Robust adaptive cruise control system

Abstract

The Adaptive Cruise Control system, is a system that was introduced to aid drivers and reduce traffic congestion. In this thesis, a Stateflow Chart is used to indicate the mode of operation of an Event-Driven Adaptive Cruise Control [ACC], using a simplified nonlinear longitudinal vehicle model. A hierarchical control structure is implemented, where the Stateflow Chart combined with the Proportional-Integral [PI] and Linear Quadratic Regulators [LQR] controllers compose the upper-level controller, while the brake torque and throttle actuator constitute the lower-level controller. The advantages of introducing an Event-Driven ACC are shown by introducing new events, which leads to added operational modes to the conventional ACC. The obtained models performance, is tested using multiple scenarios. The transitions between modes is determined using measurements conveyed by pressure and range sensors.