STUDI PENERAPAN ADVANCED DRIVER-ASSISTANT SYSTEMS (ADASs) TEKNOLOGI ADAPTIVE CRUISE CONTROL MENGGUNAKAN MODEL PREDICTIVE CONTROL

Advanced driver assistance systems (ADASs) refer to technologies that automate, facilitate, and improve systems in the vehicles in order to assist drivers for better and safer driving. One of the ADASs technologies is the Adaptive Cruise Control (ACC). This research conducted a study to implement the ACC technology. The study was conducted using MATLAB–MathWorks Simulink, a modeling tool capable of analyzing dynamic systems. For hardware simulation, a Smart Robo Car 4WD with an Arduino Uno board controller was used. It was programmed using the Arduino IDE. The simulation results in Simulink show that the Adaptive Cruise Control System block has successfully simulated an adaptive cruise control (ACC) system that tracks a set velocity and maintains a safe distance from a lead vehicle by adjusting the longitudinal acceleration of an ego vehicle. The block computes optimal control actions while satisfying safe distance, velocity, and acceleration constraints using model predictive control (MPC). Meanwhile, the hardware simulation showed that the Smart Robot Car 4WD has successfully run the Adaptive Cruise Control (ACC) function through the embedded program. Some valid quantitative data in the form of ego vehicle’s speed and distance between the ego vehicle and the lead vehicle have been successfully obtained and tabulated.