A Comprehensive Comparison of Three Desired Acceleration Calculation Methods for Mass Production of Adaptive Cruise System

Abstract

An important technology of the adaptive cruise system is the calculation of desired acceleration. Based on the changing states of the ego and target vehicle, the calculated desired acceleration is executed by the ego vehicle actuator. After a while, the ego vehicle reaches the speed of the target vehicle and maintains the expected time interval. LQR(Linear quadratic regulator), MPC(model predictive control), and KE(kinematics equations) are most commonly used in mass production. This paper first introduces principles and realization of three desired acceleration calculation methods, secondly analyzes key calibration parameters and their role in each method, and finally compares the advantages and disadvantages of the three methods and their future optimization directions. This paper guides for engineers to develop and test adaptive cruise systems. According to the requirements of the OEM(original equipment manufacturer), tier 1 selects the appropriate desired acceleration solution and calibrates the key parameters, so that the mass production system is accepted.