Model Predictive Multi-Objective Vehicular Adaptive Cruise Control

This paper presents a novel vehicular adaptive cruise control (ACC) system that can comprehensively address issues of tracking capability, fuel economy and driver desired response. A hierarchical control architecture is utilized in which a lower controller compensates for nonlinear vehicle dynamics and enables tracking of desired acceleration. The upper controller is synthesized under the framework of model predictive control (MPC) theory. A quadratic cost function is developed that considers the contradictions between minimal tracking error, low fuel consumption and accordance with driver dynamic car-following characteristics while driver longitudinal ride comfort, driver permissible tracking range and…