%%?Adaptive?Cruise?Control?with?Sensor?Fusion
%?This?example?shows?how?to?implement?a?sensor?fusion-based?automotive
%?adaptive?cruise?controller?for?a?vehicle?traveling?on?a?curved?road?using
%?sensor?fusion.
%?
%?In?this?example?you?will:
%
%?#?Review?a?control?system?that?combines?sensor?fusion?and?an?adaptive
%?cruise?controller?（ACC）.?Two?variants?of?ACC?are?provided:?a?classical
%?controller?and?an?Adaptive?Cruise?Control?System?block?from?Model
%?Predictive?Control?Toolbox.
%?#?Test?the?control?system?in?a?closed-loop?Simulink?model?using?synthetic
%?data?generated?by?the?Automated?Driving?System?Toolbox.
%?#?Configure?the?code?generation?settings?for?software-in-the-loop
%?simulation?and?automatically?generate?code?for?the?control?algorithm.

%?Copyright?2017?The?MathWorks?Inc.

%%?Introduction
%?An?adaptive?cruise?control?system?is?a?control?system?that?modifies?the
%?speed?of?the?ego?car?in?response?to?conditions?on?the?road.?As?in?regular
%?cruise?control?the?driver?sets?a?desired?speed?for?the?car;?in?addition
%?the?adaptive?cruise?control?system?can?slow?the?ego?car?down?if?there?is
%?another?vehicle?moving?slower?in?the?lane?in?front?of?it.
%
%?For?the?ACC?to?work?correctly?the?ego?car?has?to?determine?how?the?lane
%?in?front?of?it?curves?and?which?car?is?the?‘lead?car‘?that?is?in?front
%?of?the?ego?car?in?the?lane.?A?typical?scenario?from?the?viewpoint?of?the
%?ego?car?is?shown?in?the?following?figure.?The?ego?car?（blue）?travels
%?along?a?curved?road.?At?the?beginning?the?lead?car?is?the?pink?car.?Then
%?the?purple?car?cuts?into?the?lane?of?the?ego?car?and?becomes?the?lead
%?car.?After?a?while?the?purple?car?changes?to?another?lane?and?the?pink
%?car?becomes?the?lead?car?again.?The?pink?car?remains?the?lead?car
%?afterward.?The?ACC?design?must?react?to?the?change?in?the?lead?car?on
%?the?road.
%?
%?<<../scenario.png>>
%?
%%?
%?Current?ACC?designs?rely?mostly?on?range?and?range?rate?measurements
%?obtained?from?radar?and?are?designed?to?work?best?along?straight?roads.
%?An?example?of?such?a?system?is?given?in??and
%?in?.?Moving?from?ADAS?designs
%?to?more?autonomous?systems?the?ACC?must?address?the
%?following?challenges:
%
%?#?Estimating?the?relative?positions?and?velocities?of?the?cars?that?are
%?near?the?ego?car?and?that?have?significant?lateral?motion?relative?to?the
%?ego?car.
%?#?Estimating?the?lane?ahead?of?the?ego?car?to?find?which?car?in?front?of
%?the?ego?car?is?the?closest?one?in?the?same?lane.
%?#?Reacting?to?aggressive?maneuvers?by?other?vehicles?in?the?environment
%?in?particular?when?another?vehicle?cuts?into?the?ego?car?lane.
%
%%?
%?This?example?demonstrates?two?main?additions?to?existing?ACC?designs?that
%?meet?these?challenges:?adding?a?sensor?fusion?system?and?updating?the
%?controller?design?based?on?model?predictive?control?（MPC）.?A?sensor
%?fusion?and?tracking?system?that?uses?both?vision?and?radar?sensors
%?provides?the?follo