TY - GEN
T1 - Model Predictive Enhanced Adaptive Cruise Control for Multiple Driving Situations
AU - DIng, Yongqiang
AU - Chen, Huiyan
AU - Gong, Jianwei
AU - Xiong, Guangming
AU - Wang, Gang
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/10/18
Y1 - 2018/10/18
N2 - This paper presents an Enhanced Adaptive Cruise Control (EACC) framework that can work in different modes according to the forward targets. The EACC system, which was proposed in this paper, is based on a unified model and can achieve speed tracking, stop go and autonomous emergency braking (AEB). Notably, speed tracking does not require a real preceding vehicle, a virtual vehicle can be set in front of the EACC vehicle. The mathematical method of setting the virtual preceding vehicle and the switching logic between the different working modes of the EACC system were given. Employing a constraints softening method to avoid computing infeasibility, an optimal control law is numerically calculated using the CVXGEN solver. Finally, real vehicle tests show that the EACC framework provides significant benefits in terms of speed-tracking capability, safety and comfort requirements while satisfying driver desired car following characteristics for different driving situations.
AB - This paper presents an Enhanced Adaptive Cruise Control (EACC) framework that can work in different modes according to the forward targets. The EACC system, which was proposed in this paper, is based on a unified model and can achieve speed tracking, stop go and autonomous emergency braking (AEB). Notably, speed tracking does not require a real preceding vehicle, a virtual vehicle can be set in front of the EACC vehicle. The mathematical method of setting the virtual preceding vehicle and the switching logic between the different working modes of the EACC system were given. Employing a constraints softening method to avoid computing infeasibility, an optimal control law is numerically calculated using the CVXGEN solver. Finally, real vehicle tests show that the EACC framework provides significant benefits in terms of speed-tracking capability, safety and comfort requirements while satisfying driver desired car following characteristics for different driving situations.
UR - http://www.scopus.com/inward/record.url?scp=85056775991&partnerID=8YFLogxK
U2 - 10.1109/IVS.2018.8500473
DO - 10.1109/IVS.2018.8500473
M3 - Conference contribution
AN - SCOPUS:85056775991
T3 - IEEE Intelligent Vehicles Symposium, Proceedings
SP - 1717
EP - 1722
BT - 2018 IEEE Intelligent Vehicles Symposium, IV 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE Intelligent Vehicles Symposium, IV 2018
Y2 - 26 September 2018 through 30 September 2018
ER -