Abstract Currently, model predictive control (MPC) for adaptive cruise control (ACC) systems relies on the prediction of the leader’s motion to plan the follower’s trajectory. However, such predictions must be accurate to guarantee string stability, which represents an ongoing challenge for machine learning approaches. This issue can be circumvented by simply incorporating the leader’s history, which follows from Newell’s car-following (CF) model where a trajectory under congestion corresponds to a temporal–spatial shift of the leader’s past trajectories. By leveraging this insight, this paper develops a family of MPC models based on Newell’s CF model, labeled Newell MPCs, which are safe and can reduce traffic congestion. Specifically, We first present baseline Newell MPCs to replicate the original Newell’s CF model, including the -Model, which uses the shifted leader trajectory as an upper envelope; and the -Model, which adopts the shifted leader trajectory as a reference to avoid the issue of infeasible solution triggered by hard constraints. To further improve the control performance, we propose the -Model which uses the leader speed history as an additional reference to enhance the model robustness and regulate speed over/under-shootings. In addition, we extend the single-leader Newell’s model through incorporating multiple leaders and propose the -Model, which can achieve driver anticipation, and correspondingly reduce reaction time and improve string stability. Finally, based on the -Model, we present two additional extensions: (i) the -Model, which incorporates driver relaxation to achieve smooth response to merging traffic; and (ii) the -Model, which achieves strict string stability to further dampen traffic oscillations. The proposed Newell MPCs are tested using both numerical simulations and field studies on a stock 2019 Honda Civic using Openpilot and Comma.ai; the source code is available at https://github.com/HaoZhouGT/openpilot.
Highlights A family of MPC ACCs based on Newell’s CF model. Leader history can outperform prediction for string stability. Road test of Newell MPC on a production ACC car model.
Congestion-mitigating MPC design for adaptive cruise control based on Newell’s car following model: History outperforms prediction
2022-07-05
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
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