Robust Design of PID Based ACC S&G Systems

Abstract

In this paper an ACC Stop and Go control design procedure is proposed by taking into account generic performance requirements. It will be described that safeness and comfort features can be considered in the control scheme by suitably exploiting the speed reference generation strategy. It will be shown how the vehicle longitudinal dynamics can be characterized and identified by using standard vehicle documentation and field recorded data by means of interval plant families. Using this plant description, very simple P and PI robust controller can be used to regulate the vehicle dynamics according to a prescribed speed reference profile.