Adaptive Cruise Control with a Customized Electronic Control Unit

This paper aims the development of adaptive cruise control (ACC) system, a technology of advanced driver assistance systems (ADAS), in an embedded application. This research has at its disposal a vehicle with a customized electronic control unit, with functions to support the study of ADAS. An ACC module was produced to allow the insertion of embedded controllers, communicating with the vehicle network and with a radar for future on-road applications. The dynamic model of the vehicle was estimated using the system identification theory, and a model validation was performed. The control system was divided in a cascade control loop, being the outer loop controller responsible for computing the cruise speed and the inner loop for tracking such speed. The outer loop controller was performed using a switching logic between cruise control and ACC modes. The inner loop controller was designed with the Dahlin control theory. The validation of the controllers was performed using a safe and controlled environment, with a dynamometer.