Cruise Control

Karen Lie Engr 315

Outline
Introduction

to Cruise Control

CC

Modeling CC Simulation
Introduction

to Adaptive Control ACC Modeling ACC Simulation

Cruise Control System

Input:

buttons on the steering wheel, brake, clutch, gas pedal and feedback signal Processor Sensor Output: the throttle position

Modeling

Newtons Second Law:

m dv dt b v ( t) u ( t)

Laplace Transform:

m s V( s ) b V( s )

U( s )

Transfer Function
Y( s ) U( s ) 1 m s b

Design Specification
Rise

time < 5 sec Overshoot < 10% Steady-State Error < 2%

Open-Looped System

Closed-Loop w/ PI Control

Kp = 100

Kp = 800 and Ki = 40

weight of the car

PI Control: Kp = 800 and Ki = 40

m = 500 kg

m = 2000 kg

Adaptive Cruise Control

So-called

Active Cruise Control (ACC) Traffic flow characteristics Collision-avoidance system Not to be considered as a safety feature by automakers

Background
First

laser-based system Toyotas Progress, a compact luxury sedan, in 1998 First radar-based system Nissans Cima 41LV-2, a luxury sedan First American ACC model Lexus LS 430, in 2000

Function
Preset

and maintain the car speed Measure the distance to the preceding car and the relative speed Adjust the car speed accordingly Maximum deceleration = 3.5m/s^2

Adaptive Cruise Control

Change

gear automatically Function properly in poor weather condition Cannot pick up non-moving objects Effective in the speed between 30km180km/h

Two types of ACC

Radar-Based

System Three overlapping radar-beams (76-77kHz) -- Detects moving object up to 120 m work in poor weather conditions Laser-Based System (lidar) less expensive and easier to package light beams are narrower than water droplet and snowflakes

Radar-based Adaptive Cruise Control

Modeling in Highway Merging

ACC Controller

ades ( t)
Desired Range

d kv r( t) kp r( t) rd( t) dt

rd ( t )

6.33v

0.48

By R. Sengupta and Q. Xu

Highway Merge-In Scenario

1.

At 0 sec, the preceding vehicle is traveling 12.5 m/s 2. The follower vehicle w/ACC is 150 m behind the preceding vehicle and is traveling at 25 m/s 3. At 10 sec, the third vehicle cut in in between the two vehicles

Simulation in Highway Merging

By R. Sengupta and Q. Xu

Acceleration

Dotted Line = Desired Acceleration Solid Line = Actual Acceleration

By R. Sengupta and Q. Xu

Implementation

Distance Source

Distance Source

ACC Response

CC Response (for comparison)

Question