Double-Regulated Active Cruise Control for a Car Model with Nonlinear Powertrain Design

The need for autonomous vehicles has started rising rapidly. Many autonomous technologies, such as Cruise Control, the self-parking system, and the emergency braking system, are implemented in contemporary cars. These systems do not make the car fully autonomous; however, they allow people to get used to the idea of self-driving cars. Due to a surge of interest in autonomous systems, the development of these technologies has begun. This paper presents a model of Adaptive Cruise Control with a control system, which consists of two PID regulators. Using two PID regulators provides the possibility of more advanced regulation characteristics than using the classical one-PID regulation system. One of them regulates the powertrain model, the other the braking system model. The simulations are carried out using a vehicle dynamic system, whose thrust is determined by a real engine maximum torque curve that is approximated by combinations of polynomial functions. Due to the non-linearity, caused by the motor's curve and the use of two regulators, the PID tuning algorithm has been created. The algorithm provides satisfying results, followed by a marginal difference between the requested safe distance and actual distance value. The Active Cruise Control system has been tested using normalized driving cycles, which simulate the real behaviour of a car. The simulation results prove double-PID-regulated ACC's accuracy and speed of response in different states of motion.