Adaptive cruise control simulator: a low-cost, multiple-driver-in-the-loop simulator

This article presents a low-cost, real-time, multiple driver-in-the-loop vehicle simulator. This simulator is used to test ACC scenarios for highway traffic. The vehicle models and simulation maneuvers are created in Simulink. Moderate-complexity vehicle models with both lateral and longitudinal dynamics, incorporating engine and driveline subsystems were developed. A platoon of two vehicles are considered using an acceleration-limited, constant-headway-time control strategy. Several scenarios are designed and tested on the vehicle simulator for both straight-line cruising and cornering of the vehicles. The ACC simulator is easy to construct using off-the-shelf components and can be used for both educational and research purposes.