Cruise Control

Karen Lie
Engr 315
 Outline
► Introduction to Cruise Control
► CC Modeling
► CC Simulation

► Introductionto 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

Newton’s Second Law:

dv
m  b v ( t) u( t)
dt

Laplace Transform:
m s  V( s )  b  V( s ) U( s )
Transfer Function
Y( s ) 1
U( s ) m s  b
 Design Specification
► Risetime < 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 – Toyota’s
Progress, a compact luxury sedan, in 1998
► First radar-based system – Nissan’s 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 30km-
180km/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)
d

kv  r( t)  kp  r( t )  rd ( t)
dt


Desired Range
0.48
rd ( t) 6.33 v 2

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