MULTI-MODEL ANALYSIS OF PREDICTIVE ADAPTIVE CRUISE CONTROL
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 identification 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 different approaches of model predictive control: a finite horizon prediction control, known as MPC, and an infinite horizon prediction control, known as IHMPC.