Adaptive Cruise Control: Scenario Modeling and Control Performance Improvement

Abstract

In this paper, the Adaptive Cruise Control (ACC) problem based on Model Predictive Control (MPC) is considered and a cruise control approach is proposed for the improvement of driving safety and comfort of the host vehicle. The properties of the Model Predictive controller are tuned properly in order to obtain the desired velocity output response and a smooth acceleration response under defined constraints. The system is tested for different values of prediction horizons in a cut-in cut-out designed driving scenario, observing the velocity response behavior in each case and finally selecting the value of prediction horizon which ensures low overshoot percentage and low rise time. © 2020 IEEE.