Modelling and simulation of adaptive cruise control and overtake assist system

Abstract

The following paper presents an approach to model the Adaptive cruise control and Overtake Assist ADAS features for a vehicle. The physical structure for Adaptive Cruise Control (ACC) is modelled with the ego car equipped with a longitudinal Model Predictive Controller (MPC) & the lead car which we wish to follow at a safe distance. The long-range RADAR sensor would measure the real time relative velocity and relative distance as inputs to the MPC controller, a safe distance is calculated by the MPC with the help of a suitable time gap and compared with relative distance given as input to switch between the speed control and spacing control. Accordingly, a longitudinal output in the form of brake or acceleration is generated. MATLAB-SIMULINK have been used to model and simulate scenarios. The Flying type overtake is modelled to suit the Indian National Highway driving scenario with a single lane divided road. A decision tree is proposed for a four-car driving scenario with the vehicle of interest sandwiched between cars and a vehicle in the oncoming lane all driving at a constant speed. SCILAB-XCOS have been used to model the decision tree for the same.