Adaptive Cruise Control on an Electric Robotic Vehicle

Abstract

Adaptive Cruise Control (ACC), mostly equipped on high end vehicles, is an optional cruise control system which automatically adjusts the vehicle speed and maintains a safe distance ahead. The control strategy for ACC, which has been developed for decades, is still well worth being researched. In this thesis, a hierarchical control system architecture was proposed, which divides the controllers into supervisory ones and vehicle level ones. Three control methods, named linear quadratic regulator (LQR), robust LQR (RLQR), and robust composite nonlinear feedback (RCNF) control, were applied as supervisory controllers respectively. And the active disturbance rejection control (ADRC) was chosen as the vehicle level controller. An electric robotic vehicle was built for demonstration and validation. Simulations and experiments were carried out with detailed discussions, which provide a guidance towards future research.