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

Mehra, Aakar and Ma, Wen-Loong and Berg, Forrest and Tabuada, Paulo and Grizzle, Jessy W. and Ames, Aaron D. (2015) Adaptive cruise control: Experimental validation of advanced controllers on scale-model cars. In: 2015 American Control Conference (ACC). IEEE , Piscataway, NJ, pp. 1411-1418. ISBN 978-1-4799-8684-2. https://resolver.caltech.edu/CaltechAUTHORS:20190208-132332836

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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.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/acc.2015.7170931DOIArticle
ORCID:
AuthorORCID
Tabuada, Paulo0000-0002-3417-0951
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2015 AACC. This work is supported by National Science Foundation through the CPS Awards 1239055, 1239037 and 1239085. The authors would like to thank Dr. Koushil Sreenath from Carnegie Mellon University for the discussions on barrier functions, Michael Zeagler for the construction of the mechanical setup and other members of AMBER Lab, specifically, Eric Cousineau, Jacob Reher, Ryan Sinnet, Shishir Kolathaya, Huihua Zhao, Johnathan Horn, Eric Ambrose, and Victor Parades for all the technical support.
Funders:
Funding AgencyGrant Number
NSFCNS-1239055
NSFCNS-1239037
NSFCNS-1239085
Record Number:CaltechAUTHORS:20190208-132332836
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190208-132332836
Official Citation:A. Mehra, W. Ma, F. Berg, P. Tabuada, J. W. Grizzle and A. D. Ames, "Adaptive cruise control: Experimental validation of advanced controllers on scale-model cars," 2015 American Control Conference (ACC), Chicago, IL, 2015, pp. 1411-1418. doi: 10.1109/ACC.2015.7170931
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:92799
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:10 Feb 2019 23:30
Last Modified:03 Oct 2019 20:48

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