ADAPTIVE CRUISE CONTROL

SYSTEM

16AU415 – ATVS Unit – 1 Introduction Examples of Autonomy - Speed Control Prepared by Mr. D. Rajesh Kumar, AP/Auto
 INTRODUCTION:-
What is Adaptive Cruise Control?
• Adaptive Cruise Control (ACC) is an automotive
feature that allows a vehicle's cruise control system to
adapt the vehicle's speed to the traffic environment.
• A radar system attached to the front of the vehicle
is used to detect whether slower moving vehicles are in
the ACC vehicle's path

16AU415 – ATVS Unit – 1 Introduction Examples of Autonomy - Speed Control Prepared by Mr. D. Rajesh Kumar, AP/Auto
 PRINCIPLE:-

How does it work?

If a slower moving vehicle is detected, the ACC system will
slow the vehicle down and control the clearance, or time gap, between
the ACC vehicle and the forward vehicle. If the system detects that the
forward vehicle is no longer in the ACC vehicle's path, the ACC system
will accelerate the vehicle back to its set cruise control speed. This
operation allows the ACC vehicle to autonomously slow down and speed
up with traffic without intervention from the driver. The method by
which the ACC vehicle's speed is controlled is via engine throttle control
and limited brake operation.

16AU415 – ATVS Unit – 1 Introduction Examples of Autonomy - Speed Control Prepared by Mr. D. Rajesh Kumar, AP/Auto
 PHYSICAL OVERVIEW:-

16AU415 – ATVS Unit – 1 Introduction Examples of Autonomy - Speed Control Prepared by Mr. D. Rajesh Kumar, AP/Auto
 DEFINITIONS:-
 Adaptive Cruise Control (ACC) – An enhancement to a conventional
cruise control system which allows the ACC vehicle to follow a forward
vehicle at an appropriate distance.
 ACC vehicle – the subject vehicle equipped with the ACC system.
 Active brake control – a function which causes application of the brakes
without driver application of the brake pedal.
 Clearance – distance from the forward vehicle's trailing surface to the
ACC vehicle's leading surface.

16AU415 – ATVS Unit – 1 Introduction Examples of Autonomy - Speed Control Prepared by Mr. D. Rajesh Kumar, AP/Auto
 Forward vehicle – any one of the vehicles in front of and moving in the
same direction and traveling on the same roadway as the ACC vehicle.
 Set speed – the desired cruise control travel speed set by the driver
and is the maximum desired speed of the vehicle while under ACC
control.
 Target vehicle – one of the forward vehicles in the path of the ACC
vehicle that is closest to the ACC vehicle.
 Time gap – the time interval between the ACC vehicle and the target
vehicle. The 'time gap' is related to the 'clearance' and vehicle speed by:
time gap = clearance / ACC vehicle speed

16AU415 – ATVS Unit – 1 Introduction Examples of Autonomy - Speed Control Prepared by Mr. D. Rajesh Kumar, AP/Auto
 Different STATES (MODES) in ACC System-

 ACC off mode

 ACC standby mode
 ACC active mode. This consists of the following 2 modes-
 ACC speed control mode
 ACC time gap control mode

16AU415 – ATVS Unit – 1 Introduction Examples of Autonomy - Speed Control Prepared by Mr. D. Rajesh Kumar, AP/Auto
 COMPONENTS OF AN ACC SYSTEM:-
1) ACC Module – The primary function of the ACC module is to process the radar
information and determine if a forward vehicle is present.
2) Engine Control Module – The primary function of the Engine Control Module is to
receive information from the ACC module and Instrument Cluster and control the
vehicle's speed based on this information.

3) Brake Control Module – The primary function of the Brake Control Module is to
determine vehicle speed via each wheel and to decelerate the vehicle by applying the
brakes when requested by the ACC Module.

4) Instrument Cluster – The primary function of the Instrument Cluster is to process

the Cruise Switches and send their information to the ACC and Engine Control
Modules.

5) CAN – The Controller Area Network (CAN) is an automotive standard network that
utilizes a 2 wire bus to transmit and receive data. Each node on the network has the
capability to transmit 0 to 8 bytes of data in a message frame.

16AU415 – ATVS Unit – 1 Introduction Examples of Autonomy - Speed Control Prepared by Mr. D. Rajesh Kumar, AP/Auto
 6) Cruise Switches – The Cruise Switches are mounted on the steering wheel and
have several buttons which allow the driver to command operation of the ACC
system. The switches include:
On : place system in the 'ACC standby' state
Off : cancel ACC operation and place system in the 'ACC off' state
Set + : activate ACC and establish set speed or accelerate
Set - : decelerate
Res : resume to set speed
Coast: To decelerate or cancel the ACC system

Cruise control switch Mounted on steering wheel

Prepared by Mr. D. Rajesh Kumar, AP/Auto
16AU415 – ATVS Unit – 1 Introduction Examples of Autonomy - Speed Control
 7) Brake Switches (BS) – There are two brake switches, Brake Switch 1 (BS1) and
Brake Switch 2 (BS2). When either brake switch is activated, Cruise Control
operation is deactivated and the system enters 'ACC standby' state.

8) Brake Lights – When the Brake Control Module applies the brakes in response to
an ACC request, it will illuminate the brake lights to warn vehicles behind the ACC
vehicle that it is decelerating.

9) Sensors/Radars – Currently 4 types of radars are available. They are-

 LIDAR (Light Detection and Ranging)
 RADAR ( Radio Detection and Ranging)
 VISION SENSORS
 ULTRASONIC SENSOR

16AU415 – ATVS Unit – 1 Introduction Examples of Autonomy - Speed Control Prepared by Mr. D. Rajesh Kumar, AP/Auto
 LIDAR- The first ACC system introduced by Toyota used this
method. By measuring the beat frequency difference between a
Frequency Modulated Continuous light Wave (FMCW) and its
reflection.

JEEP GRAND CHEROKEE ADAPTIVE

CRUISE CONTROL
SENSOR PLACED BELOW THE GRILL

RADAR- RADAR is an electromagnetic system for the detection and location of

reflecting objects like air crafts, ships, space crafts or vehicles. It is operated by
radiating energy into space and detecting the echo signal reflected from an
object (target). Most of the current ACC systems are based on 77GHz RADAR
sensors. The RADAR systems have the great advantage that the relative velocity
can be measured directly, and the performance is not affected by heavy rain and
fog.
16AU415 – ATVS Unit – 1 Introduction Examples of Autonomy - Speed Control Prepared by Mr. D. Rajesh Kumar, AP/Auto
 FUSION SENSOR- The new sensor system introduced by Fujitsu Ten Ltd. and Honda
through their PATH program includes millimeter wave radar linked to a 640x480 pixel
stereo camera with a 40 degree viewing angle. These two parts work together to track the
car from the non-moving objects. While RADAR target is the car’s rear bumper, the stereo
camera is constantly captures all objects in its field of view.

16AU415 – ATVS Unit – 1 Introduction Examples of Autonomy - Speed Control Prepared by Mr. D. Rajesh Kumar, AP/Auto
 CONTROL SYSTEM INTERFACES:-

16AU415 – ATVS Unit – 1 Introduction Examples of Autonomy - Speed Control Prepared by Mr. D. Rajesh Kumar, AP/Auto
 PHYSICAL
LAYOUT OF
ACC SYSTEM:-

16AU415 – ATVS Unit – 1 Introduction Examples of Autonomy - Speed Control Prepared by Mr. D. Rajesh Kumar, AP/Auto
 ADVANTAGES:-

1. The driver is relieved from the task of careful acceleration,

deceleration and braking in congested traffics.

2. A highly responsive traffic system that adjusts itself to avoid accidents

can be developed.

3. Since the braking and acceleration are done in a systematic way, the
fuel efficiency of the vehicle is increased.

16AU415 – ATVS Unit – 1 Introduction Examples of Autonomy - Speed Control Prepared by Mr. D. Rajesh Kumar, AP/Auto
 DISADVANTAGES:-
1. A cheap version is not yet realized.
2. A high market penetration is required if a society of intelligent
vehicles is to be formed.
3. Encourages the driver to become careless. It can lead to severe
accidents if the system is malfunctioning.
4. The ACC systems yet evolved enable vehicles to co-operate with
each other vehicles and hence do not respond directly to traffic
signals.

16AU415 – ATVS Unit – 1 Introduction Examples of Autonomy - Speed Control Prepared by Mr. D. Rajesh Kumar, AP/Auto