Cruise Control for Small Scale Autonomous Vehicle

• Acarcio Gomes de Almeida Junior UFPE http://orcid.org/0000-0001-5135-5352
• Abel Guilhermino da Silva Filho UFPE https://orcid.org/0000-0002-7876-2756

DOI: https://doi.org/10.5753/ssv.2024.32623

Abstract

The transport industry has faced significant challenges in recent years, such as the large number of traffic accidents. According to the World Health Organization (WHO), road accidents are one of the main causes of death. It is important to highlight that the majority of traffic accidents are caused by human errors, such as recklessness, alcohol use or driver reaction time. Therefore, there is a need to automate driving to make it more efficient and safe. This study focuses on the automation of longitudinal driving, aiming to control the acceleration of a small-scale vehicle. To achieve the objective, the vehicle's longitudinal model is identified using black box system identification techniques, and a PID controller is designed based on the Ziegler-Nichols methodology. The controller showed good temporal performance, with a settling time of less than 1s and a peak time of 0.3s, despite presenting an overshoot of 17.85%. The results demonstrated that the controller was able to control the vehicle, eliminating the steady-state error and providing excellent response times for the application.

Keywords: Cruise Control, PID, Autonomous Vehicle

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