CRUISE CONTROL SYSTEMS

CHAPTER 3
UNDERSTAND THE CRUISE CONTROL
SYSTEM
1. Control System Theory
2. Proportional Control System
3. Proportional Integral Derivative Control ( PID
Control )
4. Integral Of Speed Is Distance
5. Derivative Of Speed Is Acceleration
6. Adaptive Cruise Control
7. Radar Headway Sensor
8. Digital Signal Processor
9. Longitudinal Controller

introduction
CRUISE CONTROL SYSTEM
INPUT

setting buttons on
the steering wheel
gas pedal
brake
Clutch
the feedback
signal of the cruise
control

PROCESSOR

to control the
speed of the car
by utilizing the
control system
theory.
OUTPUT

the throttle
position, which
is corresponding
to the actual
speed of the car

- Cruise control system control the speed of the car by maintaining the
constant speed set by the driver.
- Therefore, cruise control system can help reduce drivers fatigue in driving
a long road trip.

There are usually 3-5 setting buttons on the steering
wheels for the input to the cruise control system

The ON button turns on the cruise control function.
The OFF button turns off the cruise control function.
The SET/ACCEL button is to set the speed of the car to
the current speed that the car is driving at.
Also, by tapping the SET/ACCEL button once can
increase the speed of the car by 1mph and so forth.
The RESUME button is to set the speed of the car back
to the last maintained speed, which is the speed right
before the cruise control is disengaged.
The COAST button is to decrease the speed of the car.

THE BRAKE AND THE CLUTCH are the other inputs to the
cruise control system. When the pedal is pressed, the cruise
control system is disengaged, so the speed control of the car
is taken over by the driver in adjusting the gas pedal and the
brake.
The speed for the cruise control can be set by pressing
the GAS PEDAL to accelerate the car to the desired speed,
and then hitting the SET button. Also, when the cruise
control is engaged, the gas pedal overrides the set speed
from the cruise control, so the car accelerates as long as the
gas pedal is pressed.
Finally, the feedback signal from the measured speed of
the car is taken into account of the input of the curse control
system. This input is closely related to the control system of
the cruise control.
1.Control System Theory
A cruise control system needs to accelerate to the desired
speed in a short time without overshooting the speed of
the car. Also, it needs to maintain the speed with little
deviation, when the car is driving up or down a steep hill.
The cruise control system in a vehicle is studied in details.

FIRST- control concepts in cruise control system are
investigated.
SECOND - simplified cruise control models are
developed and simulated.
THIRD - an introduction to adaptive cruise control
system is presented. Fourth, modeling of adaptive cruise
control system in a traffic simulation is carried.
FOURTH the future development of the advanced
adaptive cruise control system is presented
2. Proportional Control System

Proportional Control System
A proportional control system is a type of linear
feedback control system.
Two classic mechanical examples are the toilet bowl
float proportioning valve and the fly-ball governor.
The proportional control system is more complex
than an on-off control system like a bi-metallic
domestic thermostat, but simpler than a
proportional-integral-derivative (PID) control system
used in something like an automobile cruise control.


3. Proportional Integral Derivative
Control ( PID Control )
The PID controller is the most common form of feedback.
PID controllers are today found in all areas where control is used.
The controllers come in many different forms.
There are standalone systems in boxes for one or a few loops,
which are manufactured by the hundred thousand yearly. PID
control is an important ingredient of a distributed control system.
The controllers are also embedded in many special purpose
control systems.
PID control is often combined with logic, sequential functions,
selectors, and simple function blocks to build the complicated
automation systems used for energy production, transportation,
and manufacturing.
Many sophisticated control strategies, such as model predictive
control, are also organized hierarchically.
Cont
PID control is used at the lowest level; the multivariable
controller gives the set points to the controllers at the lower
level.
It is an important component in every control engineers tool
box. PID controllers have survived many changes in technology,
from mechanics and pneumatics to microprocessors via
electronic tubes, transistors, integrated circuits.
The microprocessor has had a dramatic influence on the PID
controller. Practically all PID controllers made today are based
on microprocessors.
This has given opportunities to provide additional features like
automatic tuning, gain scheduling, and continuous adaptation.

FEEDBACK
4. Integral Of Speed Is Distance
The integral function to convert the input velocity
to distance.
The figure below shows the integrator block from
MATLAB Simulink convert the velocity to distance.

5. Derivative Of Speed(velocity) Is
Acceleration
The derivative function is to convert the input
velocity to acceleration.
The figure below shows the integrator block from
MATLAB Simulink convert the velocity to
acceleration.

/Speed
6. Adaptive Cruise Control (ACC)
(ACC) is an automotive feature that allows a vehicle's cruise control
system to adapt the vehicle's speed to the traffic environment.
A radar system attached to the front of the vehicle is used to detect
whether slower moving vehicles are in the ACC vehicle's path.
If a slower moving vehicle is detected, the ACC system will slow the
vehicle down and control the clearance, or time gap, between the ACC
vehicle and the forward vehicle.
If the system detects that the forward vehicle is no longer in the ACC
vehicle's path, the ACC system will accelerate the vehicle back to its set
cruise control speed.

This operation allows the ACC vehicle to autonomously slow down and
speed up with traffic without intervention from the driver.
The method by which the ACC vehicle's speed is controlled is via
engine throttle control and limited brake operation.
Adaptive cruise control (ACC) system takes the traffic flow into
consideration in controlling the speed of a vehicle. ACC system not
only maintains the pre-set speed of a vehicle, likes a conventional
cruise control system does, but it also maintains a constant distance
between the vehicle and the vehicle ahead by adapting the speed.
Vehicle equipped with ACC system has a forward-looking sensor at
the front of the vehicle to detect the relative speed of the preceding
vehicle and the distance in between the two vehicles. Therefore, the
difference between an ACC system and a CC system is that ACC
system has the ability to adapt the speed of the preceding vehicle.

The ACC system consists of a series of interconnecting components and
systems. The method of communication between the different modules is via a
serial communication network known as the Controller Area Network (CAN).
ACC Module The primary function of the ACC module is to process the
radar information and determine if a forward vehicle is present. When the ACC
system is in 'time gap control', it sends information to the Engine Control and
Brake Control modules to control the clearance between the ACC Vehicle and
the Target Vehicle.
Engine Control Module The primary function of the Engine Control Module
is to receive information from the ACC module and Instrument Cluster and
control the vehicle's speed based on this information. The Engine Control
Module controls vehicle speed by controlling the engine's throttle.
Brake Control Module The primary function of the Brake Control Module is
to determine vehicle speed via each wheel and to decelerate the vehicle by
applying the brakes when requested by the ACC Module. The braking system
is hydraulic with electronic enhancement, such as an ABS brake system, and is
not full authority brake by wire.
Instrument Cluster The primary function of the Instrument Cluster is
to process the Cruise. Switches and send their information to the ACC
and Engine Control Modules. The Instrument. Cluster also displays text
messages and telltales for the driver so that the driver has information
regarding the state of the ACC system.
CAN The Controller Area Network (CAN) is an automotive standard
network that utilizes a 2 wire bus to transmit and receive data. Each
node on the network has the capability to transmit 0 to 8 bytes of data
in a message frame. A message frame consists of a message header,
followed by 0 to 8 data bytes, and then a checksum. The message
header is a unique identifier that determines the message priority. Any
node on the network can transmit data if the bus is free. If multiple
nodes attempt to transmit at the same time, an arbitration scheme is
used to determine which node will control the bus. The message with
the highest priority, as defined in its header, will win the arbitration and
its message will be transmitted. The losing message will retry to send its
message as soon as it detects a bus free state.

Cruise Switches
The Cruise Switches are mounted on the steering
wheel and have several buttons which allow the
driver to command operation of the ACC system.
The switches include:
1. On - place system in the 'ACC standby' state
2. Off - cancel ACC operation and place system in the
'ACC off' state
3. Set + - activate ACC and establish set speed or
accelerate
4. Coast- decelerate
5. 'Resume - resume to set speed
6. 'Time Gap + - increase gap
7. 'Time gap - decrease gap
Brake Switches There are two brake switches,
Brake Switch 1 (BS1) and Brake Switch 2 (BS2).
When either brake switch is activated, Cruise
Control operation is deactivated and the system
enters 'ACC standby' state.
Brake Lights When the Brake Control Module
applies the brakes in response to an ACC request,
it will illuminate the brake lights to warn vehicles
behind the ACC vehicle that it is decelerating.
ADAPTIVE CRUISE CONTROL
Adaptive cruise control is similar to conventional
cruise control in that it maintains the vehicle's pre-
set speed. However, unlike conventional cruise
control, this new system can automatically adjust
speed in order to maintain a proper distance
between vehicles in the same lane. This is achieved
through a radar headway sensor, digital signal
processor and longitudinal controller. If the lead
vehicle slows down, or if another object is detected,
the system sends a signal to the engine or braking
system to decelerate. Then, when the road is clear,
the system will re-accelerate the vehicle back to the
set speed.
7. Radar Headway Sensor
The sensor of the ACC system detects the vehicle ahead through
the use of either radar or lidar. Lidar is light detecting and
ranging, and it is a laser-based analog to radar. Also, Lidar is less
expensive to produce and is easier to package. However, it
performs poorly in rain and in snow. The light beams of lidar are
narrower than water droplets and snowflakes, so it pushes down
the signal-to-noise ratio in bad weather. The bad weather
situation can be detected by the ACC system from the rapid
setting of windshield wipers, the activating of the anti-brake
system, or the slipping of tires on turn.
On the other hand, the radar sensor in ACC system can detect
moving vehicle at distance up to 120 m or even 150 m in fog,
heavy rain or other weather conditions. The radar typically
operates in the millimeter-wave region at 76-77 Ghz. These high
frequencies of the radar can reduce the antenna size, so the car
manufacturers can mount the radar inside a cars front grille
without changing the shape or the construction of the vehicle.
8. Digital Signal Processor
The processor of a cruise control is a control system
designed to obtain the speed set by the driver. It plays an
important role in the cruise control system. The
processor is integrated with electronic components to a
system transfer function, which is discussed under the
control system of cruise control in detail.
9. Longitudinal Controller
The longitudinal controller is the part of the automotive
adaptive cruise control system that decides the
minimum allowable separation from the car ahead and
when and how to adjust the car's speed (via throttle
control and/or braking).