Adaptive Cruise Control With Gain Scheduling Technique Under Varying Vehicle Mass

Abstract

Today, advanced driver-assistance systems (ADAS) come up with different abilities. One of them is the adaptive cruise control (ACC) system. The ACC system is a continuation of research on cruise control (CC) system, which integrates spacing control with the existing velocity control on the CC system. The vehicles with an ACC system guarantee traffic safety while at the same time ensure a well-driving sense. Many studies have demonstrated numerous control techniques applied as ACC controllers to accomplish uncertainty and perturbation issues. Nevertheless, most of the existing papers assumed the model vehicle dynamics as a linear time-invariant (LTI) system while designing the ACC controller. This paper proposed an ACC controller using the gain scheduling technique to deal with the model vehicle dynamics as a linear parameter varying (LPV) system. The passenger vehicle's mass varies during ACC operation depending on how many passengers or loads on the vehicle's trunks. Later, the vehicle's mass is estimated by recursive least square (RLS) with a forgetting factor. Then, the disk margin is utilized to provide the high-level robustness at each operating or ''frozen'' point. The robustness performance will be analyzed using the worst-case gain metric while the uncertainty is modeled by integral quadratic constraints (IQC). The LPV system behavior, such as the rate vehicle's mass, is also considered in the analysis. The effectiveness algorithm is validated through joint simulation between Matlab/Simulink and PreScan. The last, the comparison performance between gain scheduling and fixed gain ACC controller is evaluated. INDEX TERMSAdaptive cruise control, advanced driver assistance systems, cruise control, gain scheduling controller, linear parameter varying system, spacing control. NOMENCLATURE B r,max Maximum brake pressure. T h,max Maximum throttle. m, m Actual and estimated mass of the vehicle. δ safe , δ rel , δ 0 Safe distance, relative distance, and minimum distance between vehicles. v ref , v x,h Longitudinal reference velocity and actual of velocity of host vehicle. t g Time gap between vehicles. X a Position of target or other vehicles in front of the host vehicle. X hPosition of the host vehicle.The associate editor coordinating the review of this manuscript and approving it for publication was Michail Makridis .

Adaptive Cruise Control in Electric Vehicles with Field-Oriented Control

“…The second control loop is a distance control, which involves scanning the road and in case there is another vehicle ahead, the set speed is adjusted to keep a safe distance between the host vehicle and the detected leading vehicle. To detect leading vehicles and obstacles on the road, adaptive cruise control requires radar or laser sensors to scan the road [8,11,13,30,31].…”

“…When there is no vehicle or obstacle in front of the host vehicle, adaptive cruise control works only in the speed mode, while in classic cruise control, the vehicle is running with the driver's set speed value [11,13,30,31].…”

“…If the inter-vehicle distance is higher than the safe distance value that the host vehicle is running at the set speed value, the adaptive cruise control system works in the speed mode. If the intervehicle distance is lower than the safe distance value, than the host vehicle speed is adjusted to ensure a safe distance between the vehicles, so the adaptive cruise control works in the safe distance mode [8,11,13,30,31]. Figure 1 illustrates the two modes of operation of an ACC system.…”

“…Advanced cruise control systems focus on accelerating or braking so that the vehicle speed is constant at the set value but, also, a safety driving distance is ensured. The internal combustion motor is accelerated if needed, through the throttle actuator, and braking is performed using a braking system [10,11,13].…”

“…The electric motor control can generate driving signals to accelerate, brake, or, even, to work as a generator in regenerative braking mode. Therefore, in electric vehicles, the cruise control system should relate to the motor control system for high efficiency [10,11,[13][14][15][16][17].…”