A unified assisting system for longitudinal driving behavior based on model predictive control

Abstract

Recently, there has been a growing demand for the design principle of assisting system. This paper presents a new framework of the assisting system design based on a continuous/discrete hybrid system model of the driving behavior and the model predictive control scheme. First of all, the driving behavior is identified as the piecewise ARX model, then it is explicitly embedded in the optimization problem as one of the constraints. Since the driving behavior includes some logical variables, the optimization problem is formulated as the mixed integer programming. The model predictive assisting control is realized by solving the optimization problem in real time. In addition, some adaptation mechanism to accommodate the change of the situation is discussed and verified.