Adaptive Cruise Controller Design Without Transitional Strategy

Abstract

The Adaptive cruise control (ACC) systems have been actively studied for the safety enhancement and commercialized for the last five decades. The ACC has been designed not only speed and headway distance controller, but also transition maneuver. In this study, an integrated control algorithm for the ACC is proposed to maintain the speed and the headway distance simultaneously without the transitional strategy. The proposed control algorithm also adjusts the set speed depending on the curvature of the road in coordination with the Lane Keeping (LK) system. The controller is designed based on the constant acceleration model for the real time performance. The proposed algorithm is validated in simulations first and the experimental verification is performed.