Preceding vehicle optimal following control based on kinematics models for advanced driver assistant system of motor vehicles

For improving the responding characteristics of distance and velocity control in preceding vehicle following scenario of advanced driver assistant system, a kinematics model, been used in the proceeding vehicle following controller, is established based on the interrelated motion of the host and preceding vehicles. Utilizing the error model obtained from desired and actual motion of the host vehicle, optimal desired acceleration, which is the output of host vehicle's motion controller, is calculated based on the linear quadratic regulator. Accumulation of distance and velocity errors are added into the kinematics model of vehicle following so as to enable the linear quadratic regulator to function with resistance to the changing vehicle or environment parameters when using a standard model. Simulation comparison and vehicle experiments confirm that, while reducing the control time consumption, preceding vehicle optimal following control could improve the responding characteristic of distance and velocity errors and is convenient to be used in the real vehicles.