Multi-object adaptive cruise control

Authors:
Rainer Möbus;Mato Baotic;Manfred Morari
Affiliations:
DaimlerChrysler Research and Technology Assisting Systems, Stuttgart, Germany and Automatic Control Laboratory, ETH Zentrum - ETL, Zürich, Switzerland;Automatic Control Laboratory, ETH Zentrum - ETL, Zürich, Switzerland;Automatic Control Laboratory, ETH Zentrum - ETL, Zürich, Switzerland
Venue:
HSCC'03 Proceedings of the 6th international conference on Hybrid systems: computation and control
Year:
2003

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Abstract

In this paper we propose an algorithm for solving a Multi-Object Adaptive Cruise Control problem. In a multi-object traffic scene the optimal acceleration is to be found respecting traffic rules, safety distances and driver intentions. The objective function is modelled as a quadratic cost function for the discrete time piecewise affine system. We find the optimal state-feedback control law by solving the underlying constrained finite time optimal control problem via dynamic programming.