Optimal Design of an Adaptive Cruise Control System for Driving Comfort and Fuel Economy

M.Z. Che Mustafar, S.A. Abu Bakar, Z. Zainuddin, M.S.F. Mansor, N.H.F. Ismail, M.R. Rani


Adaptive Cruise Control (ACC) is introduced to allow the subject vehicle to follow a target vehicle at a pre-selected time gap, up to a driver-selected velocity by controlling the engine and/or service brakes as defined in SAE J2399. A typical ACC ensures passenger comfort by minimizing the subject vehicle’s rate of acceleration and deceleration when following a target vehicle. However, if the ACC rate of velocity change is too slow, the subject vehicle might not be able to follow the target vehicle at the set time-gap. On the other hand, if the ACC responds too quickly to the changes in the target vehicle velocity, it might cause passenger discomfort and reduce energy efficiency due to the high rate of acceleration and deceleration. Thus, a research gap in ACC is identified, and this paper seeks to investigate an optimal ACC for driving comfort and fuel economy. This paper models the performance of a passenger vehicle with ACC using feedback control in Matlab Simulink. Three types of ACC control systems are simulated and compared; proportional-integral (PI) control, fuzzy logic control (FLC), and Linear-Quadratic Regulator (LQR). The performance of the control systems is simulated using set test scenarios, and an optimal ACC design is selected based on minimum acceleration, deceleration, and jerk performance, as defined in ISO 15622, following performance and minimum fuel consumption. Results show that the LQR controller has the best performance in meeting the ISO 15622, the lowest target vehicle the following root mean square error (RMSE), and the second-lowest New European Drive Cycle (NEDC) urban cycle fuel consumption.


Adaptive Cruise Control (ACC); proportional-integral control; fuzzy logic control; linear quadratic regulator

Full Text:



  • There are currently no refbacks.

Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Copyright © 2020. All rights reserved.
Publisher: Society of Automotive Engineers Malaysia.
eISSN: 2550-2239
ISSN: 2600-8092