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Zhang et al. Intell Robot 2022;2(4):371­90 Intelligence & Robotics
DOI: 10.20517/ir.2022.26

Research Article Open Access

T-S fuzzy-model-based adaptive cruise control for lon-

gitudinal car-following considering vehicle lateral sta-
bility

Changzhu Zhang, Xiaoyu Wei, Zhuping Wang, Hao Zhang, Xuyang Guo
Department of Control Science and Engineering, Tongji University, Shanghai 200092, China.

Correspondence to: Prof. Hao Zhang, Department of Control Science and Engineering, Tongji University, Shanghai 200092, China.
E-mail: zhang_hao@tongji.edu.cn; ORCID: 0000-0002-4527-9610

How to cite this article: Zhang C, Wei X, Wang Z, Zhang H, Guo X. T-S fuzzy-model-based adaptive cruise control for longitudinal
car-following considering vehicle lateral stability. Intell Robot 2022;2(4):371-90.http://dx.doi.org/10.20517/ir.2022.26

Received: 13 Aug 2022 First Decision: 29 Aug 2022 Revised: 27 Sep 2022 Accepted: 30 Sep 2022 Published: 7 Nov
2022
Academic Editor: Simon X. Yang Copy Editor: Jia-Xin Zhang Production Editor: Jia-Xin Zhang

Abstract
Adaptive cruise control is one of the essential technologies of advanced driver assistance systems, which is used
to maintain a safe distance between an ego vehicle and a preceding vehicle and has been extensively applied in the
automotive industry and control community. Note that some vehicle manoeuvres may approach handling limits to
prevent collisions under complex road conditions, which often leads to vehicle lateral instability while cruising. In this
study, a T-S fuzzy model predictive control framework is applied to the problem of adaptive cruise control. Variations
in the preceding vehicle velocity and road surface conditions are considered to formulate adaptive cruise control as
a tracking control problem of a T-S fuzzy system subject to parameter uncertainties and external persistent pertur-
bations. Then, a robust positively invariant set is introduced to derive an admissible T-S fuzzy controller by solving a
min-max optimization problem under a series of linear matrix inequality constraints. Finally, a CarSim/MATLAB joint
simulation is conducted to illustrate the effectiveness of the proposed method, which ensures longitudinal adaptive
cruise control for a car-following scenario with lateral vehicle stability.

Keywords: Adaptive cruise control, T-S fuzzy model predictive control, robust positively invariant set, lateral stability

© The Author(s) 2021. Open Access This article is licensed under a Creative Commons Attribution 4.0
International License (https://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, shar­
ing, adaptation, distribution and reproduction in any medium or format, for any purpose, even commercially, as long as you
give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate
if changes were made.

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