A Model Predictive Cooperative Adaptive Cruise Control Approach
American Control Conference, pp. 1374-1379, 2013
Author(s): | Stanger T., Del Re L. |
Year: | 2013 |
Abstract: | Reduction of fuel consumption is one of the
primary goals of modern automotive engineering. While in
the past the focus was on more efficient engine design and
control there is an upcoming interest on economic context aware
control of the complete vehicle. Technical progress will enable
future vehicles to interact with other traffic participants and
the surrounding infrastructure, collecting information which
allow for reduction of fuel consumption by predictive vehicle
control strategies. The principle of Model Predictive Control
allows a straightforward integration of e.g. navigation systems,
on-board radar sensors, V2V- and V2I-communication whilst
regarding constraints and dynamic of the system.
This paper presents a Linear Model Predictive Control
approach to Cooperative Adaptive Cruise Control, directly minimizing
the fuel consumption rather than the acceleration of the
vehicle. To this end the nonlinear static fuel consumption map
of the internal combustion engine is included into the control
design by a piecewise quadratic approximation. Inclusion of a
linear spacing policy prevents rear end collisions. Simulation
results demonstrate the fuel and road capacity benefits, for
a single vehicle and for a string of vehicles, equipped with
the proposed control, in comparison to vehicles operated by
a non-cooperative adaptive cruise control. Full information
on the speed prediction of the predecessor is assumed, hence
the purpose of this paper is twofold. On the one hand, best
achievable benefits, of the proposed control, due to perfect
prediction are demonstrated. On the other hand, the paper
studies the behavior of the considered control and the influence
of the prediction horizon. |