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We present the design of a safe Adaptive Cruise Control (ACC) which uses roadgrade and lead vehicle motion preview. The ACC controller is designed by usinga Model Predictive Control (MPC) framework to optimize comfort, safety,energy-efficiency and speed tracking accuracy. Safety is achieved by computinga robust invariant terminal set. The paper presents a novel approach to computesuch set which is less conservative than existing methods. The proposedcontroller ensures safe inter-vehicle spacing at all times despite changes inthe road grade and uncertainty in the predicted motion of the lead vehicle.Simulation results compare the proposed controller with a controller that doesnot incorporate prior grade knowledge on two scenarios including car-followingand autonomous intersection crossing. The results demonstrate the effectivenessof the proposed control algorithm.

Safe Adaptive Cruise Control with Road Grade Preview and V2V Communication