# Safe Adaptive Cruise Control with Road Grade Preview and V2V Communication

arXiv: https://arxiv.org/abs/1810.09000 · HTML: https://mlsanity.com/paper/1810.09000/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 21 Oct 2018.

## Built on by (most cited first, 1 of 1)

- [An Automatic Tuning MPC with Application to Ecological Cruise Control](https://mlsanity.com/paper/2309.09358/) (2023)

## Abstract (arXiv)

We present the design of a safe Adaptive Cruise Control (ACC) which uses road grade and lead vehicle motion preview. The ACC controller is designed by using a Model Predictive Control (MPC) framework to optimize comfort, safety, energy-efficiency and speed tracking accuracy. Safety is achieved by computing a robust invariant terminal set. The paper presents a novel approach to compute such set which is less conservative than existing methods. The proposed controller ensures safe inter-vehicle spacing at all times despite changes in the road grade and uncertainty in the predicted motion of the lead vehicle. Simulation results compare the proposed controller with a controller that does not incorporate prior grade knowledge on two scenarios including car-following and autonomous intersection crossing. The results demonstrate the effectiveness of the proposed control algorithm.