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Predictive adaptive cruise control in an embedded environment.

Brugnolli, Mateus Mussi

Biblioteca Digital de Teses e Dissertações da USP; Universidade de São Paulo; Escola Politécnica 2018-07-31

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  • Título:
    Predictive adaptive cruise control in an embedded environment.
  • Autor: Brugnolli, Mateus Mussi
  • Orientador: Angelico, Bruno Augusto; Lagana, Armando Antonio Maria
  • Assuntos: Veículos Automotores; Dinamômetros; Identificação De Sistemas; Radar; System Identification; Model Predictive Control; Ihmpc; Dynamometer; Acc Systems
  • Notas: Dissertação (Mestrado)
  • Notas Locais: Programa Engenharia Elétrica
  • Descrição: The development of Advanced Driving Assistance Systems (ADAS) produces comfort and safety through the application of several control theories. One of these systems is the Adaptive Cruise Control (ACC). In this work, a distribution of two control loops of such system is developed for an embedded application to a vehicle. The vehicle model was estimated using the system identification theory. An outer loop control manages the radar data to compute a suitable cruise speed, and an inner loop control aims for the vehicle to reach the cruise speed given a desired performance. For the inner loop, it is used two different approaches of model predictive control: a finite horizon prediction control, known as MPC, and an infinite horizon prediction control, known as IHMPC. Both controllers were embedded in a microcontroller able to communicate directly with the electronic unit of the vehicle. This work validates its controllers using simulations with varying systems and practical experiments with the aid of a dynamometer. Both predictive controllers had a satisfactory performance, providing safety to the passengers.
  • DOI: 10.11606/D.3.2018.tde-24092018-151311
  • Editor: Biblioteca Digital de Teses e Dissertações da USP; Universidade de São Paulo; Escola Politécnica
  • Data de criação/publicação: 2018-07-31
  • Formato: Adobe PDF
  • Idioma: Inglês
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  • Realização: ABCD-USP USP   Logos de Redes Sociais: Freepik

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