Significance of Predictive Motion Control

This research paper emphasizes on the development of an advanced controller for the adaptive cruise control system. The performance of headway or time gap control plays a pivotal role in an automated longitudinal motion. The controller stability in a traffic follow mode is predominantly governed by the longitudinal motion profile of the preceding vehicle. The measurement of acceleration of the preceding vehicle using heterogeneous sensors are challenging pertaining to the shortfall of longitudinal motion control through classical mechanism. Thus, a predictive model with defined constraints of vehicle dynamics has been designed to demonstrate the improved system performance during preceding target follow mode. A novel approach of predictive control adopting multifarious states of cruise and target follow mode is discussed to address the deficit of classical control. Furthermore, the non-linear tracking differentiator theory acts as an observer model for the estimation of an acceleration profile of the host vehicle. The integrated CarMaker vehicle dynamics model in conjunction with the controller establishes a podium for evaluating system performance in a closed loop simulation. The target trajectory estimation and motion characterization are the determinants of target selection which further aids to conduct smooth and consistent actuation. The performance of the conventional control is compared with proposed adaptive model predictive control under standard yardsticks of adaptive cruise control operation to demonstrate an improved system efficiency.