NDLI: Multi-objective coordinated control for advanced adaptive cruise control system

Content Provider	IEEE Xplore Digital Library
Author	Shengbo Li Keqiang Li Rajamani, R. Wang, J.
Copyright Year	2009
Description	Author affiliation: Dept. of Automotive Engineering, Tsinghua Univ., Beijing, China (Shengbo Li; Keqiang Li; Wang, J.) \|\| Department of Mechanical Engineering, University of Minnesota, Minneapolis, 55455 USA (Rajamani, R.)
Abstract	This paper presents a MPC theory based Multi-Objective Vehicular Adaptive Cruise Control 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 designed using model predictive control theory. A cost function is developed that considers the contradictions between tracking error, fuel consumption and driver characteristics while driver longitudinal ride comfort, driver permissible tracking range and rear-end safety are formulated as I/O constraints. Employing a “constraint softening” method to avoid computing infeasibility problems, a control law is developed and implemented using a numerical optimization algorithm. Detailed simulations show that the developed control system provides significant benefits in terms of fuel economy, vehicle safety and tracking capability while at the same time also satisfying driver desired car following characteristics.
Starting Page	3539
Ending Page	3544
File Size	459829
Page Count	6
File Format	PDF
ISBN	9781424438716
ISSN	01912216
DOI	10.1109/CDC.2009.5400863
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-12-15
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Control systems Adaptive systems Programmable control Adaptive control Fuel economy Vehicle dynamics Acceleration Predictive models Predictive control Cost function
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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