Page - 27 - in Integration of Advanced Driver Assistance Systems on Full-Vehicle Level - Parametrization of an Adaptive Cruise Control System Based on Test Drives

2.4. ACC Controller DdkIdkPdk PID vehicle desa du xav − ae sched. gain tion satura-du˜ −AWdk windup anti- PID Dbk,Ibk,Pbk model vehicle inverse bu 1bu 2bu controller brake lower level controller controller drive train Figure 2.17.: Drive train and brake controller, adapted from [XZ12], and extended with an anti-windup functionality, [HD04] these effects, thebrakecontroller containsa feedback loop. ThePIDcontroller generates the outputub1, which is superimposed by the outputub2 of the inverse vehicle model. In [XZ12], Xia et al. demonstrated the good performance of this controller combination. 2.4.3. Upper Level Controller Theupper level controller itself consists of twodifferentparts. Thefirstpart is the speed controller, which adjusts the vehicle speed to the set speed vset if no other proceeding vehicle is in front of the ego vehicle or if the proceeding vehicle is driving faster than the ego vehicle. This function is called Cruise Control (CC). Ga¨chter showed in [Ga¨c12], that a PI controller delivers sufficient performance for this function. The second function is the distance controller, which adjusts the vehicle speed to main- tain a distance to the proceeding vehicle defined by sset=s0 +vvx τset. (2.22) 27