Adaptive Cruise Control System Using Fuzzy Logic
M Abdelwahab, M Abdelaziz, N.Elnahas
Automotive Department, Faculty of Engineering Ain shams university
Cairo, Egypt
Mohamed_abdelwahab2010@hotmail.com, Mohamed_abdelaziz@eng.asu.edu.eg, nabilaeg22@hotmail.com
AbstractAdaptive cruise control provides assistance to the
driver in the task of longitudinal control of their vehicle during
motorway driving. The system controls the accelerator, engine
powertrain and vehicle brakes to maintain a desired time-gap to
the vehicle ahead. This new approach has shown that following
with a system can provide considerable reductions in the
variation of acceleration compared to manual driving. This
indicates a potential comfort gain for the driver and
environmental benefits.
This paper describes the design of the adaptive cruise control
algorithm, which is based on fuzzy logic and focuses on the driver
and situational adaptive functions.
KeywordsAdaptive Cruise Control, fuzzy logic, longitudinal
vehicle dynamics
I. INTRODUCTION
Rear-end collisions are the logical starting point for
accident prevention, as they are the most common type of
crash. Of the nearly 6.2 million police-reported collisions in
2005, 29.6 percent were rear-end collisions, according to the
National Highway Traffic Safety Administration (NHTSA,
www.nhtsa.gov). An ACC system can help reduce the
likelihood of a collision with the vehicle in front, since the
system can apply the brakes more quickly than a driver can
react. But even if the adaptive cruise control system applies
the brakes, the driver must take over, as most current systems
will only slow the vehicle down, not bring it to a stop.
However, there are several ACC systems on the market that
will bring a vehicle to a complete stop in traffic, and then
accelerate back to cruising speed as traffic lanes open.
Some drivers have a tendency to slam on their brakes and
use heavy throttle in traffic. Many new vehicles have an
advanced version of ACC that operates in stop-and-go traffic
and can help alleviate this problem, as ACC systems have
been proven to modulate brakes and throttle much smoother
than most drivers could, thus nearly eliminating this
congestion-forming phenomenon.
Traditional cruise control-first offered in the United States on
1958 Chrysler models-certainly comes in handy on long
drives. But cruise control has one drawback: it relies on the
driver to judge the "closing" distance between their vehicle
and the one in front. As automotive technology continues to
evolve, traditional cruise control is gradually being replaced
by adaptive cruise control (ACC).
Adaptive cruise control-a more technologically advanced
version of the traditional cruise control system-allows drivers
to maintain a pre-set speed while the system automatically
monitors the traffic patterns and adjusts the "closing" distance
by using the throttle and the brakes to maintain a pre-set
distance behind the vehicle ahead. Unlike traditional cruise
control systems that are only linked to the throttle for limited
acceleration capabilities, adaptive cruise control "reads" traffic
conditions and modulates the throttle and the brakes to keep
the vehicle a safe distance from the vehicle in front of it. The
earliest versions of adaptive cruise control were designed
exclusively for driving at higher speeds and did not work at
speeds below 20 miles per hour or in stop-and-go situations.
II.CURRENT STATE OF ART
This work is focuses on todays level of ACC, so highway
traffic at higher speed range is used for evaluation. The
experimental vehicle was provided with many sensors and
signals from electronic control units or from separate
measurement sensors. The most important raw data we
collected were the speed of the car, the relative speed in
relation to the vehicle in front and headway distance,
additional signals were also recorded describing the
longitudinal and lateral dynamics of the car. The data obtained
will later be used for validation of the whole vehicle model,
but for initial simulations an ideal vehicle is used.
III.MATHMATICAL MODEL
To evaluate the ACC system using fuzzy logic controller
before applying ACC system in the so a mathematical model is
built for the vehicle dynamics and human driver.
A. Identify the Vehicle Systems
Build model for each system in the vehicle which represent
the ACC system. The vehicle have throttle by wire and two
braking system, the first was conventional and the second was
brake by wire system (see Fig. 1).
B. Identify Inputs and Outputs
 The inputs to the system such as throttle pedal and brake
pedal position, engine rpm, vehicle speed and signal from Overtaking.
sensor which located in front of the car that indicate the
distance between the vehicle and anything located in the front
from it ( see Fig. 1). Outputs from the ACC system are signals 3
to the throttle by wire actuator and brake by wire actuator.
C. Define the Scenarios
According to the literature sources, scenarios are defined
which correspond to typical motorway traffic, where ACC
should take control in the same way as a driver does. These
Cut-in scenario.
scenarios are briefly reviewed in Fig. 2.

Figure 2: Scenarios for driving cases

Matlab / Simulink is used to build engine, clutch, throttle

and brakes systems model and fuzzy logic map.
D. Fuzzy Logic Controller

Position feedback
Fuzzy matrix is built between vehicle speed and the
Brake by wire
distance between the vehicle and the target. Outputs are
actuator decided as shown in table 1.

Figure 1: Inputs and outputs of the ACC system

As shown in table 1 vehicle speed is identified in 3 modes ,
slow, medium and high and target distance is identified in 3
cases, short , medium and long and the output is corresponding
case Scenarios to vehicle speed mode and target distance target.
Our model based on :
Decelerating from cruising speed to the speed of the target vehicle. m*a= F (1)
Which is m is vehicle mass, a is vehicle longitudinal
acceleration and F is sum. of forces braking force , rolling
1 resistance and air resistance force.
By integrating the acceleration, the distance which the
vehicle moved is calculated. Simulate the target distance by
constant or signal builder.
The input to the fuzzy logic toolbox is the vehicle speed
Decelerating from cruising speed to the speed of the target vehicle and the deference between the target distance and the vehicle
then overtaking. moved distance, the outputs of the fuzzy logic toolbox are
actions for throttle by wire actuators and brake by wire
2 actuator according to the scenario case.
Finally by modeling, velocity, acceleration response of the
vehicle is obtained that can achieve the scenarios.
IV.TESTING AND ANALYSIS RESULTS

A. practical test
Test the vehicle with the fuzzy logic controller and collect
data and results by data acquisition such as vehicle speed,
acceleration and target distance in each scenario.
Table 1: Fuzzy matrix of simple fuzzy logic for ACC controller. REFERENCES
Target vehicle speed
distance [1] Johan Bengtsson Adaptive Cruise Control and Driver Modeling,
Slow Medium Fast
November 2001.
Short Med. brake Decrease Hard brake [2] 5th Meeting of the U.S. Software System Safety Working Group April
acceleration then 12th-14th 2005 Adaptive Cruise Control System Overview.
brake [3] S.PAUL SATHIYAN SOFT COMPUTING BASED ADAPTIVE
Medium Decrease Decrease Decrease acceleration CRUISE CONTROL
acceleration acceleration then Med. brake [4] Lanik O., Fuzzy Logic Adaptive Cruise Control Controller with
Extended Adaptive Functions, Mecca 4/2004, ISSN 1214-0821
Long No action Decrease Decrease acceleration
[5] Holve R., Protzel P., Bernasch J., Naab K.(1995) Adaptive Fuzzy
acceleration then
Control for Driver
brake
[6] Assistance in Car-Following, Proceedings of the 3rd European Congress
on Intelligent Techniques and Soft Computing - EUFIT 95. Aachen,
Germany, pp. 1149-1153

B. Data analyzing
After tested the system, compared the results between the
practical test and the mathematical model and analyzed them.

V.CONCOLOSION
Adaptive Cruise Control (ACC) is an automotive feature
that allows a vehicle's cruise control system to adapt the
vehicle's speed to the traffic environment. A radar system
attached to the front of the vehicle is used to detect whether
slower moving vehicles are in the ACC vehicle's path. If a
slower moving vehicle is detected, the ACC system will
slow the vehicle down and control the clearance, or time
gap, between the ACC vehicle and the forward vehicle. If
the system detects that the forward vehicle is no longer in
the ACC vehicle's path, the ACC system will accelerate the
vehicle back to its set cruise control speed. This operation
allows the ACC vehicle to autonomously slow down and
speed up with traffic without intervention from the driver.
The method by which the ACC vehicle's speed is controlled
is via engine throttle control and limited brake operation and
using fuzzy logic controller can do a lot of control tasks and
simulate what is happen in the fact such as the driving style
change and influence of target distance.