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Controller Configurations

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Controller configurations are crucial in a car's cruise control system because they manage speed over time to maintain a consistent pace regardless of road conditions, thereby meeting design goals. In traditional control systems, fixed-configuration design involves predetermined controller placement. System performance modifications are known as compensation.
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Multi-input and Multi-variable systems

Multi-input and Multi-variable systems

Cruise control systems in cars are designed as multi-input systems to maintain a driver's desired speed while compensating for external disturbances such as changes in terrain. The block diagram for a cruise control system typically includes two main inputs: the desired speed set by the driver and any external disturbances, such as the incline of the road. By adjusting the engine throttle, the system maintains the vehicle's speed as close to the desired value as possible.
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Root-Locus Method

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Feedback control systems

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PD Controller: Design

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In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
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PD Control with Feedforward Compensation for String Stable Cooperative Adaptive Cruise Control in Vehicle Platoons.

Kangjun Lee^1,2, Chanhwa Lee^1,2

¹Department of Artificial Intelligence and Robotics, Sejong University, Seoul 05006, Republic of Korea.

Sensors (Basel, Switzerland)

|September 13, 2025

Summary

This study introduces design guidelines for cooperative adaptive cruise control (CACC) systems to ensure vehicle stability. Incorporating preceding vehicle acceleration improves inter-vehicle distance control in CACC platoons.

Keywords:

CACC PD control feedforward compensation platoon string stability

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Area of Science:

Automotive Engineering
Control Systems Theory
Robotics

Background:

Conventional Adaptive Cruise Control (ACC) struggles with maintaining consistent inter-vehicle distances.
Cooperative Adaptive Cruise Control (CACC) offers enhanced performance but requires robust stability guarantees.
Platooning systems necessitate stable control for both individual vehicles and the entire string.

Purpose of the Study:

To develop systematic controller design guidelines for CACC systems.
To ensure both individual vehicle stability and string stability in homogeneous CACC platoons.
To overcome limitations of ACC in maintaining target inter-vehicle distances.

Main Methods:

Formulating transfer functions in the frequency domain for analytical derivation.
Incorporating preceding vehicle's desired acceleration as a static feedforward input.
Deriving conditions for individual vehicle and string stability.
Proposing design guidelines for controller gains (proportional, derivative, feedforward) under a constant time gap policy.

Main Results:

Demonstrated that feedforward control effectively overcomes ACC limitations in distance keeping.
Analytically derived stability conditions for CACC systems.
Proposed practical and theoretically grounded design guidelines for CACC controller gains.
Validated guidelines through realistic multi-vehicle platooning simulations.

Conclusions:

The proposed guidelines ensure both individual vehicle and string stability in CACC platoons.
Feedforward control is crucial for enhancing inter-vehicle distance control in CACC.
The study provides a robust framework for designing stable and efficient CACC systems.