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2021_Kirby_Timothy_MSME.pdf (3.48 MB)

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Design and Implementation of an Adaptive Cruise Control Algorithm

Kirby, Timothy Joseph
http://orcid.org/0000-0002-6235-9209
http://rave.ohiolink.edu/etdc/view?acc_num=osu1626889287593463

Abstract Details

2021, Master of Science, Ohio State University, Mechanical Engineering.
The EcoCAR Mobility Challenge is a student competition that tasks universities across North America with the hybridization and SAE Level 2 automation of a 2019 Chevy Blazer. In years 2 and 3 of the competition, the Ohio State EcoCAR team committed considerable effort to the development of an adaptive cruise control (ACC) feature. This paper provides a detailed discussion of what motivated the selection of a modified PID controller as the control method of choice for ACC. The state flow used by the team to achieve independent distance and velocity control is also reviewed. After designing the controller, the team performed particle swarm optimization to identify the ideal proportional, integral, and derivative gain values. In doing so, the team managed to greatly reduce maximum acceleration, RMS acceleration, and maximum jerk in simulation. While doing so, the efficiency of the vehicle was also improved by 8.45 percent. Then, in order to validate the real-world performance of the novel adaptive cruise controller, the team conducted a full range of anything-in-the-loop (XIL) testing. Across model, hardware, and vehicle closed-loop testing, Ohio State identified and resolved numerous potential issues in the controller and its implementation in the vehicle. Additionally, the safety and comfort of the ACC feature were verified across all testing environments, affirming the fidelity of the model and preparing the team for in-vehicle testing. Lastly, using a real target vehicle and live sensor data, Ohio State performed approach tests that demonstrate the functionality of its ACC in a real-world environment.
Shawn Midlam-Mohler (Advisor)
Giorgio Rizzoni (Committee Member)
95 p.
Automotive Engineering; Mechanical Engineering
adaptive cruise control; XIL; ADAS; ACC; PID; particle swarm optimization; PSO; HIL; VIL; automated driving

Recommended Citations

Citations

  • Kirby, T. J. (2021). Design and Implementation of an Adaptive Cruise Control Algorithm [Master's thesis, Ohio State University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=osu1626889287593463

    APA Style (7th edition)

  • Kirby, Timothy. Design and Implementation of an Adaptive Cruise Control Algorithm. 2021. Ohio State University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=osu1626889287593463.

    MLA Style (8th edition)

  • Kirby, Timothy. "Design and Implementation of an Adaptive Cruise Control Algorithm." Master's thesis, Ohio State University, 2021. http://rave.ohiolink.edu/etdc/view?acc_num=osu1626889287593463

    Chicago Manual of Style (17th edition)

osu1626889287593463
1,762
© 2021, all rights reserved.
This open access ETD is published by The Ohio State University and OhioLINK.