayoshi Tomizuka ◽  
Kuo-Hsiang Cheng
Keyword(s):  
Control Algorithm ◽  
Adaptive Cruise Control ◽  
Fuel Efficiency ◽  
Cruise Control ◽  
Linear Quadratic ◽  
Variable Weights ◽  
Cruise Control System ◽  
Smooth Motion ◽  
Improved Performance ◽  
Lead Vehicle

A virtual lead vehicle scheme is introduced to make the switching between the speed control algorithm and the distance control algorithm unnecessary. This method is shown to provide a good reaction for when a lead vehicle cuts in or out. A linear quadratic controller with variable weights is suggested to control the virtual lead vehicle. This scheme shows improved performance in terms of passenger comfort and fuel efficiency of the host vehicle.

Adaptive Cruise Control System: Comparing LQ and MP Controllers

2015 ◽  
Vol 713-715 ◽  
pp. 833-836 ◽  
Author(s):  
Ding Liu ◽  
Jian Xiong
Keyword(s):  
Adaptive Cruise Control ◽  
Gain Scheduling ◽  
Cruise Control ◽  
Dynamics Model ◽  
Vehicle Model ◽  
Linear Quadratic ◽  
Simulink Model ◽  
Cruise Control System ◽  
Comparison Results ◽  
Lq Control

A vehicle longitudinal dynamics model, its inverse model and a following model are established; and then two control applications namely gain scheduling Linear Quadratic (LQ) control and Model Predictive (MP) control are designed for adaptive cruise control (ACC) system; finally an integrated Simulink model including the nonlinear dynamic vehicle model and the ACC controller (either LQ or MP) was used to test the controllers in various traffic scenarios. Comparison results between the two controllers applications is provided to show the validity of the design.

scholarly journals Adaptive car control system based on a predictive model

2021 ◽  
Vol 1208 (1) ◽  
pp. 012040
Author(s):  
Amel Toroman ◽  
Samir Vojić
Keyword(s):  
Adaptive Control ◽  
Control System ◽  
Predictive Model ◽  
Rise Time ◽  
Pid Controller ◽  
Control Algorithm ◽  
Adaptive Cruise Control ◽  
Cruise Control ◽  
Traffic Incidents ◽  
Cruise Control System

Abstract An adaptive control is a control, which by pre-setting the parameters of the controller, enables the control of processes whose parameters are time-varying or are initially uncertain. The possibilities and benefits of adaptive control are versatile and can be best demonstrated by applying the system while driving a car, or maintaining the optimal speed and distance between cars, which is shown in this paper. As the car’s weight decreases while driving due to fuel consumption, the control algorithm has to be adapted to the changed driving conditions. Accordingly, an adaptive control system using the Matlab software package, and an adaptive cruise control system (ACC) was created in this paper, which is based on a predictive model. After evaluating the developed model of adaptive car motion control, the output parameters such as speed, acceleration, and distance between the two vehicles were analyzed. In this paper a PID controller is used to reduce oscillations in the system. First, the P controller was used to reduce the rise time of the significant values, then the PI controller improved the rise time, and finally the PID controller achieved overshoot reduction performance without affecting the dynamic response system. The obtained results confirm the justified expectations for the possibility of adaptive car control utilization as one of the possible solutions to the increasing traffic incidents, as well as a measure to improve the reduction of these incidents.

Researches on Adaptive Cruise Control system: A state of the art review

2021 ◽  
pp. 095440702110192
Author(s):  
Liangyao Yu ◽  
Ruyue Wang
Keyword(s):  
Adaptive Cruise Control ◽  
Driving Safety ◽  
Cruise Control ◽  
Driver Assistance Systems ◽  
Human Machine Interaction ◽  
System A ◽  
Cruise Control System ◽  
Preceding Vehicle ◽  
Energy Economy ◽  
Machine Interaction

Adaptive Cruise Control (ACC) is one of Advanced Driver Assistance Systems (ADAS) which takes over vehicle longitudinal control under necessary driving scenarios. Vehicle in ACC mode automatically adjusts speed to follow the preceding vehicle based on evaluation of the surrounding traffic. ACC reduces drivers’ workload as well as improves driving safety, energy economy, and traffic flow. This article provides a comprehensive review of the researches on ACC. Firstly, an overview of ACC controller and applied control theories are introduced. Their principles and performances are discussed. Secondly, several application cases of ACC control algorithms are presented. Then validation work including simulation, Hardware-in-the-Loop (HiL) test and on-road experiment is descripted to provide ideas for testing ACC systems for different aims and fidelities. In addition, studies on human-machine interaction are also summarized in this review to provide insights on development of ACC from the perspective of users. At last, challenges and potential directions in this field is discussed, including consideration of vehicle dynamics properties, contradiction between algorithm performance and computation as well as integration of ACC to other intelligent functions on vehicles.

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