Design, Tuning and Evaluation of Integrated ACC/CA Systems

This paper describes design, tuning and evaluation of integrated Adaptive Cruise Control with Collision Avoidance (ACC/CA). The control scheme is designed to control the vehicle so that it would feel natural to the human driver during normal safe driving situations and to completely avoid rear-end collision in vehicle following situations. Driving situations are divided into safe, warning and dangerous mode and three different control strategies have been used depending on driving situations. The driving situations are determined using a non-dimensional warning index and time-to-collision. A confusion matrix method based on manual driving data is used to tune the control parameters of the integrated ACC/CA system. Using a simulation and a validated vehicle simulator, vehicle following characteristics of the controlled vehicle are compared to real-world manual driving radar sensor data. A Hardware-in-theloop Simulation (HiLS) was developed and used for an evaluation of integrated ACC/CA System. Finally the integrated ACC/CA system is implemented in a real vehicle and has been tested in both safe traffic and the severe braking situation. It is shown that the proposed control strategy can provide with natural following performance similar to human manual driving in both high speed driving and low speed stopand-go situations and can prevent the vehicle-to-vehicle distance from dropping to an unsafe level in a variety of driving conditions.