Actuator in loop simulation and design of preceding vehicle tracking controller for ACC system

To quickly evaluate the controller's performance and promote the simulation accuracy for the adaptive cruise control (ACC) system, the actuator in loop simulation (AILS) platform consisting of electronic throttle and active braking hardware system was built. A preceding vehicle tracking controller was designed with a fuzzy feed-forward and PI feedback controller. To keep the safe distance between vehicles, the designed tracking controller uses distance error and velocity error as its inputs. AILS simulation indicates that the simulation platform works well and the preceding vehicle tracking controller could function properly with insensitivity to the change of vehicle parameter and environment disturbance.