Nonlinear Model Predictive Control approach in design of Adaptive Cruise Control with automated switching to cruise control

• The NMPC approach is used in the design of Adaptive Cruise Control (ACC) system.
• The NMPC is developed based on the state-dependent state-space model of the system.
• The ACC is capable of switching between distance and velocity tracking modes.
• The proposed method provides an improvement to the speed and distance tracking.
• The NMPC methods offers smooth variation in brake and throttle controlling signals.

In this paper the Nonlinear Model Predictive Control (NMPC) is used in designing of Adaptive Cruise Control (ACC) and Cruise Control (CC) systems. An algorithm is proposed to carry out automatic switching between ACC and CC, depending on the situation in front of the vehicle. Also, an algorithm based on MPC equation is devised to obtain the prediction of future reference trajectories corresponding to desired speed and distance. NMPC equation used in this paper is developed based on state-dependent representation of linear models corresponding to the modes of the operation: accelerating-throttle is active and braking-brake is active. The developed automated ACC system is tested in simulation against different scenarios proving good performance of the system. Furthermore, the results of proposed control algorithm based on NMPC methods are compared with a different ACC structure.