Volume 6, Issue 6, June – 2021 International Journal of Innovative Science and Research Technology

ISSN No:-2456-2165

Adaptive Cruise Control using Model Predictive

Controller
B.Aniruth Narayanan
UG Student, Centre for Automation and Robotics, School of Mechanical Sciences,
Hindustan Institute of Technology and Science, Tamilnadu, India.

S. JANAKIRAMAN, Professor, ANRO(GUIDE)

Dr. D DINAKARAN, Head of Department, ANRO(CO-GUIDE)
Professor, Centre for Automation and Robotics, School of Mechanical Sciences,
Hindustan Institute of Technology and Science, Tamilnadu, India.

Abstract:- Adaptive cruise control system that is used in the lateral measuring accuracy of the camera, the adaptive
modern vehicles are highly helpful and very similar to cruise control (ACC) can detect a vehicle entering the
already existing cruise control system model.But the driver’s own lane much earlier, enabling the system to
difference between both is that ACC has the capabilities respond more dynamically. With the help of the radar, the
to supervise the environment and take decisions based system can correctly identify the lane in which the cars
on the constraints.A vehicle equipped with adaptive ahead are driving, thus enhancing the capabilities of the
cruise control system can monitor the exterior of the ego ACC, particularly when cornering. Thanks to sensor data
vehicle through an optical sensor and accelerate or fusion, the radar sensor system can include speed limits
decelerate accordingly.In case of absence of a preceding identified by the camera into the driving strategy. This
vehicle or an obstacle, the system guides the vehicle to increases the safety and reliability of the driver assistance
move at a constant set velocity.When the preceding system.
vehicle or the obstacle is inside the proximity range, then
the system switches from speed control to spacing
control.In spacing control, the acceleration and braking
systems both are overridden from manual mode and
when the proximity range has reached the threshold, the
algorithm calculates the appropriate speed for the
scenario and applies brakes in case it is necessary

I. INTRODUCTION

Adaptive cruise control is a feature that enables a

vehicle to make decisions based on the environment that it's
a part of. The system analyses the constraints and makes the
most optimized decision. There are two modes at which the
system works and are namely speed control and spacing
control. These control types will be analysed and studied in Fig 1.1 When a vehicle is in lead with ACC
further detail.

II. METHODOLOGY

The working methodology of an adaptive cruise

control is based on the constraints that it deals with. The
main two components used in the ACC system are front
radar sensor and multi purpose camera. The radar sensor and
multi purpose camera combination makes it possible to
implement further assistance and safety functions, such as
automatic emergency braking to prevent collision with
vehicles ahead and protect pedestrians. If the driver doesn’t
react in the event of an impending rear-end collision and
both sensor systems detect the critical object, the assistance
function will automatically intervene and trigger a full
emergency stop. Sensor data fusion can also significantly Fig 1.2 When vehicle change lane,ACC maintains set
enhance comfort and convenience. For instance, thanks to velocity.

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Volume 6, Issue 6, June – 2021 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165
Advantages of an ACC system V. PROGRAMMING
● As the driver is relaxed in the pilot seat, the ACC system
will safely be able to transport the passengers as well as disp('--- Model Predictive Control of a Basic Adaptive
the driver with ease. Cruise Control ---');
● Advanced technology such as an ACC system has no disp('Choose one of the options below');
room for human error.
disp('1. Basic ACC');
● It enables the user to have fuel efficient travel experience
and provides economic feasibility disp('2. ACC MPC and ACC LQR Comparison');
● ACC system drastically reduces the chances of rear end disp('3. MPC of ACC with varying prediction horizon N');
collisions and provides a smooth journey. disp('4. MPC of ACC with varying Q');
● It gives the driver some breathing space and helps disp('5. MPC of ACC with varying R');
him/her concentrate on the present traffic. disp('6. MPC of ACC with varying distance between cars');
● During cross country trips and journeys, ACC system disp('7. Stability analysis');
will be highly advantageous as the driver will also be
disp('0. Exit');
able to have quality recreation time.
pause(1);
Disadvantages of ACC system choice = input('Please choose --> ');
● ACC does not work below 25 mph (40 km/h). It cannot switch choice
bring your vehicle to a complete stop. case 1
● ACC may not recognize motorcycles or other small close all;
vehicles ahead of your vehicle. figure(1);
ACC_MPC_Final;
III. COMPONENTS OF ACC SYSTEM
disp('Do you want to run another simulation?');
Adaptive Cruise Control (ACC) consists of a radar opt = input('Enter your option [Y/any other key] --> ','s');
sensor in the front grille, the ACC buttons on the steering if opt == 'Y'
wheel, The radar sensor for ACC is shared with the braking main;
mechanism and acceleration mechanics. else
disp('Goodbye!');
ACC Module: This is a primary processing unit for which
the radar input is feeded into to determine if the forward end
vehicle is present. case 2
close all;
Engine Control Module: The primary function of the figure(2);
Engine Control Module is to receive information from the LQR_ACC;
ACC module and Instrument Cluster and control the disp('Do you want to run another simulation?');
vehicle's speed based on this information.
opt = input('Enter your option [Y/any other key] -->
Brake Control Module: This module is used to determine ','s');
if the braking is needed depending on the preceding vehicle. if opt == 'Y'
Instrument Cluster: The primary function of the Instrument main;
Cluster is to process the Cruise Switches and send their else
information to the ACC and Engine Control Modules. disp('Goodbye!');
end
IV. SOFTWARE
case 3
Matlab: close all;
Matlab is a proprietary multi-paradigm programming figure(3);
language and numerical computing environment developed ACC_MPC_varying_N;
by Matworks. The first Matlab was not a programming disp('Do you want to run another simulation?');
language, it was a simple interactive matrix calculated opt = input('Enter your option [Y/any other key] -->
,Matlab allows matrix manipulations ,plotting of functions
','s');
and data, implementation of algorithms, creation of user
interfaces, and interfacing with programs written in other if opt == 'Y'
languages. Although Matlab is intended primarily for main;
numerical computing, an optional toolbox uses the MuPAD else
Symbolic engine allowing access to symbolic computing disp('Goodbye!');
abilities. end
case 4
close all;

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Volume 6, Issue 6, June – 2021 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165
figure(4); VI. CONCLUSION
ACC_MPC_varying_Q;
disp('Do you want to run another simulation?'); Thus the Adaptive cruise control system using matlab
has been simulated and a brief study about the mechanical
opt = input('Enter your option [Y/any other key] -->
components and mechatronics system design aspects have
','s'); been looked into. Details related to adaptive cruise control
if opt == 'Y' system’s feasibility and economic aspects in our modern day
main; society have been studied in detail.
else
disp('Goodbye!'); REFERENCES
end
[1]. https://ieeexplore.ieee.org/document/8107024
case 5
[2]. https://www.bosch-mobility-
close all; solutions.com/en/products-and-services/passenger-
figure(5); cars-and-light-commercial-vehicles/driver-
ACC_MPC_varying_R; assistance-systems/automatic-emergency-
disp('Do you want to run another simulation?'); braking/sensor-data-fusion/
opt = input('Enter your option [Y/any other key] --> [3]. https://www.researchgate.net/publication/3427863_
','s'); Methodology_for_assessing_adaptive_cruise_contr
ol_behavior
if opt == 'Y'
[4]. https://www.mathworks.com/help/mpc/ug/adaptive
main; -cruise-control-using-model-predictive-
else controller.html
disp('Goodbye!'); [5]. https://www.mathworks.com/help/driving/ug/highw
end ay-lane-following.html?s_tid=srchtitle
case 6
close all;
figure(6);
ACC_MPC_init_dist;
disp('Do you want to run another simulation?');
opt = input('Enter your option [Y/any other key] -->
','s');
if opt == 'Y'
main;
else
disp('Goodbye!');
end
case 7
close all;
figure(7);
stability_analysis;
disp('Do you want to run a1nother simulation?');
opt = input('Enter your option [Y/any other key] -->
','s');
if opt == 'Y'
main;
else
disp('Goodbye!');
end
case 0
disp('Goodbye!');
otherwise
disp('Please input a valid number.');
pause(2);
main;
End

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