Predictive Adaptive Cruise Control Using a Customized ECU

Advanced Driver Assistance Systems (ADAS) is a group of technologies that support the driving with safety measures, such as the Adaptive Cruise Control (ACC). The ACC System computes a reference, known as cruise speed, that tracks the desired speed but it changes if a leading vehicle draws close. In this paper, the inner loop of ACC was designed using two different Model Predictive Control techniques: finite horizon and infinite horizon of prediction. The dynamic model of the vehicle was obtained using System Identification. The controllers were embedded in an ACC Module that communicates directly with a customized Electronic Control Unit (ECU) of the vehicle. The validation of the controllers is performed with practical experiments using a dynamometer.