{"title":"Modeling and Control Design of a Centralized Adaptive Cruise Control System","authors":"Markus Mazzola, Gunther Schaaf","volume":91,"journal":"International Journal of Information and Communication Engineering","pagesStart":1177,"pagesEnd":1182,"ISSN":"1307-6892","URL":"https:\/\/publications.waset.org\/pdf\/9998832","abstract":"
A vehicle driving with an Adaptive Cruise Control
\r\nSystem (ACC) is usually controlled decentrally, based on the
\r\ninformation of radar systems and in some publications based on
\r\nC2X-Communication (CACC) to guarantee stable platoons. In this
\r\npaper we present a Model Predictive Control (MPC) design of a
\r\ncentralized, server-based ACC-System, whereby the vehicular platoon
\r\nis modeled and controlled as a whole. It is then proven that the
\r\nproposed MPC design guarantees asymptotic stability and hence
\r\nstring stability of the platoon. The Networked MPC design is
\r\nchosen to be able to integrate system constraints optimally as well
\r\nas to reduce the effects of communication delay and packet loss.
\r\nThe performance of the proposed controller is then simulated and
\r\nanalyzed in an LTE communication scenario using the LTE\/EPC
\r\nNetwork Simulator LENA, which is based on the ns-3 network
\r\nsimulator.<\/p>\r\n","references":"[1] R. Rasshofer, \"Functional requirements of future automotive radar\r\nsystems,\u201d Proc. Eur. Radar Conf., pp. 1538\u20131541, 2007.\r\n[2] D. Swaroop, \"String stability of interconnected systems: An application\r\nto platooning in automated highway systems,\u201d Ph.D. dissertation, Univ.\r\nCalif., Berkeley, 2007.\r\n[3] D. Swaroop, J. Hedrick, C. Chien, and P. Ioannou, \"A comparison of\r\nspacing and headway control laws for automatically controlled vehicles,\u201d\r\nVehicle Syst. Dynamics Journal, vol. 23, no. 8, pp. 597\u2013625, 1994.\r\n[4] R. Rajamani and C. Zhu, \"Semi-autonomous adaptive cruise control\r\nsystems,\u201d IEEE Transactions on Vehicular Technology, vol. 51, no. 5,\r\npp. 1186\u20131192, 2002.\r\n[5] G. N. et al., \"String-stable cacc design and experimental validation:\r\nA frequency-domain approach,\u201d IEEE Transactions on Vehicular\r\nTechnology, vol. 59, no. 9, pp. 4268\u20134279, 2010.\r\n[6] X. Liu and S. Mahal, \"Effects of communication delay on string stability\r\nin vehicle platoons,\u201d IEEE Intelligent Transportation Systems Conf.\r\nPreceedings, pp. 625\u2013630, 2001.\r\n[7] S. O\u00a8 ncu\u00a8 et al., \"String stability of interconnected vehicles under\r\ncommunication constraints,\u201d IEEE Conf. on Decision and Control, pp.\r\n2459\u20132464, 2012.\r\n[8] D. Mayne, J. Rawlings, C. Rao, and P. Scokaert, \"Constrained model\r\npredictive control: Stability and optimality,\u201d Automatica, vol. 36, pp.\r\n789\u2013814, 2000.\r\n[9] G. N. et al., \"Explicit mpc design and performance evaluation of an acc\r\nstop-&-go,\u201d American Control Conference, 2002.\r\n[10] L.-H. Luo, H. Liu, P. Li, and H. Wang, \"Model predictive control for\r\nadaptive cruise control with multi-objectives: Comfort, fuel-economy,\r\nsafety and car-following,\u201d J Zhejiang Univ-Sci A (Appl Phys & Eng),\r\nvol. 11, no. 3, pp. 191\u2013201, 2010.\r\n[11] V. Bageshwar, W. Garrard, and R. Rajamani, \"Model predictive control\r\nof transitional maneuvers for adaptive cruise control vehicles,\u201d IEEE\r\nTransactions on Vehicular Technology, vol. 53, no. 5, pp. 1573\u20131585,\r\n2004.\r\n[12] J. Kautsky, N. Nichols, and P. V. Dooren, \"Robust pole assignment in\r\nlinear state feedback,\u201d International Journal of Control, vol. 41, pp.\r\n1129\u20131155, 1985.\r\n[13] MATLAB, version 7.9.1 (R2009b). Natick, Massachusetts: The\r\nMathWorks Inc., 2010.\r\n[14] C. Rao and J. Rawlings, \"Linear programming and model predictive\r\ncontrol,\u201d Journal of Process Control, vol. 10, pp. 283\u2013289, 2000.\r\n[15] A. Bemporad, F. Borrelli, and M. Morari, \"The explicit solution of\r\nconstrained lp-based receding horizon control,\u201d Proc. 39th IEEE Conf.\r\non Decision and Control, vol. 1, pp. 632\u2013637, 2000.\r\n[16] E. Gilbert and K. Tan, \"Linear systems with state and control constraints:\r\nThe theory and application of maximal output admissible sets,\u201d IEEE\r\nTransactions on Automatic Control, vol. 36, no. 9, pp. 1008\u20131020, 1991.\r\n[17] Z. Li, L. Wang, X. Lai, and S. Xu, \"Stability of constrained model\r\npredictive control for networked control systems with data packet\r\ndropout,\u201d IEEE Int. Conf. on Automation and Logistics, pp. 3018\u20133023,\r\n2007.\r\n[18] Lte-epc network simulator (lena). (Online). Available:\r\nhttp:\/\/networks.cttc.es\/mobile-networks\/software-tools\/lena\/\r\n[19] Ns3. (Online). Available: http:\/\/www.nsnam.org\/","publisher":"World Academy of Science, Engineering and Technology","index":"Open Science Index 91, 2014"}