Improvement of adaptive cruise algorithm based on MPC
                                                                   DAI Xu bin, SUN Tao, XIA Wei
      （School of Mechanical Engineering， University of Shanghai for Science and Technology， Shanghai 200093, China）

Abstract: Aiming at disturbance of preceding vehicle in adaptive control， car following mathematical model and theory of model predictive control was researched， a kind of estimator was proposed. Based on history information on preceding vehicle， the law of preceding vehicle s acceleration was predicted through the method of least squares and then was applied in the car following s model predictive control frame.Executable constraint area with slack variable was set up. Multi objection was used to obtain optimal desired acceleration. It was tested and verified in the fixed driving simulator， compared with conventional model predictive control. The results indicate that improved model predictive control is able to follow preceding vehicle whose acceleration is varied.

Key words: estimator; adaptive cruise control（ACC）; model predictive control; multi objection optimization