Multi-objective coordinated control for advanced adaptive cruise control system

Shengbo Li, Keqiang Li, Rajesh Rajamani, Jianqiang Wang

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

9 Scopus citations

Abstract

This paper presents a MPC theory based Multi-Objective Vehicular Adaptive Cruise Control system that can comprehensively address issues of tracking capability, fuel economy and driver desired response. A hierarchical control architecture is utilized in which a lower controller compensates for nonlinear vehicle dynamics and enables tracking of desired acceleration. The upper controller is designed using model predictive control theory. A cost function is developed that considers the contradictions between tracking error, fuel consumption and driver characteristics while driver longitudinal ride comfort, driver permissible tracking range and rear-end safety are formulated as I/O constraints. Employing a "constraint softening" method to avoid computing infeasibility problems, a control law is developed and implemented using a numerical optimization algorithm. Detailed simulations show that the developed control system provides significant benefits in terms of fuel economy, vehicle safety and tracking capability while at the same time also satisfying driver desired car following characteristics.

Original languageEnglish (US)
Title of host publicationProceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
Pages3539-3544
Number of pages6
DOIs
StatePublished - Dec 1 2009
Event48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 - Shanghai, China
Duration: Dec 15 2009Dec 18 2009

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Other

Other48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
CountryChina
CityShanghai
Period12/15/0912/18/09

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Li, S., Li, K., Rajamani, R., & Wang, J. (2009). Multi-objective coordinated control for advanced adaptive cruise control system. In Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 (pp. 3539-3544). [5400863] (Proceedings of the IEEE Conference on Decision and Control). https://doi.org/10.1109/CDC.2009.5400863