Classical Adaptive Cruise Control gain calculations

I am trying to form a classical adaptive cruise control and I wanted to ask if somebody can explain how to find the exact values of the gains "Verr_gain", " xerr_gain" and " vx_gain" shown in the classical adaptive control in this link "https://www.mathworks.com/help/mpc/ug/adaptive-cruise-control-with-sensor-fusion.html#d117e37235" . I would highly appreciate the help.

Answer 1

[Raunak Gupta]

Hi,

I am assuming you have loaded all the models mentioned in the full example before loading the specific model as ACCTestBenchExample contains all the models. While loading ACCTestBenchExample you may see that in the MATLAB Workspace all the variables are loaded So, you can find out the value of mentioned variables there in the workspace. Closing this example will clear the workspace so you may want to let it open while retrieving the values.

Also, if you want to edit the variables you may edit the setup script that can be accessed by clicking on the same name gui button in ACCTestBenchExample.

[Danial Waleed]

I was able to locate the values. But my question is how to calculate the gain values for a different car with different parameters.

[Raunak Gupta]

Hi,

As per my understanding these values are hyperparameters to be set in the setup script based on the properties of ego vehicle. These value may only be derivable by the physical equations.

[Danial Waleed]

Do you have any technical soure or proceddings that show how these values are calculated ?