Adaptive Cruise Control Implementation to a Path-following MPC for Vehicle Guidance

This paper is presenting the implementation of an Adaptive Cruise Control (ACC) functionality built up on a Model Predictive Path Following Controller (MPFC). The solution is focusing on safety, comfort, efficiency, and tracking of the car ahead. Based on formulations for the expected behavior and the possible states that can be used, a concept for extending the cost function of an MPFC to react on vehicles ahead is shown. Furthermore, this novel approach is using a reference velocity trajectory for safety reasons and smooth minimum functions to form the distance and velocity error values. Simulations of different scenarios validate the performance of the proposal in specified test cases.