Adaptive Cruise Control Euro NCAP validation using CLF-CBF and Model-Free control law in CarSim

Abstract

Safety critical embedded algorithms such as ACC (adaptive cruise control) must be validated rigorously to grant safety. Therefore, this paper presents a realistic validation of an ACC control architecture focused on safety according to the standard protocol Euro NCAP Test. The control implementation is a cascade closed loop control. The upper level controller is a quadratic programming framework based on a CLF (Control Lyapunov Function) to ensure cruise speed control with a CBF (Control Barrier Function) to ensure safety. The lower level controller is a model-free control to ensure that the solution could be applied to any vehicle, since this approach is based on an ultra-local model obtained online. Additionally, the constraints for the CLF-CBF parameters are derived to ensure that the ACC system meets practical performance standards. The proposed ACC was able to accomplish Euro NCAP tests, as demonstrated in CarSim/Simulink simulations.