A virtual lead vehicle scheme is introduced to make the switching between the speed control algorithm and the distance control algorithm unnecessary. This method is shown to provide a good reaction for when a lead vehicle cuts in or out. A linear quadratic controller with variable weights is suggested to control the virtual lead vehicle. This scheme shows improved performance in terms of passenger comfort and fuel efficiency of the host vehicle.
- Dynamic Systems and Control Division
Smooth Motion Control of the Adaptive Cruise Control System With Linear Quadratic Control With Variable Weights
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Kim, S, Tomizuka, M, & Cheng, K. "Smooth Motion Control of the Adaptive Cruise Control System With Linear Quadratic Control With Variable Weights." Proceedings of the ASME 2010 Dynamic Systems and Control Conference. ASME 2010 Dynamic Systems and Control Conference, Volume 2. Cambridge, Massachusetts, USA. September 12–15, 2010. pp. 879-886. ASME. https://doi.org/10.1115/DSCC2010-4281
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