Model predictive control application for simplified adaptive cruise control

Abstract

One of the Advanced Driver Assistance Systems (ADAS), Adaptive Cruise Control (ACC), takes over longitudinal control of the car when activated. This article analyses a simplified Adaptive Cruise Control (ACC) function using Model Predictive Control (MPC). The aim is to ensure the desired distance between a preceding target vehicle moving with constant velocity and the following host vehicle. Inputs and state variables are constrained for drivability and safety concerns. The simulations performed using MATLAB under various initial conditions validated the MPC design. The optimal selection of the prediction horizon and the effectiveness of introducing constraints are also discussed in this paper.