Adaptive cruise control for an intelligent vehicle

Abstract

In this research, an adaptive cruise control system is developed and implemented on an AIT intelligent vehicle. To develop the adaptive cruise control system, the original throttle system and braking system of the vehicle have to be modified. The original throttle valve which is controlled by a cable from the accelerator pedal is modified to the drive-by-wire system by using a dc motor with a position control algorithm. The braking system is modified by using a dc servo motor to directly control the brake pedal. A proportional and derivative control with error compensation algorithm is proposed to perform the velocity control mode. In the distance control mode, a fuzzy logic algorithm is applied. Inputs of the fuzzy controller are distance error and relative velocity read from a laser range finder. The experiments on a racing circuit show that the vehicle can perform adaptive cruise control efficiently.