2025/06/30 by Robin Inho Kee, Kee, Robin Inho, Taehyeun Kim +5
Engineering · #Advanced Control Systems Optimization #FOS: Electrical engineering #Systems and Control (eess.SY) #Traffic control and management #Vehicle Dynamics and Control Systems #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2506.24083
openalex publication_date 2025/06/30 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
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 MPC-CBF approach.