I want to expand Adaptive Cruise Control System Using Model Predictive Control (MPC) for multiple lane

and multiple vehicles. Where parameters of MPC (individual vehicle’s accelerations) will be optimized
with Particle Swarm Optimization (PSO).
For instance,
No_of_lanes =3
Total_no_of vehicle = 15
Vehicles_in_lane 1 = 5
Vehicles_in_lane 2 = 6
Vehicles_in_lane 3 = 4

[Above inputs can be taken as ‘input’ at the beginning of simulation]

1) Problem Inputs:
a) Total Number of Lanes [1 2 3 4 5 6]
b) Length of each Lanes (m) [integer]
c) Total Number of vehicles [integer]
# Can be from predefined set [10 15 20 25 30 35 40 45 50]
d) Number of vehicles in each lane [integer]
# sum of Number of vehicles in each lane = Total Number of vehicles
e) Vehicle arrival pattern= Normal distribution [mean =2.25 sec, sigma =0.25 sec]
# Initially vehicles will enter the roadway by following above normal distribution
Vehicle actual headway ≥ required headway

normrnd [2.25, 0.25]

f) Vehicle Type [1 =ADS 0=MDS]

g) Proportion of ADS
[ 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 0.95 1.0]
# Remaining will be MDS
h) Maximum speed (kmh) = [80 90 100 110 120]
i) Minimum speed (kmh)= [20 30 40 50]
j) Maximum acceleration (m/s2) = 8
k) Minimum acceleration (m/s2) = -9
l) Minimum allowable acceleration (m/s2) = -4
m) Required headway (m) = 1sec x Vehicle velocity + 5 m
n) Control horizon
o) Prediction horizon
p) Simulation time
2) Vehicle Class properties
a) Vehicle ID
b) Vehicle Lane
c) Vehicle Position in Lane
d) Vehicle Type
e) Vehicle acceleration (m/s2)
f) Vehicle speed (kmh)
g) Vehicle location (m)
h) Vehicle Actual Headway [VAH](m)
i) Vehicle Required Headway [VRH](m)
j) Vehicle lane change? (y/n)

### Individual vehicle acceleration is the only independent parameter which need to be optimized for the
swarm of vehicles (total number of vehicles).
3) Vehicle Properties function
a) If (first vehicle of each lane)
VAH = Length of Lane (i) – vehicle location of host vehicle
VRH = 1sec x Vehicle velocity + 5 m
Else (the following vehicles of each lane)
VAH = Vehicle Location of lead vehicle – vehicle location of host vehicle
VRH = VRH = 1sec x Vehicle velocity + 5 m
b) If (first vehicle of each lane)
If VAH > 5*maximum_speed + 5
Vehicle acceleration = normrnd (0, 5/3.6)
Else (VAH <= 5*maximum_speed + 5)
Vehicle acceleration = unifrnd (0, 5/3.6)
Else (the following vehicles of each lane)
If (VAH > VRH) & (Maximum speed+5kmh > Vehicle Velocity > Maximum speed-
5kmh)
Vehicle acceleration = unifrnd [- 5/3.6, 5/3.6]
Elseif (VAH >VRH) & (Vehicle Velocity ≥ Maximum speed+5kmh)
Vehicle acceleration = unifrnd [- 5/3.6, 0]
Elseif (VAH >VRH) & (Vehicle Velocity ≤ Maximum speed- 5kmh)
Vehicle acceleration = unifrnd [0, 5/3.6]
Elseif (VAH ≤ VRH)
Vehicle acceleration = unifrnd [Minimum allowable acceleration, -5/3.6]
#acceleration should be such that vehicle can attain VAH > VRH, asap
# [Must] acceleration difference between consecutive sec ≤ 10/3.6
c) Vehicle velocity(k)= Vehicle Velocity (k-1) + Vehicle acceleration(k-1) x time step + time step
d) Vehicle distance travelled (k-1) = Vehicle velocity (k-1) x time step + 0.5 x vehicle acceleration x
(time step)2
e) Vehicle location (k) = Vehicle location (k-1) + Vehicle distance travelled (k-1)
f) No lane change [Lane change (N)- always]

# If anything else is required feel free to email me: mudasser.seraj@gmail.com