Design of the adaptive acceleration tracking controller in driver assistance system

For meeting the requirements of acceleration tracking control in the real vehicle embedded control of driver assistance system, an adaptive acceleration controller is designed. A dynamics analysis confirms that a specific stable acceleration can be achieved under certain throttle opening or braking pressure, based on which throttle opening and braking pressure inquiry maps for acceleration control under nominal conditions are obtained by off line calculations. An adaptive acceleration adjustment mechanism is designed for enabling the acceleration tracking control by using inquiry maps in nominal conditions even when the parameters of vehicle and environment are changed. The results of simulation and real vehicle test show that the adaptive acceleration tracking controller has a simple operation and control process and can effectively fulfill the tracking control of real acceleration toward its desired value in real vehicle embedded control. In addition, it also has certain adaptation capability to the changes of vehicle and environment parameters.