Explicit MPC design and performance-based tuning of an Adaptive Cruise Control Stop-&-Go

This paper presents the synthesis, the implementation and the performance-based tuning of an adaptive cruise control (ACC) stop-&-go (S&G) design. A model predictive control (MPC) framework is adopted to design the controller. Performance of the controller is evaluated, distinguishing between comfort of the resulting longitudinal vehicle behavior and the behavior due to traffic requirements. Corresponding metrics are incorporated in the controller design. Performance functions, relating the metrics explicitly to comfort and traffic requirements enable tuning of the resulting controller. As a result, the performance of the controller can be changed by a single performance-based weight. Simulation results for varying controller performance in various traffic situations are shown.