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Appl. Sci. 2018, 8(6), 978; https://doi.org/10.3390/app8060978

Integrated Adaptive Cruise Control with Weight Coefficient Self-Tuning Strategy

1,2,3
,
1,2,3
and
1,2,*
1
Automotive Electronics Center, Institute of Microelectronics of Chinese Academy of Sciences, Beijing 100029, China
2
University of Chinese Academy of Sciences, Beijing 100049, China
3
Kunshan Department, Institute of Microelectronics, Chinese Academy of Sciences, Kunshan 215347, China
*
Author to whom correspondence should be addressed.
Received: 19 April 2018 / Revised: 1 June 2018 / Accepted: 1 June 2018 / Published: 15 June 2018
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Abstract

This paper presents a novel multi-objective coordinated adaptive cruise control (ACC) algorithm based on a model predictive control (MPC) framework which can comprehensively address issues regarding longitudinal car-following performance, lateral stability, as well as vehicle safety. During the car-following, vehicle dynamics, illustrating the forces acting on the tire contact patches, are established. To simplify the tightly coupled dynamics system, a state-feedback based disturbance decoupling method is employed, by which longitudinal and lateral dynamics can be completely decoupled. Furthermore, the traditional MPC control with a constant weight matrix will probably not be able to solve time-varying multi-objective coordinated optimization issues, especially in transient scenarios. A weight coefficient self-tuning strategy is therefore suggested by which the weight coefficient for each sub-objective can be adjusted automatically with the change of traffic scenarios, accordingly improving the overall car-following performance. The simulations show that the control algorithm utilizing the suggested self-tuning strategy reaps significant benefits in terms of longitudinal car-following performance, while at the same time maintaining a small lateral stability error range. View Full-Text
Keywords: adaptive cruise control (ACC); model predictive control (MPC); direct yaw-moment control (DYC); longitudinal car-following performance; lateral stability adaptive cruise control (ACC); model predictive control (MPC); direct yaw-moment control (DYC); longitudinal car-following performance; lateral stability
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).
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Zhang, J.; Li, Q.; Chen, D. Integrated Adaptive Cruise Control with Weight Coefficient Self-Tuning Strategy. Appl. Sci. 2018, 8, 978.

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