Adaptive Cruise Control with Look-Ahead Anticipation for Driving on Freeways
Adaptive Cruise Control with Look-Ahead Anticipation for Driving on Freeways
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DOI：
10.3390/app12020929
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发表时间：
2022-01-01
影响因子：
2.7
通讯作者：
Imura, Jun-ichi
中科院分区：
文献类型：
--
作者：
Kamal, Md Abdus Samad;Hashikura, Kotaro;Imura, Jun-ichi
本文基于最近商用车辆中使用的 ACC 模型，提出了具有前瞻预测功能的自适应巡航控制 (ACC)，以便在高速公路上驾驶车辆时做出早期决策。高端汽车中现有的 ACC 的工作范围有限，因为它常常无法在减速车辆后面提前做出平稳反应。尽管模型预测控制（MPC）等先进技术可以显着提高车辆的驾驶性能，但它们的计算复杂度较高，并且实际实施范围有限。所提出的 ACC 前瞻预期方案使用自适应短视野中的条件持续预测技术来预测前车的相对状态。在计算成本可以忽略不计的情况下，它谨慎地使用参数函数确定控制输入，以提高驾驶性能。该方案在典型交通场景中的多辆车上进行评估，以检查个体驾驶行为和车辆串的稳定性。最后，我们使用 AIMSUN 交通模拟器研究了一小部分配备 ACC 的车辆对整体交通的影响，并比较了整体交通的性能。
This paper presents Adaptive Cruise Control (ACC) with look-ahead anticipation, based on the model of ACC used in recent commercial vehicles, to take early decisions in driving a vehicle on the freeway. The existing ACC found in the high-end cars has limited operating range as it often fails to respond smoothly in advance behind a decelerating vehicle. Although advanced techniques, such as model predictive control (MPC), can significantly improve a vehicle's driving performance, they are associated with high computational complexity and have limited scopes for practical implementation. The proposed look-ahead anticipatory scheme of ACC predicts the relative states of the preceding vehicle using a conditional persistence prediction technique in an adaptive short horizon. With negligible computation cost, it determines the control input using parametric functions prudently for improving driving performance. The proposed scheme is evaluated on multiple vehicles in typical traffic scenarios to examine individual driving behavior and the stability of a vehicle string. Finally, we investigate the influences of a small part of vehicles with the proposed ACC on overall traffic using the AIMSUN traffic simulator and compare performances of overall traffic.