Abstract
In this paper we propose an algorithm for solving a Multi-Object Adaptive Cruise Control problem. In a multi-object traffic scene the optimal acceleration is to be found respecting traffic rules, safety distances and driver intentions. The objective function is modelled as a quadratic cost function for the discrete time piecewise affine system. We find the optimal state-feedback control law by solving the underlying constrained finite time optimal control problem via dynamic programming.
Radar sensors at the same time provide distance and relative speed measurement.
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Möbus, R., Baotic, M., Morari, M. (2003). Multi-object Adaptive Cruise Control. In: Maler, O., Pnueli, A. (eds) Hybrid Systems: Computation and Control. HSCC 2003. Lecture Notes in Computer Science, vol 2623. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-36580-X_27
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DOI: https://doi.org/10.1007/3-540-36580-X_27
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