Design of a Longitudinal Vehicle Velocity Tracking Controller Using a Lead Screw and Cam-Type Actuator

The main concern of this paper focuses on the control of the vehicle longitudinal velocity with the use of a lead screw-type throttle pedal actuator and a cam-type brake actuator. With the input data from the vehicle CAN which provides the real-time wheel speeds and throttle angle, and from the encoder attached on the brake pedal which provides the brake pedal angle, a cascaded PID controller is designed. A confirmatory assessment of the entire system is arranged via actual experiments involving severe acceleration and deceleration with the aid of dSPACE MicroAutoBox and Matlab/Simulink.