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Design of Adaptive Cruise Control with Control Barrier Function and Model-Free Control

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Abstract

This work describes the design of an adaptive cruise control (ACC) applied to a realistic automotive simulation model, considering both upper- and lower-level controllers. The upper-level controller provides a desired acceleration/deceleration to a host vehicle to maintain a safe distance related to a leader vehicle or to track a desired cruise speed otherwise. On the other hand, the lower-level controller provides control signals to the throttle and brake pedals of the host vehicle aiming to track the desired acceleration/deceleration setpoint from the upper-level controller. For the upper-level controller, we consider a control framework that unifies the stability/tracking objective, expressed as a control Lyapunov function (CLF), the safety constraint, expressed as a control barrier function (CBF), and the comfort constraint, by means of a quadratic programming (QP), where safety must be prioritized. The lower-level controller is implemented considering a model-free control. The results, obtained by numerical simulations, demonstrate that the safe distance between the vehicles is ensured and the desired cruise speed is tracked adequately. Therefore, the stability/tracking objective and the safety and comfort constraints, related to the upper-level controller, are properly satisfied. The lower-level controller tracks the desired acceleration/deceleration demanded by the upper-level controller with good performance.

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Acknowledgements

The authors would like to thank Fundação de Desenvolvimento da Pesquisa - Fundep Rota 2030 - Linha V, for the Grant SegurAuto - Projeto e Desenvolvimento Integrado de Funções de Segurança Assistida ao Condutor e Ambiente para Veículos Autônomos and Conselho Nacional de Desenvolvimento Científico e Tecnológico - CNPq, for grant 308356/2021-7.

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  1. Instituto Federal de São Paulo (IFSP) - Campus São Paulo, São Paulo, SP, Brazil

    Caio Igor Gonçalves Chinelato

  2. Escola Politécnica da Universidade de São Paulo, São Paulo, SP, Brazil

    Caio Igor Gonçalves Chinelato, Bruno Augusto Angélico, João Francisco Justo & Armando Antônio Maria Laganá

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  1. Caio Igor Gonçalves Chinelato
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Chinelato, C.I.G., Angélico, B.A., Justo, J.F. et al. Design of Adaptive Cruise Control with Control Barrier Function and Model-Free Control. J Control Autom Electr Syst 34, 470–483 (2023). https://doi.org/10.1007/s40313-023-00990-x

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