Modeling and Control Design of a Centralized Adaptive Cruise Control System

Authors: Markus Mazzola, Gunther Schaaf

Abstract:

A vehicle driving with an Adaptive Cruise Control System (ACC) is usually controlled decentrally, based on the information of radar systems and in some publications based on C2X-Communication (CACC) to guarantee stable platoons. In this paper we present a Model Predictive Control (MPC) design of a centralized, server-based ACC-System, whereby the vehicular platoon is modeled and controlled as a whole. It is then proven that the proposed MPC design guarantees asymptotic stability and hence string stability of the platoon. The Networked MPC design is chosen to be able to integrate system constraints optimally as well as to reduce the effects of communication delay and packet loss. The performance of the proposed controller is then simulated and analyzed in an LTE communication scenario using the LTE/EPC Network Simulator LENA, which is based on the ns-3 network simulator.

Keywords: Adaptive Cruise Control, Centralized Server, Networked Model Predictive Control, String Stability.

Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1093846

References:

[1] R. Rasshofer, "Functional requirements of future automotive radar systems,” Proc. Eur. Radar Conf., pp. 1538–1541, 2007.
[2] D. Swaroop, "String stability of interconnected systems: An application to platooning in automated highway systems,” Ph.D. dissertation, Univ. Calif., Berkeley, 2007.
[3] D. Swaroop, J. Hedrick, C. Chien, and P. Ioannou, "A comparison of spacing and headway control laws for automatically controlled vehicles,” Vehicle Syst. Dynamics Journal, vol. 23, no. 8, pp. 597–625, 1994.
[4] R. Rajamani and C. Zhu, "Semi-autonomous adaptive cruise control systems,” IEEE Transactions on Vehicular Technology, vol. 51, no. 5, pp. 1186–1192, 2002.
[5] G. N. et al., "String-stable cacc design and experimental validation: A frequency-domain approach,” IEEE Transactions on Vehicular Technology, vol. 59, no. 9, pp. 4268–4279, 2010.
[6] X. Liu and S. Mahal, "Effects of communication delay on string stability in vehicle platoons,” IEEE Intelligent Transportation Systems Conf. Preceedings, pp. 625–630, 2001.
[7] S. O¨ ncu¨ et al., "String stability of interconnected vehicles under communication constraints,” IEEE Conf. on Decision and Control, pp. 2459–2464, 2012.
[8] D. Mayne, J. Rawlings, C. Rao, and P. Scokaert, "Constrained model predictive control: Stability and optimality,” Automatica, vol. 36, pp. 789–814, 2000.
[9] G. N. et al., "Explicit mpc design and performance evaluation of an acc stop-&-go,” American Control Conference, 2002.
[10] L.-H. Luo, H. Liu, P. Li, and H. Wang, "Model predictive control for adaptive cruise control with multi-objectives: Comfort, fuel-economy, safety and car-following,” J Zhejiang Univ-Sci A (Appl Phys & Eng), vol. 11, no. 3, pp. 191–201, 2010.
[11] V. Bageshwar, W. Garrard, and R. Rajamani, "Model predictive control of transitional maneuvers for adaptive cruise control vehicles,” IEEE Transactions on Vehicular Technology, vol. 53, no. 5, pp. 1573–1585, 2004.
[12] J. Kautsky, N. Nichols, and P. V. Dooren, "Robust pole assignment in linear state feedback,” International Journal of Control, vol. 41, pp. 1129–1155, 1985.
[13] MATLAB, version 7.9.1 (R2009b). Natick, Massachusetts: The MathWorks Inc., 2010.
[14] C. Rao and J. Rawlings, "Linear programming and model predictive control,” Journal of Process Control, vol. 10, pp. 283–289, 2000.
[15] A. Bemporad, F. Borrelli, and M. Morari, "The explicit solution of constrained lp-based receding horizon control,” Proc. 39th IEEE Conf. on Decision and Control, vol. 1, pp. 632–637, 2000.
[16] E. Gilbert and K. Tan, "Linear systems with state and control constraints: The theory and application of maximal output admissible sets,” IEEE Transactions on Automatic Control, vol. 36, no. 9, pp. 1008–1020, 1991.
[17] Z. Li, L. Wang, X. Lai, and S. Xu, "Stability of constrained model predictive control for networked control systems with data packet dropout,” IEEE Int. Conf. on Automation and Logistics, pp. 3018–3023, 2007.
[18] Lte-epc network simulator (lena). (Online). Available: http://networks.cttc.es/mobile-networks/software-tools/lena/
[19] Ns3. (Online). Available: http://www.nsnam.org/