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Neue Reglerkonzepte für die Fahrzeugslängsregelung


Martin Walder

Diploma/Master Thesis, SS 06

In this thesis the implementation of a multi-object adaptive cruise control system for a Mercedes-Benz serial car is presented. As a control technique, model predictive control (MPC) with multi-parametric programming is used. The optimal state-feedback control law is found by solving the underlying constrained finite-time optimal control problem.
There are several different possibilities to represent the MPC solution and to apply it online. The most efficient solution is determined and implemented on the car’s control unit. Thereby, the control laws are stored instead of the partitioned state space.
The focus lies on the recognition of complex multi-object traffic scenes with cutting in vehicles. This thesis shows that the resulting MPC longitudinal controller is representable on the serial control unit and further bears comparison with the serial state controller concerning the driving performance. In particular the multi-object enhancement points out the potential for the developed system to be an alternative to the existing Distronic Plus controller.

Supervisors: R. Moebus, Prof. M. Morari


Type of Publication:

(12)Diploma/Master Thesis

M. Morari

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2006:IFA_2823
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