Fuzzy Adaptive Cruise Control of Autonomous Vehicle and Prescan-MATLAB Co-simulation Verification

This paper addresses the adaptive cruise control (ACC) problem for an automatic vehicle following system that only uses radar sensors to detect the distance and relative speed between vehicles. By considering the uncertainty and nonlinear characteristics of the longitudinal kinematics interaction between the following vehicle and the preceding vehicle, a fuzzy PID control strategy is designed. Compared with the PID controller, the designed controller is robust to modeling uncertainties and external disturbances caused by the changes in the road adhesion coefficient, the road slope angle and the acceleration of the preceding vehicle. The co-simulation system of PreScan and MATLAB with complex road scene is established. The effectiveness of the designed controller is verified by comparison with the traditional PID controller in the co-simulation platform.