Model Predictive Control System Design using ARMAX Identification Method for Car-following Behavior

Authors

A. Ghaffari Mechanical Engineering Department, K. N. Toosi University of Technology, Tehran

A.R. Khodayari Department of Mechanical Engineering, Pardis Branch, Islamic Azad University

M. Nouri-Khajavi Mechanical Engineering Department, Shahid Rajaee Teacher Training University, Tehran

M.R. Arbab Tafti Mechanical Engineering Department, Shahid Rajaee Teacher Training University, Tehran

S. Salehinia Mechanical Engineering Department, Shahid Rajaee Teacher Training University, Tehran

Abstract:

The control of car following is essential due to its safety and its operational efficiency. For this purpose, this paper builds a model of car following behavior based on ARMAX structure from a real traffic dataset and design a Model Predictive Control (MPC) system. Based on the relative distance and relative acceleration of each instant, the MPC predicts the future behavior of the leader vehicle and according to this behavior, the acceleration of the follower vehicle is controlled. Validation of the presented controller is done by comparing the behavior of the controller with the human drivers. Results show that the MPC controller has a behavior much safer than that of real drivers and it can provide a pleasant trip for passengers.

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