Safe Adaptive Cruise Control with Control Barrier Function and Smith Predictor

  • Caio I. G. Chinelato Instituto Federal de São Paulo. Escola Politécnica da Universidade de São Paulo
  • Bruno A. Angélico Escola Politécnica da Universidade de São Paulo
Keywords: Adaptive cruise control, Control barrier function, Control lyapunov function, Quadratic programming, Smith predictor


This work presents the development of Adaptive Cruise Control (ACC) applied to a vehicle. The ACC tracks a predefined controlled vehicle cruise speed, however when a leading vehicle with lower speed is encountered, the ACC must adapt the controlled vehicle speed to maintain a safe distance between the vehicles. The control strategy applied combines Control Lyapunov Function (CLF), related to performance/stability objectives and Control Barrier Function (CBF), related to safety conditions represented by a safe set. CLF and CBF are integrated with Quadratic Programming (QP) and a relaxation is used to make performance/stability objectives as a soft constraint and safety conditions as a hard constraint. The system model is based on a vehicle available at EPUSP and presents an input time-delay, that can degrade performance and stability. The input delay is compensated with a Smith Predictor. The initial results were obtained through numerical simulations and, in the future, the scheme will be implemented in the vehicle. The numerical simulations indicate that the proposed controller respect the performance/stability objectives and the safety conditions.