Eco-friendly Adaptive Cruise Control

Eco-friendly Adaptive Cruise Control

An Eco friendly Adaptive Cruise Control (eco-ACC) for energy consumption reduction in a non-cooperative platooning is studied at the MPC lab. Given the velocity preview of the preceding vehicle, Eco-ACC allows the ego vehicle to follow the preceding in a more energy efficient way. Our approach aims at maintaining a desired distance from the preceding vehicle, while avoiding unnecessary braking. This requires a paradigm shift from classical ACC approaches, which mainly focus on tracking the trajectory of the preceding vehicle, to a formulation that allows trajectory deviations, if that reduces energy usage. 

The key factor of the MPC based eco-ACC is the coasting terminal set, whose aim is to give long-sight to the MPC eco-controller, otherwise myopic. It prevents that the excessive throttling of the ego vehicle leads to braking, and therefore power dissipation, after the end of the prediction horizon by exploiting a longer preview of the preceding.

More details on the eco-ACC design and its experimental results can be found here.

Future works include a fuel efficiency test with the prediction of the preceding vehicle from the deep trained model and with the inclusion of the urban infrastructure model, and the study on the recursively feasible and stable MPC eco-controller.

 

Autonomous Vehicle Control with Lidar

Autonomous Vehicle Control with Lidar

Predictive Control Framework for Driver Steering Assistance

Predictive Control Framework for Driver Steering Assistance