Explicit MPC design and performance-based tuning of an Adaptive Cruise Control Stop-&-Go
conference paper
This paper presents the synthesis, the implementation and the performance-based tuning of an Adaptive Cruise Control (ACC) Stop-&-Go (S&G) design. A Model Predictive Control (MPC) framework is adopted to design the controller. Performance of the controller is evaluated, distinguishing between comfort of the resulting longitudinal vehicle behavior and the behavior due to traffic requirements. Corresponding metrics are incorporated in the controller design. Performance functions, relating the metrics explicitly to comfort and traffic requirements enable tuning of the resulting controller. As a result, the performance of the controller can be changed by a single performance-based weight. Simulation results for varying controller performance in various traffic situations are shown. © 2008 IEEE.
Topics
TNO Identifier
241300
ISBN
9781424425693
Article nr.
No.: 4621248
Source title
IEEE Intelligent Vehicles Symposium IV, 4-6 June, 2008, Eindhoven, Netherlands. Conference code: 74805
Pages
434-439
Files
To receive the publication files, please send an e-mail request to TNO Repository.