Adaptive Cruise Control System using Balance-Based Adaptive Control technique

In this paper, a nonlinear Balance-Based Adaptive Control (B-BAC) technique is proposed for the design of an Adaptive Cruise Control (ACC) System. The architecture for ACC system represents the cascade control and it includes two control loops. The B-BAC technique accounts for system nonlinearities and it allows for split range control of both the brake and the throttle so it can be utilized in the design of the inner-loop control, while the outer-loop control is based on a simple proportional controller. The results of the simulation prove the effectiveness of the proposed algorithm in distance and speed tracking as well as providing the smooth variation of the vehicle acceleration.