MULTI-MODEL ANALYSIS OF PREDICTIVE ADAPTIVE CRUISE CONTROL

MATEUS MUSSI BRUGNOLLI; BRUNO  AUGUSTO ANGÉLICO; ARMANDO  ANTÔNIO MARIA LAGANÁ

doi:10.20906/CBA2022/650

MATEUS MUSSI BRUGNOLLI Escola Politécnica da Universidade de São Paulo
BRUNO AUGUSTO ANGÉLICO Escola Politécnica da Universidade de São Paulo
ARMANDO ANTÔNIO MARIA LAGANÁ Escola Politécnica da Universidade de São Paulo

DOI: https://doi.org/10.20906/CBA2022/650

Keywords: ACC systems, System Identication, MPC, IHMPC, Quadratic Programming

Abstract

Adaptive Cruise Control (ACC) systems for vehicles came as an improvement to cruise systems and there are several approaches for its development. In this paper, it is used a structure of two control loops for simulate the ACC system. The vehicle model was estimated using the system identication theory. An outer loop control manages radar data to adapt into a suitable cruise speed, and an inner loop control aims for the vehicle to reach cruise speed given a desired performance. For the inner loop, it is used two diferent approaches of model predictive control: a nite horizon prediction control, known as MPC, and an innite horizon prediction control, known as IHMPC.