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

65 Citations (Scopus)


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
Publication statusPublished - 2011
EventIFAC World Congress - Milan, Italy
Duration: 28 Aug 20112 Sep 2011


ConferenceIFAC World Congress

Bibliographical note

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


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