Adaptive Cruise Control System: Comparing Gain-Scheduling PI and LQ Controllers

P. Shakouri, A. Ordys, Dina Shona Laila, M. Askari

Research output: Contribution to conferencePaper

33 Citations (Scopus)

Abstract

Over the recent years, a considerable growth in the number of vehicles on the road has been observed. This increases importance of vehicle safety and minimization of fuel consumption, subsequently prompting manufacturers to equip cars, with more advanced features such as adaptive cruise control (ACC)or collision avoidance and collision warning system (CWS). This paper investigates two control applications design namely the gain scheduling proportional-integral (GSPI) control and gain scheduling Linear Quadratic (GSLQ)control for ACC, covering a high range speed. The control system consist of two loops in cascade, with the inner loop controlling the vehicle speed and the outer loop switching between the cruise control (CC) and the ACC mode and calculating the reference speed. A nonlinear dynamic model of the vehicle is constructed and then a set of operating points is determined and then a of linear models is extracted in operating point. For each operating point, PI and LQ controllers are obtained off-line. An integrated Simulink model including the nonlinear dynamic vehicle model and the ACC controller (either PI or LQ) was used to test the controllers in various traffic scenarios. Comparison results between the two controllers applications is provided to show the validity of the design.
Original languageEnglish
Pages12964–12969
DOIs
Publication statusPublished - 2011
EventIFAC World Congress - Milan, Italy
Duration: 28 Aug 20112 Sep 2011

Conference

ConferenceIFAC World Congress
CountryItaly
CityMilan
Period28/08/112/09/11

Fingerprint

Adaptive cruise control
Scheduling
Control systems
Controllers
Cruise control
Alarm systems
Collision avoidance
Fuel consumption
Dynamic models
Railroad cars

Bibliographical note

The full text is currently unavailable on the repository.

Keywords

  • linear approximation
  • gain-scheduling PI controller
  • adaptive cruise control
  • longitudinal dynamic of the vehicle

Cite this

Shakouri, P., Ordys, A., Laila, D. S., & Askari, M. (2011). Adaptive Cruise Control System: Comparing Gain-Scheduling PI and LQ Controllers. 12964–12969. Paper presented at IFAC World Congress, Milan, Italy. https://doi.org/10.3182/20110828-6-IT-1002.02250

Adaptive Cruise Control System: Comparing Gain-Scheduling PI and LQ Controllers. / Shakouri, P.; Ordys, A.; Laila, Dina Shona; Askari, M.

2011. 12964–12969 Paper presented at IFAC World Congress, Milan, Italy.

Research output: Contribution to conferencePaper

Shakouri, P, Ordys, A, Laila, DS & Askari, M 2011, 'Adaptive Cruise Control System: Comparing Gain-Scheduling PI and LQ Controllers' Paper presented at IFAC World Congress, Milan, Italy, 28/08/11 - 2/09/11, pp. 12964–12969. https://doi.org/10.3182/20110828-6-IT-1002.02250
Shakouri P, Ordys A, Laila DS, Askari M. Adaptive Cruise Control System: Comparing Gain-Scheduling PI and LQ Controllers. 2011. Paper presented at IFAC World Congress, Milan, Italy. https://doi.org/10.3182/20110828-6-IT-1002.02250
Shakouri, P. ; Ordys, A. ; Laila, Dina Shona ; Askari, M. / Adaptive Cruise Control System: Comparing Gain-Scheduling PI and LQ Controllers. Paper presented at IFAC World Congress, Milan, Italy.
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