Model Free Adaptive Cruise Control

To balance the necessary of ACC (Adaptive Cruise Control) system for safe distance, favourites velocity and collision avoidance, a model-free prescribed performance ACC algorithm based on funnel control technique is proposed. The developed algorithm contains two parts: when the follower is far away from leader, velocity prescribed performance controller is designed to adjust the velocity of follower to the favourites velocity; when the follower is close to the leader, distance prescribed performance controller is designed to keep safety and collision avoidance. The prescribed performance function can expand the switching interval to improve the robustness of the switching process. The simulation results show that the model free ACC can guarantee that the vehicle moves within the prescribed velocity error or distance error to avoid collision only using the distance information and the velocity information. In addition, the designed algorithm can not only achieve effective operation in the car-following stage, but also realize safe operation in special scenarios such as emergency braking as well as frequent start and stop.