A vehicle control algorithm for stop-and-go cruise control

Abstract

A vehicle speed and vehicle-to-vehicle distance control algorithm for vehicle stop-and-go cruise control has been proposed in this paper. The control algorithm consists of speed and distance control algorithms and a combined throttle-brake control law. Linear quadratic optimal control theory has been used to develop a vehicle speed and distance control algorithm. A desired acceleration for the vehicle has been designed on the basis of the vehicle speed and distance control algorithm. Throttle and brake actuators are controlled by the throttle-brake control law so that the vehicle acceleration tracks the desired acceleration. A stepper motor and an electronic vacuum booster have been used for the throttle and brake actuators respectively. The throttle and brake actuators have been tested and the actuator dynamics has been incorporated in the simulation package used in this study. The effects of the model errors and the actuator dynamics on the control performance have been investigated via simulations. It has been shown that the proposed control law provides good performance over the model errors and the actuator dynamics.