The Transition of model predictive controllers for smooth task switching

Abstract

This paper presents a method to smoothly switch model predictive controllers which are designed for adaptive-cruise-control(ACC)/lane-keep and lane-change tasks. These controllers are defined by different state-spaces, constraints and cost functions. Thus, it can be occurred to violate the constraint when switching controllers. In our proposed method, we interpose an intermediate mode between two controllers to avoid such infeasibility. We demonstrate the effectiveness of the proposed method by a numerical simulation of the mode transition between Adaptive-Cruise-Control/Lane-Keep mode and Lane-Change mode.