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Smooth Motion Control of the Adaptive Cruise Control System With Linear Quadratic Control With Variable Weights

[+] Author Affiliations
Sanggyum Kim, Masayoshi Tomizuka

University of California, Berkeley, Berkeley, CA

Kuo-Hsiang Cheng

Industrial Technology Research Institute, Hsin Chu, Taiwan

Paper No. DSCC2010-4281, pp. 879-886; 8 pages
  • ASME 2010 Dynamic Systems and Control Conference
  • ASME 2010 Dynamic Systems and Control Conference, Volume 2
  • Cambridge, Massachusetts, USA, September 12–15, 2010
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-4418-2 | eISBN: 978-0-7918-3884-6
  • Copyright © 2010 by ASME


A virtual lead vehicle scheme is introduced to make the switching between the speed control algorithm and the distance control algorithm unnecessary. This method is shown to provide a good reaction for when a lead vehicle cuts in or out. A linear quadratic controller with variable weights is suggested to control the virtual lead vehicle. This scheme shows improved performance in terms of passenger comfort and fuel efficiency of the host vehicle.

Copyright © 2010 by ASME



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