Adaptive Cruise Control (ACC) is the function of advanced driver assistance system in the longitudinal vehicle dynamics to maintain the desired distance and the safe speed from the preceding vehicle. In this paper, we design for ACC vehicle with two controllers. The upper level controller calculates the desired acceleration to get sensors of the ACC vehicle and the lower level controller determines the throttle angle to calculate the necessary torque. The leader vehicle is assumed to follow a reference velocity set by the driver and the objective for ACC vehicle is to follow the preceding vehicle at a desired distance that depends on the vehicle. The simplified dynamics model for vehicle is considered in Longitudinal Vehicle Dynamics and is used in the development of the lower level controller. The simulation results obtained in Matlab/Simulink to show the efficiency of developed control law.
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