Adaptive Cruise Control Sliding Surface Law
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Solution Overview
Problem
Existing adaptive cruise control systems in road vehicles experience reduced drivability due to quick or frequent changes in acceleration, high jerk, and other dynamic factors, which detract from smooth operation.
Innovation Solution
A method and apparatus for adaptive cruise control that monitor the range and range rate between a host vehicle and a target vehicle, determining control regions based on set-point ranges and threshold range rates, and applying specific control parameters to a sliding surface control law to generate acceleration commands for smooth and stable vehicle operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a simple sliding surface control law is used to maintain basic ACC functionality, then the system structure remains simple, but drivability deteriorates due to quick or frequent changes in acceleration and high jerk
Solution Approach 1:
The state space is segmented into multiple control regions based on range and range rate thresholds. Each region has its own optimized control parameters, allowing the system to adapt to different driving scenarios while maintaining overall system simplicity.
Solution Approach 2:
The control parameters are made dynamic by selecting different parameter sets based on the current control region. This allows the system to adjust acceleration commands adaptively, improving drivability without requiring a completely complex control structure.
2Adaptability or versatility
If control parameters are adjusted frequently to respond to changing driving conditions, then adaptability improves, but system complexity increases
Solution Approach 1:
The continuous control parameter adjustment is segmented into discrete region-based selections. This reduces the complexity of parameter management while maintaining adaptability to different driving conditions through predefined control regions.
Solution Approach 2:
The system automatically selects appropriate control parameters based on the current state (range and range rate), eliminating the need for manual intervention or complex external control logic. The ACC system self-adjusts to different driving scenarios.
Data Source
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AI summary
Disclosed herein is a method and an apparatus for adaptive cruise control in a road vehicle as well as a road vehicle comprising such an apparatus. One of four control regions (101, 102, 103, 104) is determined and a set of control parameters (α1, α2) and (µ) chosen in dependence of the detected control region (101, 102, 103, 104). An acceleration command (ACCCMD) is provided, based on the chosen set of control parameters (α1, α2) and (µ), using a sliding surface σ(x) and a control law (u) that ensures convergence to the sliding surface σ(x).