Improvement of Adaptive Cruise Control Performance by Considering Initialization States

摘要

Design of the controller in an adaptive cruise control (ACC) system is a critical part which prevents the collision between the host vehicle and the front vehicle. In ACC, system starts to work from an initialization state to a stable state after a short time. Passing from the initialization state to the stable state has not been considered in the previous designs. However for a suitable design, the initialization states that can cause a collision and also the unstable states should be considered. Therefore in this paper first by improving the reference signal and then by using a PID controller and optimizing its gains with BFO optimization algorithm, the system will consider the unstable initialization states. Simulation results show that by improving the reference signal and optimizing the gains of PID controller, not only the collision before the stable state is prevented, but also the performance of the controller is improved 74.2% in safety constraint and 15% in comfort constraint in the specific profile of the front vehicle speed that has several driving situations like hard stop and stop & go.