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

TL;DR

This paper presents a novel TSG-guided MPC with CBFs for safe adaptive cruise control, effectively handling dynamic obstacles and rapidly changing scenarios in curved road environments.

Contribution

It introduces a Time Shift Governor augmentation to enhance MPC-CBF for obstacle avoidance and following distance in dynamic, obstacle-rich environments.

Findings

Effective obstacle avoidance demonstrated in simulations

Improved following distance regulation

Robustness to rapidly changing obstacle scenarios

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 MPC-CBF approach.