Journal ArticleDOI
Model Predictive Multi-Objective Vehicular Adaptive Cruise Control
TLDR
Detailed simulations with a heavy duty truck show that the developed ACC system provides significant benefits in terms of fuel economy and tracking capability while at the same time also satisfying driver desired car following characteristics.Abstract:
This paper presents a novel vehicular adaptive cruise control (ACC) 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 synthesized under the framework of model predictive control (MPC) theory. A quadratic cost function is developed that considers the contradictions between minimal tracking error, low fuel consumption and accordance with driver dynamic car-following characteristics while driver longitudinal ride comfort, driver permissible tracking range and rear-end safety are formulated as linear constraints. Employing a constraint softening method to avoid computing infeasibility, an optimal control law is numerically calculated using a quadratic programming algorithm. Detailed simulations with a heavy duty truck show that the developed ACC system provides significant benefits in terms of fuel economy and tracking capability while at the same time also satisfying driver desired car following characteristics.read more
Citations
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Journal ArticleDOI
Control Barrier Function Based Quadratic Programs for Safety Critical Systems
TL;DR: This paper develops a methodology that allows safety conditions—expression as control barrier functions—to be unified with performance objectives—expressed as control Lyapunov functions—in the context of real-time optimization-based controllers.
Proceedings ArticleDOI
Control barrier function based quadratic programs with application to adaptive cruise control
TL;DR: A control methodology that unifies control barrier functions and control Lyapunov functions through quadratic programs is developed, which allows for the simultaneous achievement of control objectives subject to conditions on the admissible states of the system.
Journal ArticleDOI
Policy and society related implications of automated driving: A review of literature and directions for future research
TL;DR: The review shows that first-order impacts on road capacity, fuel efficiency, emissions, and accidents risk are expected to be beneficial and the balance between the short-term benefits and long-term impacts of vehicle automation remains an open question.
Journal ArticleDOI
Stability and Scalability of Homogeneous Vehicular Platoon: Study on the Influence of Information Flow Topologies
TL;DR: Under linear feedback controllers, a unified internal stability theorem is proved by using the algebraic graph theory and Routh-Hurwitz stability criterion, and the stabilizing thresholds of linear controller gains for platoons are established under a large class of different information flow topologies.
Journal ArticleDOI
Distributed Model Predictive Control for Heterogeneous Vehicle Platoons Under Unidirectional Topologies
TL;DR: It is proved that asymptotic stability of such a DMPC can be achieved through an explicit sufficient condition on the weights of the cost functions, by using the sum of local cost functions as a Lyapunov candidate.
References
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Book
Predictive Control With Constraints
TL;DR: A standard formulation of Predictive Control is presented, with examples of step response and transfer function formulations, and a case study of robust predictive control in the context of MATLAB.
Book
Vehicle dynamics and control
TL;DR: In this paper, the authors present a mean value model of SI and Diesel engines, and design and analysis of passive and active automotive suspension components, as well as semi-active and active suspensions.
Journal ArticleDOI
A new optimization method: Big Bang-Big Crunch
Osman Kaan Erol,Ibrahim Eksin +1 more
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Journal ArticleDOI
Car-following: a historical review
Mark Brackstone,Mike McDonald +1 more
TL;DR: In this article, the authors assess the range of options available in the choice of car-following model, and assess just how far work has proceeded in our understanding of what, at times, would appear to be a simple process.
Journal ArticleDOI
Towards an understanding of adaptive cruise control
TL;DR: In this paper, the results of a detailed microscopic simulation investigation into the potential impacts of adaptive cruise control on motorway driving were presented, where real vehicle driving profiles, obtained from instrumented vehicle experiments in three European countries, were used to compare real following behavior with that of a simulated ACC equipped vehicle.
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