Reference Governor 기반의 ACC 시스템 설계

Abstract

This paper represents adaptive cruise control system based on reference governor. Reference governor is add-on control schemes which enforce state and control constraints on stabilized systems by modifying the reference whenever the constraints are violated. Unlike existing controllers that do not handle states and input constraints, the proposed method handles constraints using maximal admissible set to consider actuator limits, ride quality, vehicle safety, and fuel consumption with low computational effort. Simulation results are given to show the performance of the proposed method compared to LQT and MPC.