Adaptive cruise control: Experimental validation of advanced controllers on scale-model cars

Abstract

Recent advances in automotive technology, such as, sensing and onboard computation, have resulted in the development of adaptive cruise control (ACC) algorithms that improve both comfort and safety. With a view towards developing advanced controllers for ACC, this paper presents an experimental platform for validation and demonstration of an online optimization based controller. Going beyond traditional PID based controllers for ACC that lack proof of safety, we construct a control framework that gives formal guarantees of correctness. In particular, safety constraints-maintaining a valid following distance from a lead car-are represented by control barrier functions (CBFs), and control objectives- achieving a desired speed-are encoded through control Lyapunov functions (CLFs). These different objectives can be unified through a quadtraic program (QP), with constraints dictated by CBFs and CLFs, that balances safety and the control objectives in an optimal fashion. This methodology is demonstrated on scale-model cars, for which the CBF-CLF based controller is implemented online, with the end result being the experimental validation of an advanced adaptive cruise controller.