Work

Time Shift Governor-Guided MPC with Collision Cone CBFs for Safe Adaptive Cruise Control in Dynamic Environments

Year: 2025

Type: conference-paper

Abstract: This paper introduces a Time Shift Governor (TSG)-guided Model Predictive Controller with Control Barrier Functions (CBFs)-based constraints for adaptive cruise control (ACC). This MPC-CBF approach is defined for obstacle-free curved road tracking, while following distance and obstacle avoidance constraints are handled using standard CBFs and relaxed Collision Cone CBFs. In order to address scenarios involving rapidly moving obstacles or rapidly changing leading vehicle's behavior, the TSG augmentation is employed which alters the target reference to enforce constraints. Simulation results demonstrate the effectiveness of the TSG-guided MPCCBF approach.

Source: IEEE Conference on Control Technology and Applications (CCTA)

DOI: 10.1109/ccta53793.2025.11151321

Authors: Robin Inho Kee, Taehyeun Kim, Anouck Girard, Ilya Kolmanovsky

Institution: University of Michigan

Language: English

Topic: Traffic control and management

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

Funder: Air Force Office of Scientific Research

Award: G2484483535