{"paper":{"title":"Safe Adaptive Cruise Control with Road Grade Preview and V2V Communication","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.SY","authors_text":"Francesco Borrelli, Jacopo Guanetti, Roya Firoozi, Ryan O'Gorman, Shima Nazari","submitted_at":"2018-10-21T18:21:39Z","abstract_excerpt":"We present the design of a safe Adaptive Cruise Control (ACC) which uses road grade and lead vehicle motion preview. The ACC controller is designed by using a Model Predictive Control (MPC) framework to optimize comfort, safety, energy-efficiency and speed tracking accuracy. Safety is achieved by computing a robust invariant terminal set. The paper presents a novel approach to compute such set which is less conservative than existing methods. The proposed controller ensures safe inter-vehicle spacing at all times despite changes in the road grade and uncertainty in the predicted motion of the "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1810.09000","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}