Cruise Control

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Transcript of Cruise Control

  • Cruise ControlKaren LieEngr 315

  • OutlineIntroduction to Cruise Control CC ModelingCC Simulation

    Introduction to Adaptive ControlACC ModelingACC Simulation

  • Cruise Control SystemInput: buttons on the steering wheel, brake, clutch, gas pedal and feedback signalProcessorSensorOutput: the throttle position

  • Modeling

    Newtons Second Law:Laplace Transform:

  • Transfer Function

  • Design SpecificationRise time < 5 secOvershoot < 10%Steady-State Error < 2%

  • Open-Looped System

  • Closed-Loop w/ PI ControlKp = 100Kp = 800 and Ki = 40

  • weight of the carm = 500 kgPI Control: Kp = 800 and Ki = 40m = 2000 kg

  • Adaptive Cruise ControlSo-called Active Cruise Control (ACC)Traffic flow characteristicsCollision-avoidance systemNot to be considered as a safety feature by automakers

  • BackgroundFirst laser-based system Toyotas Progress, a compact luxury sedan, in 1998First radar-based system Nissans Cima 41LV-2, a luxury sedanFirst American ACC model Lexus LS 430, in 2000

  • FunctionPreset and maintain the car speedMeasure the distance to the preceding car and the relative speedAdjust the car speed accordinglyMaximum deceleration = 3.5m/s^2

  • Adaptive Cruise ControlChange gear automaticallyFunction properly in poor weather conditionCannot pick up non-moving objectsEffective in the speed between 30km-180km/h

  • Two types of ACC Radar-Based System Three overlapping radar-beams (76-77kHz)-- Detects moving object up to 120 m work in poor weather conditionsLaser-Based System (lidar) less expensive and easier to package light beams are narrower than water droplet and snowflakes

  • Radar-based Adaptive Cruise Control

  • Modeling in Highway Merging By R. Sengupta and Q. XuACC ControllerDesired Range

  • Highway Merge-In Scenario1. At 0 sec, the preceding vehicle is traveling 12.5 m/s2. The follower vehicle w/ACC is 150 m behind the preceding vehicle and is traveling at 25 m/s3. At 10 sec, the third vehicle cut in in between the two vehicles

  • Simulation in Highway MergingBy R. Sengupta and Q. Xu

  • AccelerationDotted Line = Desired AccelerationSolid Line = Actual AccelerationBy R. Sengupta and Q. Xu

  • Implementation

  • Distance SourceDistance SourceACC ResponseCC Response (for comparison)

  • Question