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论文类型：期刊论文

发表时间：2020-03-01

发表刊物：APPLIED SCIENCES-BASEL

收录刊物：SCIE

卷号：10

期号：5

关键字：intelligent transportation system; adaptive cruise control; model predictive control; multi-objective; constraint softening

摘要：In this paper, with the aim of meeting the requirements of car following, safety, comfort, and economy for adaptive cruise control (ACC) system, an ACC algorithm based on model predictive control (MPC) using constraints softening is proposed. A higher-order kinematics model is established based on the mutual longitudinal kinematics between the host vehicle and the preceding vehicle that considers the changing characteristics of the inter-distance, relative velocity, acceleration, and jerk of the host vehicle. Performance indexes are adopted to represent the multi-objective demands and constraints of the ACC system. To avoid the solution becoming unfeasible because of the overlarge feedback correction, the constraint softening method was introduced to improve robustness. Finally, the proposed ACC method is verified in typical car-following scenarios. Through comparisons and case studies, the proposed method can improve the robustness and control precision of the ACC system, while satisfying the demands of safety, comfort, and economy.