Design For Adaptive Cruise Control Systems And Performance Analysis Using Matlab And Carsim

Traffic congestion is an important reason for driver frustration which in turn is the main cause of human errors and accidents.Statistics reports have shown that over 90%of accidents are caused by human errors.Therefore,it is vital to improve vehicle controls to ensure adequate safety measures in order to decrease the number of accidents or to reduce the impact of accidents.The goal of this thesis is to study and develop an Adaptive Cruise Control(ACC)system model by utilizing the functionality of Matlab-Simulink and used CARSIM to validate the developed ACC model.An application of mathematical control techniques to the longitudinal dynamics of a vehicle equipped with an adaptive cruise control(ACC)system is presented.This study is carried out for the detailed understanding of a complex ACC vehicle model under critical transitional maneuvers(TMs)in order to establish safe inter-vehicle distance with zero range-rate(relative velocity)behind a preceding vehicle.TMs are performed under the influence of internal complexities from vehicle dynamics and within constrained operation boundaries.The constrained boundaries refer to the control input,states,and collision avoidance constraints.The ACC vehicle is based on a nonlinear longitudinal model that includes vehicle inertial and powertrain dynamics.The overall system modelling includes:complex vehicle models,engine maps construction,controllers modelling(upper-level and lower-level controllers for ACC vehicles).The lower-level controller computes the desired acceleration and deceleration commands for the upper-level controller which then provides the throttle/brake commands for the complex vehicle model.This study model was built based on a Proportional-Integral control strategy(PI).PI is the most appropriate control strategy for upper-level control because it solves the optimal control problem on-line,rather than off-line,for the current states of the system at the same time being able to take into account operation constraints.