MPC based collaborative adaptive cruise control with rear end collision avoidance

This paper presents a model predictive control (MPC) based approach to improve a recently developed class of collaborative adaptive cruise control (CACC) schemes. The PID structure used previously is replaced with MPC, which is able to accommodate actuator limits and parameter estimation. In addition to the regular CACC functionalities, rear end collision control is also incorporated. This approach is able to avoid rear end collisions with the following car, as long as it can still maintain the safe distance with the preceding vehicle. Simulation results are presented which demonstrate the validity of the approach.